python/cyber_py/cyber.py¶
Defined in python/cyber_py/cyber.py
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cyber_py.cyber.
init
(module_name module_name = "cyber_py")¶ init cyber environment.
- Return
Success is True, otherwise False.
init cyber environment.
- Parameters
module_name
: Used as the log file name.
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cyber_py.cyber.
ok
()¶ is cyber envi ok.
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cyber_py.cyber.
shutdown
()¶ shutdown cyber envi.
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cyber_py.cyber.
is_shutdown
()¶ is cyber shutdown.
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cyber_py.cyber.
waitforshutdown
()¶ wait until the cyber is shutdown.
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class
Node
¶ Class for cyber Node wrapper.
Public Functions
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register_message
(self self, file_desc file_desc)¶ register proto message by proto descriptor file.
- Parameters
file_desc
: object about datatype.DESCRIPTOR.file .register proto message desc file.
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create_writer
(self self, name name, data_type data_type, qos_depth qos_depth = 1)¶ create a channel writer for send message to another channel.
- Return
return the writer object.
create a channel writer for send message to another channel.
- Parameters
name
: is the channel name.data_type
: is message class for serializationqos_depth
: is a queue size, which defines the size of the cache.
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create_reader
(self self, name name, data_type data_type, callback callback, args args = None)¶ create a channel reader for receive message from another channel.
- Return
return the writer object.
create a channel reader for receive message from another channel.
- Parameters
name
: the channel name to read.data_type
: message class for serializationcallback
: function to call (fn(data)) when data is received. If args is set, the function must accept the args as a second argument, i.e. fn(data, args)args
: additional arguments to pass to the callback
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create_rawdata_reader
(self self, name name, callback callback, args args = None)¶ Create RawData reader:listener RawMessage
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create_client
(self self, name name, request_data_type request_data_type, response_data_type response_data_type)¶ create client for the c/s.
- Return
the client object.
- Parameters
name
: the service name.request_data_type
: the request message type.response_data_type
: the response message type.
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create_service
(self self, name name, req_data_type req_data_type, res_data_type res_data_type, callback callback, args args = None)¶ create client for the c/s.
- Return
return the service object.
- Parameters
name
: the service name.req_data_type
: the request message type.res_data_type
: the response message type.callback
: function to call (fn(data)) when data is received. If args is set, the function must accept the args as a second argument, i.e. fn(data, args)args
: additional arguments to pass to the callback.
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spin
(self self)¶ spin for every 0.002s.
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class
Writer
¶ Class for cyber writer wrapper.
Public Functions
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write
(self self, data data)¶ write message.
- Return
Success is 0, otherwise False.
writer message string
- Parameters
data
: is a message type.
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class
Reader
¶ Class for cyber reader wrapper.
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class
Client
¶ Class for cyber service client wrapper.
Public Functions
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send_request
(self self, data data)¶ send request message to service.
- Return
None or response from service.
send request to service
- Parameters
data
: is a message type.
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class
ChannelUtils
¶ Public Static Functions
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get_debugstring_rawmsgdata
(msg_type msg_type, rawmsgdata rawmsgdata)¶ Parse rawmsg from rawmsg data by message type.
- Return
a human readable form of this message. For debugging and other purposes.
- Parameters
msg_type
: message type.rawmsgdata
: rawmsg data.
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get_msgtype
(channel_name channel_name, sleep_s sleep_s = 2)¶ Parse rawmsg from channel name.
- Return
return the messsage type of this channel.
- Parameters
channel_name
: channel name.sleep_s
: wait time for topo discovery.
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get_channels
(sleep_s sleep_s = 2)¶ Get all active channel names.
- Return
all active channel names.
- Parameters
sleep_s
: wait time for topo discovery.
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get_channels_info
(sleep_s sleep_s = 2)¶ Get the active channel info.
- Return
all active channels info. {‘channel1’:[], ‘channel2’:[]} .
- Parameters
sleep_s
: wait time for topo discovery.
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class
NodeUtils
¶ Public Static Functions
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get_nodes
(sleep_s sleep_s = 2)¶ Get all active node names.
- Return
all active node names.
- Parameters
sleep_s
: wait time for topo discovery.
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get_node_attr
(node_name node_name, sleep_s sleep_s = 2)¶ Get node attribute by the node name.
- Return
the node’s attribute.
- Parameters
node_name
: node name.sleep_s
: wait time for topo discovery.
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get_readersofnode
(node_name node_name, sleep_s sleep_s = 2)¶ Get node’s reader channel names.
- Return
node’s reader channel names.
- Parameters
node_name
: the node name.sleep_s
: wait time for topo discovery.
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get_writersofnode
(node_name node_name, sleep_s sleep_s = 2)¶ Get node’s writer channel names.
- Return
node’s writer channel names.
- Parameters
node_name
: the node name.sleep_s
: wait time for topo discovery.
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python/cyber_py/record.py¶
Defined in python/cyber_py/record.py
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class
RecordReader
¶ Class for cyber RecordReader wrapper.
Public Functions
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__init__
(self self, file_name file_name)¶ the constructor function.
- Parameters
file_name
: the record file name.
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read_messages
(self self, start_time start_time = 0, end_time end_time = 18446744073709551615)¶ Read message from bag file.
- Return
return (channnel, data, data_type, timestamp)
- Parameters
start_time
: the start time to read.end_time
: the end time to read.
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get_messagenumber
(self self, channel_name channel_name)¶ Return message count of the channel in current record file.
- Return
return the message count.
- Parameters
channel_name
: the channel name.
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get_messagetype
(self self, channel_name channel_name)¶ Get the corresponding message type of channel.
