def subscriber(e, topic):
gmp = GeckoMP()
s = Sub(topics=[topic])
addr = zmqTCP('localhost', 9999)
print('Subscriber connected to: {}'.format(addr))
s.connect(addr)
while e.is_set():
# print(s.recv(flags=zmq.NOBLOCK))
topic, msg = s.recv()
# print("recv[{}]: {}".format(topic, msg))
print('sub bye ...')
def publisher(e, topic):
gmp = GeckoMP()
p = Pub()
addr = zmqTCP('localhost', 9998)
p.connect(addr)
print('Publisher connected to: {}'.format(addr))
cnt = 0
while e.is_set():
msg = {'a': cnt, 'b': bytearray([1, 2, 3])}
p.pub(topic, msg) # topic msg
cnt += 1
# print('[{}] published msg'.format(cnt))
time.sleep(.05)
print('pub bye ...')
def run(self, topic):
self.kill_signals()
p = Pub()
addr = zmqTCP('localhost', 9998)
p.connect(addr)
print('Publisher connected to: {}'.format(addr))
cnt = 0
raw_img = np.random.rand(640, 480)
while not self.kill:
msg = {'a': cnt, 'b': raw_img.tobytes(), 'c': time.time()}
p.pub(topic, msg) # topic msg
cnt += 1
# print('[{}] published msg'.format(cnt))
time.sleep(0.05)
print('pub bye ...')
def publisher(e, topic):
messages = Messages()
p = Pub(pack=messages.serialize)
addr = zmqTCP('localhost', 9998)
p.connect(addr)
name = mp.current_process().name
try:
cnt = 0
while e.is_set():
msg = IMU(Vector(1,2,3),Vector(1,2,3),Vector(1,2,3))
p.pub(topic, msg) # topic msg
cnt += 1
print('>> {} published msg on {}'.format(name, topic))
time.sleep(1)
except Exception:
pass
print("*"*30)
print('*** {} pub bye'.format(name))
print("*"*30)
def subscriber(e, topic):
mm = Messages()
s = Sub(topics=[topic], unpack=mm.deserialize)
addr = zmqTCP('localhost', 9999)
s.connect(addr)
name = mp.current_process().name
try:
while e.is_set():
t, msg = s.recv()
# print(s.recv(flags=zmq.NOBLOCK))
# print("recv[{}]: {}".format(*s.recv()))
# print(name, 'recvd message')
print('{} recvd[{}] message'.format(name, t, msg))
except Exception as e:
print(e)
pass
print("*" * 30)
print('*** {} Sub bye'.format(name))
print("*" * 30)
def subscriber(e, topic):
messages = Messages()
s = Sub(topics=[topic], unpack=messages.deserialize)
filename = 'test.bag'
bag = BagWriter(filename, buffer_size=10, pack=messages.serialize)
addr = zmqTCP('localhost', 9999)
s.connect(addr)
name = mp.current_process().name
try:
while e.is_set():
# print(s.recv(flags=zmq.NOBLOCK))
# print("recv[{}]: {}".format(*s.recv()))
t, msg = s.recv()
print('<< {} recvd[{}] message'.format(name, t, msg))
bag.push(t, msg)
except Exception as e:
print(e)
bag.close()
print("{} is {:.1f} kB".format(filename, os.path.getsize(filename)/1000))
# os.remove(filename)
print("*"*30)
print('*** {} Sub bye'.format(name))
print("*"*30)