def login(locator, properties=None):
'''
Establish a zenoh session via a provided locator. Locator is a string
representing the network endpoint to which establish the session. If
the provided locator is ``None``, login will perform some dynamic
discovery and try to establish the session automatically. When not
``None``, the locator must have the format: ``tcp/<ip>:<port>``
(for instance ``tcp/127.0.0.1:7447``).
:param locator: a Zenoh locator or ``None``.
:param properties: the Properties to be used for this session
(e.g. "user", "password", ...). Can be ``None``.
:returns: a Zenoh object.
'''
zprops = {} if properties is None else {
zenoh.net.ZN_USER_KEY if k == "user" else
zenoh.net.ZN_PASSWD_KEY: val
for k, val in properties.items()
if k == "user" or k == "password"}
return Zenoh(Session.open(locator, zprops))
parser = argparse.ArgumentParser(
prog='zn_info',
description='Shows how to retrieve peers information')
parser.add_argument(
'--locator', '-l', dest='locator',
default=None,
type=str,
help='The locator to be used to boostrap the zenoh session.'
' By default dynamic discovery is used')
args = parser.parse_args()
locator = args.locator
# zenoh-net code --- --- --- --- --- --- --- --- --- --- ---
print("Openning session...")
s = Session.open(locator, {ZN_USER_KEY: "user".encode(),
ZN_PASSWD_KEY: "password".encode()})
info = s.info()
peer = info[ZN_INFO_PEER_KEY]
pid = info[ZN_INFO_PID_KEY]
peer_pid = info[ZN_INFO_PEER_PID_KEY]
print("LOCATOR : {}".format(peer.decode("utf-8")))
print("PID : {}".format(binascii.hexlify(pid).decode("ascii")))
print("PEER PID : {}".format(binascii.hexlify(peer_pid).decode("ascii")))
s.close()
import time
from zenoh.net import Session, SubscriberMode
def listener(rname, data, info):
print(">> [Subscription listener] Received ('{}': '{}') at {}"
.format(rname, data.decode("utf-8"), info.tstamp))
if __name__ == '__main__':
uri = "/demo/example/**"
if len(sys.argv) > 1:
uri = sys.argv[1]
locator = None
if len(sys.argv) > 2:
locator = sys.argv[2]
print("Openning session...")
s = Session.open(locator)
print("Declaring Subscriber on '{}'...".format(uri))
sub = s.declare_subscriber(uri, SubscriberMode.push(), listener)
c = '\0'
while c != 'q':
c = sys.stdin.read(1)
s.undeclare_subscriber(sub)
s.close()
def client_test(self):
global storage_replies
global eval_replies
locator = "tcp/127.0.0.1:7447"
z1 = Session.open(locator)
z1_peer = z1.info()[zenoh.net.ZN_INFO_PEER_KEY].decode().rstrip('\0')
self.assertEqual(locator, z1_peer)
z1_sub1 = z1.declare_subscriber("/test/python/client/**",
SubscriberMode.push(),
z1_sub1_listener)
z1_sto1 = z1.declare_storage("/test/python/client/**",
z1_sto1_listener, z1_sto1_handler)
z1_eval1 = z1.declare_eval("/test/python/client/z1_eval1",
z1_eval1_handler)
z1_pub1 = z1.declare_publisher("/test/python/client/z1_pub1")
z2 = Session.open(locator)
z2_peer = z2.info()[zenoh.net.ZN_INFO_PEER_KEY].decode().rstrip('\0')
self.assertEqual(locator, z2_peer)
z2_sub1 = z2.declare_subscriber("/test/python/client/**",
SubscriberMode.push(),
z2_sub1_listener)
z2_sto1 = z2.declare_storage("/test/python/client/**",
z2_sto1_listener, z2_sto1_handler)
z2_eval1 = z2.declare_eval("/test/python/client/z2_eval1",
z2_eval1_handler)
z2_pub1 = z2.declare_publisher("/test/python/client/z2_pub1")
z3 = Session.open(locator)
z3_peer = z3.info()[zenoh.net.ZN_INFO_PEER_KEY].decode().rstrip('\0')
self.assertEqual(locator, z3_peer)
z3_sub1 = z3.declare_subscriber("/test/python/client/**",
SubscriberMode.pull(),
z3_sub1_listener)
time.sleep(1)
self.assertTrue(z1.running)
self.assertTrue(z2.running)
self.assertTrue(z3.running)
sent_res = ("/test/python/client/z1_wr1", "z1_wr1_spl1".encode())
z1.write_data(sent_res[0], sent_res[1])
