wrapyfi.clients package

Submodules

wrapyfi.clients.ros module

class wrapyfi.clients.ros.ROSClient(name: str, in_topic: str, carrier: str = 'tcp', ros_kwargs: dict | None = None, **kwargs)

Bases: Client

__init__(name: str, in_topic: str, carrier: str = 'tcp', ros_kwargs: dict | None = None, **kwargs)

Initialize the client.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol. ROS currently only supports TCP for rep/req pattern. Default is ‘tcp’

• ros_kwargs – dict: Additional kwargs for the ROS middleware

• kwargs – dict: Additional kwargs for the client

close()

Close the client.

class wrapyfi.clients.ros.ROSNativeObjectClient(name: str, in_topic: str, carrier: str = 'tcp', persistent: bool = True, serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROSClient

__init__(name: str, in_topic: str, carrier: str = 'tcp', persistent: bool = True, serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

The NativeObject client using the ROS String message assuming the data is serialized as a JSON string. Deserializes the data (including plugins) using the decoder and parses it to a Python object.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol. ROS currently only supports TCP for rep/req pattern. Default is ‘tcp’

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the client’s connection to the ROS service.

request(*args, **kwargs) → Any

Send a request to the ROS service.

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

Any: The response from the ROS service

class wrapyfi.clients.ros.ROSImageClient(name: str, in_topic: str, carrier: str = 'tcp', width: int = -1, height: int = -1, persistent: bool = True, rgb: bool = True, fp: bool = False, serializer_kwargs: dict | None = None, **kwargs)

Bases: ROSClient

__init__(name: str, in_topic: str, carrier: str = 'tcp', width: int = -1, height: int = -1, persistent: bool = True, rgb: bool = True, fp: bool = False, serializer_kwargs: dict | None = None, **kwargs)

The Image client using the ROS Image message parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol. ROS currently only supports TCP for rep/req pattern. Default is ‘tcp’

• width – int: The width of the image. Default is -1

• height – int: The height of the image. Default is -1

• rgb – bool: Whether the image is RGB. Default is True

• fp – bool: Whether to utilize floating-point precision. Default is False

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

establish()

Establish the client’s connection to the ROS service.

request(*args, **kwargs)

Send a request to the ROS service.

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

np.array: The received image from the ROS service

class wrapyfi.clients.ros.ROSAudioChunkClient(name: str, in_topic: str, carrier: str = 'tcp', persistent: bool = True, channels: int = 1, rate: int = 44100, chunk: int = -1, serializer_kwargs: dict | None = None, **kwargs)

Bases: ROSClient

__init__(name: str, in_topic: str, carrier: str = 'tcp', persistent: bool = True, channels: int = 1, rate: int = 44100, chunk: int = -1, serializer_kwargs: dict | None = None, **kwargs)

The AudioChunk client using the ROS Audio message parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol. ROS currently only supports TCP for rep/req pattern. Default is ‘tcp’

• channels – int: Number of audio channels. Default is 1

• rate – int: Sampling rate of the audio. Default is 44100

• chunk – int: The size of audio chunks. Default is -1

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

establish()

Establish the client’s connection to the ROS service.

request(*args, **kwargs)

Send a request to the ROS service

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

Tuple[np.array, int]: The received audio chunk and rate from the ROS service

wrapyfi.clients.ros2 module

class wrapyfi.clients.ros2.ROS2Client(*args: Any, **kwargs: Any)

Bases: Client, Node

__init__(name: str, in_topic: str, ros2_kwargs: dict | None = None, **kwargs)

Initialize the client.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• ros2_kwargs – dict: Additional kwargs for the ROS 2 middleware

• kwargs – dict: Additional kwargs for the client

close()

Close the client.

class wrapyfi.clients.ros2.ROS2NativeObjectClient(*args: Any, **kwargs: Any)

Bases: ROS2Client

__init__(name: str, in_topic: str, serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

The NativeObject listener using the ROS 2 String message assuming the data is serialized as a JSON string. Deserializes the data (including plugins) using the decoder and parses it to a Python object.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the client’s connection to the ROS 2 service.

request(*args, **kwargs)

Send a request to the ROS 2 service.

