pyrcf.utils.data_io_utils.pyrcf_publisher

Attributes

`DEFAULT_ZMQ_PUBLISH_PORT`
`DEFAULT_PLOTJUGGLER_PUBLISH_PORT`

Classes

`PyRCFTypesEncoder`	Custom json encoding for handling datatypes in custom PyRCF datatypes.
`PyRCFPublisherBase`	Base publisher class.
`PyRCFPublisherZMQ`	A zero MQ publisher for publishing json serialised data to specified port.
`PlotJugglerPublisher`	PlotJugglerPublisher is used to stream data to PlotJuggler and plot them in real time.

Module Contents

pyrcf.utils.data_io_utils.pyrcf_publisher.DEFAULT_ZMQ_PUBLISH_PORT: int = 5001

pyrcf.utils.data_io_utils.pyrcf_publisher.DEFAULT_PLOTJUGGLER_PUBLISH_PORT: int = 9872

class pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFTypesEncoder(*, skipkeys=False, ensure_ascii=True, check_circular=True, allow_nan=True, sort_keys=False, indent=None, separators=None, default=None)

Bases: json.JSONEncoder

Custom json encoding for handling datatypes in custom PyRCF datatypes.

default(o)

Implement this method in a subclass such that it returns a serializable object for o, or calls the base implementation (to raise a TypeError).

For example, to support arbitrary iterators, you could implement default like this:

def default(self, o):
    try:
        iterable = iter(o)
    except TypeError:
        pass
    else:
        return list(iterable)
    # Let the base class default method raise the TypeError
    return super().default(o)

class pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherBase

Bases: abc.ABC

Base publisher class.

abstract publish(data: dict): Publish serialised data using this PyRCFPublisher.

close(): Close publisher cleanly.

class pyrcf.utils.data_io_utils.pyrcf_publisher.PyRCFPublisherZMQ(port: int = DEFAULT_ZMQ_PUBLISH_PORT)

Bases: PyRCFPublisherBase

A zero MQ publisher for publishing json serialised data to specified port.

socket

publish(data: dict)

Publish the provided dictionary data as a JSON string to the pre-defined port.

Parameters:: data (dict, optional) – Data as a dictionary.

close(): Close publisher cleanly.

__del__()

class pyrcf.utils.data_io_utils.pyrcf_publisher.PlotJugglerPublisher

Bases: PyRCFPublisherZMQ

PlotJugglerPublisher is used to stream data to PlotJuggler and plot them in real time. On PlotJuggler, choose ZMQ Subscriber for data streaming, the port is used to identify the data channel. Publishes data to tcp port 9872 (default for plotjuggler).