[Python] Added BinarySubscriber and BinaryPublisher with examples (#1526

)

Co-authored-by: Leon Hosch <leon.hosch@continental.com>

lang/python/core/ecal/core/publisher.py

@@ -65,6 +65,18 @@ def __init__(self, name, type_=None):
   def send(self, msg, time=-1):
     return self.c_publisher.send(msg.SerializeToString(), time)
 
+class BinaryPublisher(MessagePublisher):
+  """Spezialized publisher that sends out binary messages
+  """
+  def __init__(self, name):
+    topic_type = "binary"
+    topic_enc = "base"
+    topic_desc = b""
+    super(BinaryPublisher, self).__init__(name, topic_type, topic_enc, topic_desc)
+
+  def send(self, msg, time=-1):
+    return self.c_publisher.send(msg, time)
+
 class StringPublisher(MessagePublisher):
   """Spezialized publisher that sends out plain strings
   """

lang/python/core/ecal/core/subscriber.py

@@ -117,6 +117,51 @@ def _on_receive(self, topic_name, msg, time):
     self.callback(topic_name, proto_message, time)
 
 
+class BinarySubscriber(MessageSubscriber):
+  """Specialized subscriber that subscribes to binary messages
+  """
+  def __init__(self, name):
+    topic_type = "binary"
+    topic_enc = "base"
+    topic_desc = b""
+    super(BinarySubscriber, self).__init__(name, topic_type, topic_enc, topic_desc)
+    self.callback = None
+
+  def receive(self, timeout=0):
+    """ receive subscriber content with timeout
+    
+    :param timeout: receive timeout in ms
+    
+    """
+    ret, msg, time = self.c_subscriber.receive(timeout)
+    if ret > 0:
+      msg = msg
+    else:
+      msg = b""
+    return ret, msg, time
+
+  def set_callback(self, callback):
+    """ set callback function for incoming messages
+
+    :param callback: python callback function (f(topic_name, msg, time))
+
+    """
+    self.callback = callback
+    self.c_subscriber.set_callback(self._on_receive)
+
+  def rem_callback(self, callback):
+    """ remove callback function for incoming messages
+
+    :param callback: python callback function (f(topic_name, msg, time))
+
+    """
+    self.c_subscriber.rem_callback(self._on_receive)
+    self.callback = None
+
+  def _on_receive(self, topic_name, msg, time):
+    self.callback(topic_name, msg, time)
+
+
 class StringSubscriber(MessageSubscriber):
   """Spezialized publisher subscribes to plain strings
   """

samples/CMakeLists.txt

@@ -73,6 +73,9 @@ if(BUILD_PY_BINDING)
     add_subdirectory(python/pubsub/string/minimal_rec)
     add_subdirectory(python/pubsub/string/minimal_rec_cb)
     add_subdirectory(python/pubsub/string/minimal_snd)
+    add_subdirectory(python/pubsub/binary/binary_rec)
+    add_subdirectory(python/pubsub/binary/binary_rec_cb)
+    add_subdirectory(python/pubsub/binary/binary_snd)
 
     # services
     add_subdirectory(python/services/minimal_service)

samples/python/pubsub/binary/binary_rec/CMakeLists.txt

@@ -0,0 +1,32 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(binary_rec)
+
+find_package(eCAL REQUIRED)
+
+set(PROJECT_GROUP binary)
+
+if(ECAL_INCLUDE_PY_SAMPLES)
+  if(WIN32)
+
+    include_external_msproject(${PROJECT_NAME}_py ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pyproj)
+    set_property(TARGET ${PROJECT_NAME}_py PROPERTY FOLDER samples/python/${PROJECT_GROUP})
+
+  endif()
+endif()

samples/python/pubsub/binary/binary_rec/binary_rec.py

@@ -0,0 +1,49 @@
+ # ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+import sys
+
+import ecal.core.core as ecal_core
+from ecal.core.subscriber import BinarySubscriber
+
+def main():
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
+
+  # initialize eCAL API
+  ecal_core.initialize(sys.argv, "py_binary_rec")
+
+  # set process state
+  ecal_core.set_process_state(1, 1, "I feel good")
+
+  # create subscriber
+  sub = BinarySubscriber("Hello")
+
+  # receive messages
+  while ecal_core.ok():
+    ret, msg, time = sub.receive(500)
+    if ret > 0:
+      print("Received:  {} ms   {}".format(time, bytes.fromhex(msg.decode("utf-8"))))
+    else:
+      print("Subscriber timeout ..")
+
+  # finalize eCAL API
+  ecal_core.finalize()
+
+if __name__ == "__main__":
+  main()