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

Any: The response from the ROS 2 service

class wrapyfi.clients.ros2.ROS2ImageClient(*args: Any, **kwargs: Any)

Bases: ROS2Client

__init__(name: str, in_topic: str, width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, jpg: bool = False, serializer_kwargs: dict | None = None, **kwargs)

The Image client using the ROS 2 Image message parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• width – int: The width of the image. Default is -1 (use the width of the received image)

• height – int: The height of the image. Default is -1 (use the height of the received image)

• rgb – bool: Whether the image is RGB. Default is True

• fp – bool: Whether to utilize floating-point precision. Default is False

• jpg – bool: True if the image should be decompressed from JPG. Default is False

• serializer_kwargs – dict: Additional kwargs for the serializer

establish()

Establish the client’s connection to the ROS 2 service.

request(*args, **kwargs)

Send a request to the ROS 2 service.

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

Any: The response from the ROS 2 service

class wrapyfi.clients.ros2.ROS2AudioChunkClient(*args: Any, **kwargs: Any)

Bases: ROS2Client

__init__(name: str, in_topic: str, channels: int = 1, rate: int = 44100, chunk: int = -1, serializer_kwargs: dict | None = None, **kwargs)

The AudioChunk client using the ROS 2 Audio message parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• channels – int: Number of channels in the audio. Default is 1

• rate – int: Sampling rate of the audio. Default is 44100

• chunk – int: Number of samples in the audio chunk. Default is -1 (use the chunk size of the received audio)

• serializer_kwargs – dict: Additional kwargs for the serializer

establish()

Establish the client’s connection to the ROS 2 service.

request(*args, **kwargs)

Send a request to the ROS 2 service.

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

Any: The response from the ROS 2 service

wrapyfi.clients.yarp module

class wrapyfi.clients.yarp.YarpClient(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', persistent: bool = True, yarp_kwargs: dict | None = None, **kwargs)

Bases: Client

__init__(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', persistent: bool = True, yarp_kwargs: dict | None = None, **kwargs)

Initialize the client.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol (e.g. ‘tcp’). Default is ‘tcp’

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• yarp_kwargs – dict: Additional kwargs for the Yarp middleware

• kwargs – dict: Additional kwargs for the client

close()

Close the client.

class wrapyfi.clients.yarp.YarpNativeObjectClient(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', persistent: bool = True, serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Bases: YarpClient

__init__(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', persistent: bool = True, serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

The NativeObject listener using the YARP Bottle construct assuming the data is serialized as a JSON string. Deserializes the data (including plugins) using the decoder and parses it to a Python object.

Parameters:

• name – str: Name of the client

• carrier – str: Carrier protocol (e.g. ‘tcp’). Default is ‘tcp’

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

• kwargs – dict: Additional kwargs for the client

establish()

Establish the client’s connection to the YARP service.

request(*args, **kwargs)

Send a request to the YARP service.

Parameters:

• args – tuple: Positional arguments to send in the request

• kwargs – dict: Keyword arguments to send in the request

Returns:

Any: The response from the YARP service

class wrapyfi.clients.yarp.YarpImageClient(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, persistent: bool = True, serializer_kwargs: dict | None = None, **kwargs)

Bases: YarpNativeObjectClient

__init__(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, persistent: bool = True, serializer_kwargs: dict | None = None, **kwargs)

The Image client using the YARP Bottle construct parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol (e.g. ‘tcp’). Default is ‘tcp’

• width – int: The width of the image. Default is -1

• height – int: The height of the image. Default is -1

• rgb – bool: Whether the image is RGB. Default is True

• fp – bool: Whether to utilize floating-point precision. Default is False

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

class wrapyfi.clients.yarp.YarpAudioChunkClient(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', channels: int = 1, rate: int = 44100, chunk: int = -1, persistent: bool = True, serializer_kwargs: dict | None = None, **kwargs)

Bases: YarpNativeObjectClient

__init__(name: str, in_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', channels: int = 1, rate: int = 44100, chunk: int = -1, persistent: bool = True, serializer_kwargs: dict | None = None, **kwargs)

The AudioChunk client using the YARP Bottle construct parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Name of the input topic preceded by ‘/’ (e.g. ‘/topic’)

• carrier – str: Carrier protocol (e.g. ‘tcp’). Default is ‘tcp’

• channels – int: Number of audio channels. Default is 1

• rate – int: Sampling rate of the audio. Default is 44100

• chunk – int: The size of audio chunks. Default is -1

• persistent – bool: Whether to keep the service connection alive across multiple service calls. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

wrapyfi.clients.zeromq module

class wrapyfi.clients.zeromq.ZeroMQClient(name, in_topic, carrier='tcp', socket_ip: str = '127.0.0.1', socket_rep_port: int = 5558, zeromq_kwargs: dict | None = None, **kwargs)

Bases: Client

__init__(name, in_topic, carrier='tcp', socket_ip: str = '127.0.0.1', socket_rep_port: int = 5558, zeromq_kwargs: dict | None = None, **kwargs)

Initialize the client.

