def __init__(self,nodeName='b0RemoteApi_pythonClient',channelName='b0RemoteApi',inactivityToleranceInSec=60,setupSubscribersAsynchronously=False):
self._channelName=channelName
self._serviceCallTopic=channelName+'SerX'
self._defaultPublisherTopic=channelName+'SubX'
self._defaultSubscriberTopic=channelName+'PubX'
self._nextDefaultSubscriberHandle=2
self._nextDedicatedPublisherHandle=500
self._nextDedicatedSubscriberHandle=1000
b0.init()
self._node=b0.Node(nodeName)
self._clientId=''.join(random.choice(string.ascii_uppercase+string.ascii_lowercase+string.digits) for _ in range(10))
self._serviceClient=b0.ServiceClient(self._node,self._serviceCallTopic)
self._serviceClient.set_option(3,1000) #read timeout of 1000ms
self._defaultPublisher=b0.Publisher(self._node,self._defaultPublisherTopic)
self._defaultSubscriber=b0.Subscriber(self._node,self._defaultSubscriberTopic,None) # we will poll the socket
print('\n Running B0 Remote API client with channel name ['+channelName+']')
print(' make sure that: 1) the B0 resolver is running')
print(' 2) V-REP is running the B0 Remote API server with the same channel name')
print(' Initializing...\n')
self._node.init()
self._handleFunction('inactivityTolerance',[inactivityToleranceInSec],self._serviceCallTopic)
print('\n Connected!\n')
self._allSubscribers={}
self._allDedicatedPublishers={}
self._setupSubscribersAsynchronously=setupSubscribersAsynchronously
def __init__(self,
nodeName=None,
channelName=None,
inactivityToleranceInSec=60,
setupSubscribersAsynchronously=False,
timeout=3):
if nodeName == None:
nodeName = 'b0RemoteApi_pythonClient' + str(threading.get_ident())
if channelName == None:
channelName = 'b0RemoteApiAddOn'
self._channelName = channelName
self._serviceCallTopic = channelName + 'SerX'
self._defaultPublisherTopic = channelName + 'SubX'
self._defaultSubscriberTopic = channelName + 'PubX'
self._nextDefaultSubscriberHandle = 2
self._nextDedicatedPublisherHandle = 500
# print(f'(nodeName:{{{nodeName}}} channelName:{{{channelName}}})')
self._nextDedicatedSubscriberHandle = 1000
# print('Calling b0.init()')
b0.init()
# print('Calling b0.Node(nodeName)')
self._node = b0.Node(nodeName)
self._clientId = ''.join(
random.choice(string.ascii_uppercase + string.ascii_lowercase +
string.digits) for _ in range(10))
self._serviceClient = b0.ServiceClient(self._node,
self._serviceCallTopic)
self._serviceClient.set_option(3, timeout * 1000) #read timeout
self._defaultPublisher = b0.Publisher(self._node,
self._defaultPublisherTopic)
self._defaultSubscriber = b0.Subscriber(
self._node, self._defaultSubscriberTopic,
None) # we will poll the socket
# print('\n Running B0 Remote API client with channel name ['+channelName+']')
# print(' make sure that: 1) the B0 resolver is running')
# print(' 2) CoppeliaSim is running the B0 Remote API server with the same channel name')
# print(' Initializing...\n')
self._node.init()
self._handleFunction('inactivityTolerance', [inactivityToleranceInSec],
self._serviceCallTopic)
# print('\n Connected!\n')
self._allSubscribers = {}
self._allDedicatedPublishers = {}
self._setupSubscribersAsynchronously = setupSubscribersAsynchronously
# -*- coding: utf-8 -*-
import b0
node = b0.Node('python-service-client')
cli = b0.ServiceClient(node, 'control')
node.init()
print('Using service "%s"...' % cli.get_service_name())
req_str = u'hellò'
print('Sending "%s"...' % req_str)
req = req_str.encode('utf-8')
rep = cli.call(req)
rep_str = rep.decode('utf-8')
print('Received "%s"' % rep_str)
node.cleanup()