samples/python/pubsub/binary/binary_rec/binary_rec.pyproj

@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectHome>.</ProjectHome>
+    <StartupFile>binary_rec.py</StartupFile>
+    <SearchPath>..\..\..\lang\python\src</SearchPath>
+    <WorkingDirectory>.</WorkingDirectory>
+    <OutputPath>.</OutputPath>
+    <Name>binary_rec</Name>
+    <RootNamespace>binary_rec</RootNamespace>
+    <ProjectGuid>{093990a3-9395-3bb2-b625-473f1bba2ce6}</ProjectGuid>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="binary_rec.py" />
+  </ItemGroup>
+  <PropertyGroup>
+    <VisualStudioVersion Condition="'$(VisualStudioVersion)' == ''">10.0</VisualStudioVersion>
+  </PropertyGroup>
+  <Target Name="CoreCompile" />
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  <Import Project="$(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion)\Python Tools\Microsoft.PythonTools.targets" />
+</Project>

samples/python/pubsub/binary/binary_rec_cb/CMakeLists.txt

@@ -0,0 +1,32 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(binary_rec_cb)
+
+find_package(eCAL REQUIRED)
+
+set(PROJECT_GROUP binary)
+
+if(ECAL_INCLUDE_PY_SAMPLES)
+  if(WIN32)
+
+    include_external_msproject(${PROJECT_NAME}_py ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pyproj)
+    set_property(TARGET ${PROJECT_NAME}_py PROPERTY FOLDER samples/python/${PROJECT_GROUP})
+
+  endif()
+endif()

samples/python/pubsub/binary/binary_rec_cb/binary_rec_cb.py

@@ -0,0 +1,52 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+import sys
+import time
+
+import ecal.core.core as ecal_core
+from ecal.core.subscriber import BinarySubscriber
+
+# eCAL receive callback
+def callback(topic_name, msg, time):
+  print("Received:  {} ms   {}".format(time, bytes.fromhex(msg.decode("utf-8"))))
+
+def main():  
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.getversion(), ecal_core.getdate()))
+
+  # initialize eCAL API
+  ecal_core.initialize(sys.argv, "py_binary_rec_cb")
+
+  # set process state
+  ecal_core.set_process_state(1, 1, "I feel good")
+
+  # create subscriber and connect callback
+  sub = BinarySubscriber("Hello")
+  sub.set_callback(callback)
+
+  # idle main thread
+  while ecal_core.ok():
+    time.sleep(0.1)
+
+  # finalize eCAL API
+  ecal_core.finalize()
+
+if __name__ == "__main__":
+  main()
+

samples/python/pubsub/binary/binary_rec_cb/binary_rec_cb.pyproj

@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="4.0">
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectHome>.</ProjectHome>
+    <StartupFile>binary_rec_cb.py</StartupFile>
+    <SearchPath>..\..\..\lang\python\src</SearchPath>
+    <WorkingDirectory>.</WorkingDirectory>
+    <OutputPath>.</OutputPath>
+    <Name>binary_rec_cb</Name>
+    <RootNamespace>binary_rec_cb</RootNamespace>
+    <ProjectGuid>{a38cc1fc-76f7-3172-81ac-b754dc0f9d60}</ProjectGuid>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+    <DebugSymbols>true</DebugSymbols>
+    <EnableUnmanagedDebugging>false</EnableUnmanagedDebugging>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="binary_rec_cb.py" />
+  </ItemGroup>
+  <PropertyGroup>
+    <VisualStudioVersion Condition="'$(VisualStudioVersion)' == ''">10.0</VisualStudioVersion>
+  </PropertyGroup>
+  <Target Name="CoreCompile" />
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  <Import Project="$(MSBuildExtensionsPath32)\Microsoft\VisualStudio\v$(VisualStudioVersion)\Python Tools\Microsoft.PythonTools.targets" />
+</Project>

samples/python/pubsub/binary/binary_snd/CMakeLists.txt

@@ -0,0 +1,32 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(binary_snd)
+
+find_package(eCAL REQUIRED)
+
+set(PROJECT_GROUP binary)
+
+if(ECAL_INCLUDE_PY_SAMPLES)
+  if(WIN32)
+
+    include_external_msproject(${PROJECT_NAME}_py ${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}.pyproj)
+    set_property(TARGET ${PROJECT_NAME}_py PROPERTY FOLDER samples/python/${PROJECT_GROUP})
+
+  endif()
+endif()