- Return
return the name of ther string type.
- Parameters
channel_name
: channel name.
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get_protodesc
(self self, channel_name channel_name)¶ Return message protodesc.
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get_headerstring
(self self)¶ Return message header string.
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reset
(self self)¶ Return reset.
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get_channellist
(self self)¶ Return current channel names list.
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class
RecordWriter
¶ Class for cyber RecordWriter wrapper.
Public Functions
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__init__
(self self, file_segmentation_size_kb file_segmentation_size_kb = 0, file_segmentation_interval_sec file_segmentation_interval_sec = 0)¶ the constructor function.
- Parameters
file_segmentation_size_kb
: size to segment the file, 0 is no segmentation.file_segmentation_interval_sec
: size to segment the file, 0 is no segmentation.
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open
(self self, path path)¶ Open record file for write.
- Return
Success is Ture, other False.
- Parameters
path
: the file path.
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close
(self self)¶ Close record file.
Close record file.
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write_channel
(self self, channel_name channel_name, type_name type_name, proto_desc proto_desc)¶ Writer channel by channelname, typename, protodesc.
- Return
Success is Ture, other False.
Writer channel by channelname,typename,protodesc
- Parameters
channel_name
: the channel name to writetype_name
: a string of message type name.proto_desc
: the message descriptor.
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write_message
(self self, channel_name channel_name, data data, time time, raw raw = True)¶ Writer msg: channelname, data, writer time.
- Return
Success is Ture, other False.
Writer msg:channelname,rawmsg,writer time
- Parameters
channel_name
: channel name to write.data
: when raw is True, data processed as a rawdata, other it needs to SerializeToStringtime
: message time.raw
: the flag implies data whether or not a rawdata.
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set_size_fileseg
(self self, size_kilobytes size_kilobytes)¶ Return filesegment size.
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set_intervaltime_fileseg
(self self, time_sec time_sec)¶ Return file interval time.
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get_messagenumber
(self self, channel_name channel_name)¶ Return message count.
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get_messagetype
(self self, channel_name channel_name)¶ Return message type.
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get_protodesc
(self self, channel_name channel_name)¶ Return message protodesc.
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python/cyber_py/cyber_time.py¶
Defined in python/cyber_py/cyber_time.py
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class
Duration
¶ Class for cyber Duration wrapper.
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class
Time
¶ Class for cyber time wrapper.
Public Functions
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__init__
(self self, other other)¶ Constructor, creates a Time.
- Parameters
other
: float means seconds unit. int or long means nanoseconds.
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to_sec
(self self)¶ convert to second.
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to_nsec
(self self)¶ convert to nanosecond.
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sleep_until
(self self, time time)¶ sleep until time.
Public Static Functions
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now
()¶ return current time.
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class
Rate
¶ Class for cyber Rate wrapper. Help run loops at a desired frequency.
Public Functions
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__init__
(self self, other other)¶ Constructor, creates a Rate.
- Parameters
other
: float means frequency the desired rate to run at in Hz. int or long means the expected_cycle_time.
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sleep
(self self)¶ Sleeps for any leftover time in a cycle.
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reset
(self self)¶ Sets the start time for the rate to now.
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get_cycle_time
(self self)¶ Get the actual run time of a cycle from start to sleep.
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get_expected_cycle_time
(self self)¶ Get the expected cycle time.
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python/cyber_py/cyber_timer.py¶
Defined in python/cyber_py/cyber_timer.py
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class
Timer
¶ Class for cyber timer wrapper.
Public Functions
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__init__
(self self, period period = None, callback callback = None, oneshot oneshot = None)¶ Used to perform oneshot or periodic timing tasks.
- Parameters
period
: The period of the timer, unit is ms.callback
: The tasks that the timer needs to perform.oneshot
: 1:perform the callback only after the first timing cycle 0:perform the callback every timed period
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set_option
(self self, period period, callback callback, oneshot oneshot = 0)¶ set the option of timer.
- Parameters
period
: The period of the timer, unit is ms.callback
: The tasks that the timer needs to perform.oneshot
: 1:perform the callback only after the first timing cycle 0:perform the callback every timed period
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start
(self self)¶ start the timer
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stop
(self self)¶ stop the timer
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python/cyber_py/parameter.py¶
Defined in python/cyber_py/parameter.py
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class
Parameter
¶ Class for Parameter wrapper.
Public Functions
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type_name
(self self)¶ return Parameter typename
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descriptor
(self self)¶ return Parameter descriptor
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name
(self self)¶ return Parameter name
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debug_string
(self self)¶ return Parameter debug string
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as_string
(self self)¶ return native value
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as_double
(self self)¶ return native value
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as_int64
(self self)¶ return native value
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class
ParameterServer
¶ Class for ParameterServer wrapper.
Public Functions
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__init__
(self self, node node)¶ constructor the ParameterServer by the node object.
- Parameters
node
: the node to support the parameter server.
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set_parameter
(self self, param param)¶ set parameter, param is Parameter.
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get_parameter
(self self, param_name param_name)¶ get Parameter by param name param_name.
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get_paramslist
(self self)¶ get all params of this parameterserver.
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class
ParameterClient
¶ Class for ParameterClient wrapper.
Public Functions
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__init__
(self self, node node, server_node_name server_node_name)¶ constructor the ParameterClient by a node and the parameter server node name.
- Parameters
node
: a node to create client.server_node_name
: the parameter server’s node name.
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set_parameter
(self self, param param)¶ set parameter, param is Parameter.
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get_parameter
(self self, param_name param_name)¶ get Parameter by param name param_name.
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get_paramslist
(self self)¶ get all params of the server_node_name parameterserver.
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