class DAMRWEB:
def __init__(self, namespace, SAS_name, SAS_value):
self.topic_vel = 'cmd_vel'
self.topic_stop = 'motor_stop'
self.namespace = namespace
self.SAS_name = SAS_name
self.SAS_value = SAS_value
self.topic_options = Topic()
self.topic_options.max_size_in_megabytes = '10' #### Try : '1024'
self.topic_options.default_message_time_to_live = 'PT5S'
self.bus_service = ServiceBusService(
service_namespace=self.namespace,
shared_access_key_name=self.SAS_name,
shared_access_key_value=self.SAS_value)
self.cmd_values = {
'N': "100 100",
'S': '-100 -100',
'W': '-50 50',
'E': '50 -50'
}
self.bot_list = []
#create topics of cmd_vel and motor stop
def createLocalbot(self, bot_id):
self.bus_service.create_topic((self.topic_vel + bot_id),
self.topic_options)
self.bus_service.create_topic((self.topic_stop + bot_id),
self.topic_options)
# self.bus_service.create_subscription((self.topic_vel+bot_id), bot_id)
# self.bus_service.create_subscription((self.topic_stop+bot_id), bot_id)
self.bot_list.append(bot_id)
pass
def remoteControl(self, bot_id, cmd_dirn):
msg = Message(self.cmd_values[cmd_dirn].encode('utf-8'))
self.bus_service.send_topic_message((self.topic_vel + bot_id), msg)
def remoteControlStop(self, bot_id):
msg = Message('0 0'.encode('utf-8'))
self.bus_service.send_topic_message((self.topic_vel + bot_id), msg)
def deleteTopic(self, bot_id):
self.bus_service.delete_topic((self.topic_vel + bot_id))
self.bus_service.delete_topic((self.topic_stop + bot_id))
def cleanup(self):
for bot in self.bot_list:
self.deleteTopic(bot)
import os
from azure.servicebus.control_client import ServiceBusService, Message, Topic
from pymongo import MongoClient
import json
mongo_conn_str = os.getenv('PROD_MONGODB')
shared_access_key = os.getenv('shared_access_key')
shared_access_value = os.getenv('shared_access_value')
service_namespace = os.getenv('service_namespace')
print(service_namespace)
bus_service = ServiceBusService(service_namespace=service_namespace, shared_access_key_name=shared_access_key,
shared_access_key_value=shared_access_value)
topic_name = "on-prem-test" # the topic name already defined in azure
subscription = "heroku_consumer" # unique name for this application/consumer
bus_service.create_topic(topic_name)
# create subscription
bus_service.create_subscription(topic_name, subscription)
# get subscription message
msg = bus_service.receive_subscription_message(
topic_name, subscription, peek_lock=False)
msg_body = None
entity = None
if msg.body is None:
print('No messages to retrieve')
exit()
else:
msg_body = msg.body.decode("utf-8")
entity = json.loads(msg_body)
print(msg_body)