rcvd_res = z1_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z1_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.pull(z3_sub1)
rcvd_res = z3_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z1.query("/test/python/client/**",
"",
reply_handler,
dest_storages=zenoh.net.QueryDest(
zenoh.net.QueryDest.ZN_BEST_MATCH),
dest_evals=zenoh.net.QueryDest(zenoh.net.QueryDest.ZN_NONE))
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
# self.assertEqual(0, len(eval_replies))
# This may not be true for now as :
# - zenoh-c does not check received query properties
# - zenohd does not filter out replies
eval_replies = []
z1.query("/test/python/client/**",
"",
reply_handler,
dest_storages=QueryDest(QueryDest.ZN_NONE),
dest_evals=QueryDest(QueryDest.ZN_BEST_MATCH))
replies_mvar.get()
# self.assertEqual(0, len(storage_replies))
# This may not be true for now as :
# - zenoh-c does not check received query properties
# - zenohd does not filter out replies
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z2.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z2.query("/test/python/client/**",
"",
reply_handler,
dest_storages=QueryDest(QueryDest.ZN_BEST_MATCH),
dest_evals=QueryDest(QueryDest.ZN_NONE))
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
# self.assertEqual(0, len(eval_replies))
# This may not be true for now as :
# - zenoh-c does not check received query properties
# - zenohd does not filter out replies
eval_replies = []
z2.query("/test/python/client/**",
"",
reply_handler,
dest_storages=QueryDest(QueryDest.ZN_NONE),
dest_evals=QueryDest(QueryDest.ZN_BEST_MATCH))
replies_mvar.get()
# self.assertEqual(0, len(storage_replies))
# This may not be true for now as :
# - zenoh-c does not check received query properties
# - zenohd does not filter out replies
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
sent_res = ("/test/python/client/**", "z2_wr1_spl1".encode())
z2.write_data(sent_res[0], sent_res[1])
rcvd_res = z1_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z1_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.pull(z3_sub1)
rcvd_res = z3_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z2.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
sent_res = ("/test/python/client/z1_pub1", "z1_pub1_spl1".encode())
z1.stream_data(z1_pub1, sent_res[1])
rcvd_res = z1_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z1_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.pull(z3_sub1)
rcvd_res = z3_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z2.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
sent_res = ("/test/python/client/z2_pub1", "z2_pub1_spl1".encode())
z2.stream_data(z2_pub1, sent_res[1])
rcvd_res = z1_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z1_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
rcvd_res = z2_sto1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.pull(z3_sub1)
rcvd_res = z3_sub1_mvar.get()
self.assertEqual(sent_res, rcvd_res)
z1.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z2.query("/test/python/client/**", "", reply_handler)
replies_mvar.get()
self.assertEqual(2, len(storage_replies))
self.assertEqual(sent_res, storage_replies[0])
self.assertEqual(sent_res, storage_replies[1])
storage_replies = []
self.assertEqual(2, len(eval_replies))
eval_replies = []
z1.undeclare_subscriber(z1_sub1)
z2.undeclare_subscriber(z2_sub1)
z3.undeclare_subscriber(z3_sub1)
z1.undeclare_storage(z1_sto1)
z2.undeclare_storage(z2_sto1)
z1.undeclare_eval(z1_eval1)
z2.undeclare_eval(z2_eval1)
z1.undeclare_publisher(z1_pub1)
z2.undeclare_publisher(z2_pub1)
z1.close()
z2.close()
z3.close()
time.sleep(1) # let time for close msg to comme back from router
self.assertFalse(z1.running)
self.assertFalse(z2.running)
self.assertFalse(z3.running)