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)
def print_stats(start, stop):
print("{:.6f} msgs/sec".format(N / (stop - start).total_seconds()))
def listener(rname, data, info):
global count, start, stop
if count == 0:
start = datetime.datetime.now()
count += 1
elif count < N:
count += 1
else:
stop = datetime.datetime.now()
print_stats(start, stop)
count = 0
if __name__ == '__main__':
locator = None
if len(sys.argv) > 1:
locator = sys.argv[1]
s = Session.open(locator)
sub = s.declare_subscriber('/test/thr', SubscriberMode.push(), listener)
time.sleep(60)
s.undeclare_subscriber(sub)
s.close()
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
selector = args.selector
# zenoh code --- --- --- --- --- --- --- --- --- --- ---
def listener(rname, data, info):
print(">> [Subscription listener] Received ('{}': '{}') at {}"
.format(rname, data.decode("utf-8"), info.tstamp))
print("Openning session...")
s = Session.open(locator)
print("Declaring Subscriber on '{}'...".format(selector))
sub = s.declare_subscriber(selector, SubscriberMode.push(), listener)
print('Press "q" at any time to terminate...')
c = '\0'
while c != 'q':
c = sys.stdin.read(1)
s.undeclare_subscriber(sub)
s.close()
# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
# which is available at https://www.apache.org/licenses/LICENSE-2.0.
#
# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
#
# Contributors:
# ADLINK zenoh team, <*****@*****.**>
from zenoh.net import Session, SubscriberMode
import time
import sys
def listener(rname, data, info):
print("{}: {}".format(rname, data.decode()))
if __name__ == "__main__":
locator = None
if len(sys.argv) > 1:
locator = sys.argv[1]
s = Session.open(locator)
sub = s.declare_subscriber('/myhome/kitcken/temp', SubscriberMode.push(),
listener)
# Listen for one minute and then exit
time.sleep(120)
s.undeclare_subscriber(sub)
s.close()