Parameters:

• name – str: Name of the client

• out_topic – str: Topics are not supported for the REQ/REP pattern in ZeroMQ. Any given topic is ignored

• carrier – str: Carrier protocol. ZeroMQ currently only supports TCP for PUB/SUB pattern. Default is ‘tcp’

• zeromq_kwargs – dict: Additional kwargs for the ZeroMQ middleware

• kwargs – dict: Additional kwargs for the client

close()

Close the subscriber.

class wrapyfi.clients.zeromq.ZeroMQNativeObjectClient(name: str, in_topic: str, carrier: str = 'tcp', serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ZeroMQClient

__init__(name: str, in_topic: str, carrier: str = 'tcp', serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Specific client for handling native Python objects, serializing them to JSON strings for transmission.

Parameters:

• name – str: Name of the client

• in_topic – str: Topics are not supported for the REQ/REP pattern in ZeroMQ. Any given topic is ignored

• carrier – str: Carrier protocol. ZeroMQ currently only supports TCP for REQ/REP pattern. Default is ‘tcp’

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish(**kwargs)

Establish the connection to the server.

request(*args, **kwargs)

Serialize the provided Python objects to JSON strings, send a request to the server, and await a reply. The method uses the configured JSON encoder for serialization before sending the resultant string to the server.

Parameters:

• args – tuple: Arguments to be sent to the server

• kwargs – dict: Keyword arguments to be sent to the server

Returns:

Any: The Python object received from the server, deserialized using the configured JSON decoder hook

class wrapyfi.clients.zeromq.ZeroMQImageClient(name: str, in_topic: str, carrier: str = 'tcp', width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, jpg: bool = False, serializer_kwargs: dict | None = None, **kwargs)

Bases: ZeroMQNativeObjectClient

__init__(name: str, in_topic: str, carrier: str = 'tcp', width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, jpg: bool = False, serializer_kwargs: dict | None = None, **kwargs)

The Image client using the ZeroMQ message construct parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Topics are not supported for the REQ/REP pattern in ZeroMQ. Any given topic is ignored

• carrier – str: Carrier protocol (e.g. ‘tcp’). Default is ‘tcp’

• width – int: Width of the image. Default is -1 (use the width of the received image)

• height – int: Height of the image. Default is -1 (use the height of the received image)

• rgb – bool: True if the image is RGB, False if it is grayscale. Default is True

• fp – bool: True if the image is floating point, False if it is integer. Default is False

• jpg – bool: True if the image should be compressed to JPG before sending. Default is False

• serializer_kwargs – dict: Additional kwargs for the serializer

class wrapyfi.clients.zeromq.ZeroMQAudioChunkClient(name: str, in_topic: str, carrier: str = 'tcp', channels: int = 1, rate: int = 44100, chunk: int = -1, serializer_kwargs: dict | None = None, **kwargs)

Bases: ZeroMQNativeObjectClient

__init__(name: str, in_topic: str, carrier: str = 'tcp', channels: int = 1, rate: int = 44100, chunk: int = -1, serializer_kwargs: dict | None = None, **kwargs)

The AudioChunk client using the ZeroMQ message construct parsed to a numpy array.

Parameters:

• name – str: Name of the client

• in_topic – str: Topics are not supported for the REQ/REP pattern in ZeroMQ. Any given topic is ignored

• carrier – str: Carrier protocol (e.g. ‘tcp’). Default is ‘tcp’

• width – int: Width of the image. Default is -1 (use the width of the received image)

• height – int: Height of the image. Default is -1 (use the height of the received image)

• rgb – bool: True if the image is RGB, False if it is grayscale. Default is True

• fp – bool: True if the image is floating point, False if it is integer. Default is False

• jpg – bool: True if the image should be compressed to JPG before sending. Default is False

• serializer_kwargs – dict: Additional kwargs for the serializer

Module contents

class wrapyfi.clients.FallbackClient(name: str, in_topic: str, carrier: str = '', missing_middleware_object: str = '', **kwargs)

Bases: Client

__init__(name: str, in_topic: str, carrier: str = '', missing_middleware_object: str = '', **kwargs)

Initialize the client.

Parameters:

• name – str: The name of the client

• in_topic – str: The topic to listen to

• carrier – str: The middleware carrier to use

establish(repeats: int = -1, **kwargs)

Establish the client.

request(*args, **kwargs)

Send a request to the server.

close()

Close the connection.