compas_eve.zenoh

Classes

ZenohTransport

ZenohTransport(
    config: Config | None = None,
    codec: MessageCodec | None = None,
    *args: Any,
    **kwargs: Any
)

Zenoh transport allows sending and receiving messages using an Apache Zenoh router.

Parameters:

• config (Config | None, default: None ) –

  The Zenoh configuration to use. If not provided, a default zenoh.Config() will be used.

• codec (MessageCodec | None, default: None ) –

  The codec to use for encoding and decoding messages. If not provided, defaults to JsonMessageCodec.

Functions

advertise

advertise(topic: Topic) -> str

Announce this code will publish messages to the specified topic.

Parameters:

• topic (Topic) –

  Instance of the topic to advertise.

Returns:

• str –

  Advertising identifier.

close

close() -> None

Close the Zenoh session.

on_ready

on_ready(callback: Callable) -> None

Allows to hook-up to the event triggered when the connection is established.

Parameters:

• callback (Callable) –

  Function to invoke when the connection is established.

publish

publish(topic: Topic, message: Message) -> None

Publish a message to a topic.

Parameters:

• topic (Topic) –

  Instance of the topic to publish to.

• message (Message) –

  Instance of the message to publish.

subscribe

subscribe(topic: Topic, callback: Callable) -> str

Subscribe to a topic.

Parameters:

• topic (Topic) –

  Instance of the topic to subscribe to.

• callback (Callable) –

  Callback to invoke whenever a new message arrives.

Returns:

• str –

  Identifier of the subscription.

unsubscribe

unsubscribe(topic: Topic) -> None

Unsubscribe from a topic.

Parameters:

• topic (Topic) –

  Instance of the topic to unsubscribe from.

unsubscribe_by_id

unsubscribe_by_id(subscribe_id: str) -> None

Unsubscribe from the specified topic based on the subscription id.

Parameters:

• subscribe_id (str) –

  The subscription identifier.