wrapyfi.servers package

Submodules

wrapyfi.servers.ros module

class wrapyfi.servers.ros.ROSServer(name: str, out_topic: str, carrier: str = 'tcp', ros_kwargs: dict | None = None, **kwargs)

Bases: Server

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

Initialize the server.

Parameters:

• name – str: Name of the server

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

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

• ros_kwargs – dict: Additional kwargs for the ROS middleware

• kwargs – dict: Additional kwargs for the server

close()

Close the server.

class wrapyfi.servers.ros.ROSNativeObjectServer(name: str, out_topic: str, carrier: str = 'tcp', serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROSServer

SEND_QUEUE = <queue.Queue object>

RECEIVE_QUEUE = <queue.Queue object>

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

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

Parameters:

• name – str: Name of the server

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

• carrier – str: Carrier protocol. ROS 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()

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(obj)

Serialize the provided object and send it as a reply to the client.

Parameters:

obj – Any: The Python object to be serialized and sent

class wrapyfi.servers.ros.ROSImageServer(name: str, out_topic: str, carrier: str = 'tcp', width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROSServer

SEND_QUEUE = <queue.Queue object>

RECEIVE_QUEUE = <queue.Queue object>

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

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

Parameters:

• name – str: Name of the server

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

• carrier – str: Carrier protocol. ROS currently only supports TCP for REQ/REP pattern. 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

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(img: numpy.ndarray)

Serialize the provided image and send it as a reply to the client.

Parameters:

img – np.ndarray: Image to publish

class wrapyfi.servers.ros.ROSAudioChunkServer(name: str, out_topic: str, carrier: str = 'tcp', channels: int = 1, rate: int = 44100, chunk: int = -1, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROSServer

SEND_QUEUE = <queue.Queue object>

RECEIVE_QUEUE = <queue.Queue object>

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

Specific server handling audio data as numpy arrays.

Parameters:

• name – str: Name of the server

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

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

• 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)

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(aud: Tuple[numpy.ndarray, int])

Serialize the provided audio data and send it as a reply to the client.

Parameters:

aud – Tuple[np.ndarray, int]: Audio chunk to publish formatted as (np.ndarray[audio_chunk, channels], int[samplerate])

wrapyfi.servers.ros2 module

class wrapyfi.servers.ros2.ROS2Server(name: str, out_topic: str, ros2_kwargs: dict | None = None, **kwargs)

Bases: Server, Node

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

Initialize the server.

Parameters:

• name – str: Name of the server

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

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

• kwargs – dict: Additional kwargs for the server

close()

Close the server.

class wrapyfi.servers.ros2.ROS2NativeObjectServer(name: str, out_topic: str, serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROS2Server

SEND_QUEUE = <queue.Queue object>

RECEIVE_QUEUE = <queue.Queue object>

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

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

Parameters:

• name – str: Name of the server

• out_topic – str: Name of the output 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 connection to the server

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(obj)

Serialize the provided Python object to a JSON string and send it as a reply to the client. The method uses the configured JSON encoder for serialization before sending the resultant string to the client.

Parameters:

obj – Any: The Python object to be serialized and sent

class wrapyfi.servers.ros2.ROS2ImageServer(name: str, out_topic: str, width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, jpg: bool = False, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROS2Server

SEND_QUEUE = <queue.Queue object>

RECEIVE_QUEUE = <queue.Queue object>

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

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

Parameters:

• name – str: Name of the server

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

• 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 decompressed from JPG. Default is False

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(img: numpy.ndarray)

Serialize the provided image data and send it as a reply to the client.

Parameters:

img – np.ndarray: Image to send formatted as a cv2 image - np.ndarray[img_height, img_width, channels]

class wrapyfi.servers.ros2.ROS2AudioChunkServer(name: str, out_topic: str, channels: int = 1, rate: int = 44100, chunk: int = -1, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ROS2Server

SEND_QUEUE = <queue.Queue object>

RECEIVE_QUEUE = <queue.Queue object>

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

Specific server handling audio data as numpy arrays.

Parameters:

• name – str: Name of the server

• out_topic – str: Name of the output 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)

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(aud: Tuple[numpy.ndarray, int])

Serialize the provided audio data and send it as a reply to the client.

Parameters:

aud – Tuple[np.ndarray, int]: Audio chunk to publish formatted as (np.ndarray[audio_chunk, channels], int[samplerate])

wrapyfi.servers.yarp module

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

Bases: Server

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

Initialize the server.

Parameters:

• name – str: Name of the server

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

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

• out_topic_connect – str: Name of the output topic connection alias ‘/’ (e.g. ‘/topic:out’) to connect to. None appends ‘:out’ to the out_topic. Default is None

• yarp_kwargs – dict: Additional kwargs for the Yarp middleware

• kwargs – dict: Additional kwargs for the server

close()

Close the server.

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

Bases: YarpServer

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

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

Parameters:

• name – str: Name of the server

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

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

• out_topic_connect – str: Name of the output topic connection alias ‘/’ (e.g. ‘/topic:out’) to connect to. None appends ‘:out’ to the out_topic. Default is None

• persistent – bool: Whether the server port should remain connected after closure. Default is True

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish()

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(obj)

Serialize the provided Python object to a JSON string and send it as a reply to the client. The method uses the configured JSON encoder for serialization before sending the resultant string to the client.

Parameters:

obj – Any: The Python object to be serialized and sent

class wrapyfi.servers.yarp.YarpImageServer(name: str, out_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', out_topic_connect: str | None = None, persistent: bool = True, width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, deserializer_kwargs: dict | None = None, **kwargs)

Bases: YarpNativeObjectServer

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

Specific server handling image data as numpy arrays, serializing them to JSON strings for transmission.

Parameters:

• name – str: Name of the server

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

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

• out_topic_connect – str: Name of the output topic connection alias ‘/’ (e.g. ‘/topic:out’) to connect to. None appends ‘:out’ to the out_topic. Default is None

• persistent – bool: Whether the server port should remain connected after closure. Default is True

• 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

• deserializer_kwargs – dict: Additional kwargs for the deserializer

reply(img: numpy.ndarray)

Serialize the provided image data and send it as a reply to the client.

Parameters:

img – np.ndarray: Image to send formatted as a cv2 image - np.ndarray[img_height, img_width, channels]

class wrapyfi.servers.yarp.YarpAudioChunkServer(name: str, out_topic: str, carrier: Literal['tcp', 'udp', 'mcast'] = 'tcp', out_topic_connect: str | None = None, persistent: bool = True, channels: int = 1, rate: int = 44100, chunk: int = -1, deserializer_kwargs: dict | None = None, **kwargs)

Bases: YarpNativeObjectServer

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

Specific server handling audio data as numpy arrays, serializing them to JSON strings for transmission.

Parameters:

• name – str: Name of the server

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

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

• out_topic_connect – str: Name of the output topic connection alias ‘/’ (e.g. ‘/topic:out’) to connect to. None appends ‘:out’ to the out_topic. Default is None

• persistent – bool: Whether the server port should remain connected after closure. Default is True

• 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)

• deserializer_kwargs – dict: Additional kwargs for the deserializer

reply(aud: Tuple[numpy.ndarray, int])

Serialize the provided audio data and send it as a reply to the client.

Parameters:

aud – Tuple[np.ndarray, int]: Audio chunk to publish formatted as (np.ndarray[audio_chunk, channels], int[samplerate])

wrapyfi.servers.zeromq module

class wrapyfi.servers.zeromq.ZeroMQServer(name: str, out_topic: str, carrier: str = 'tcp', socket_ip: str = '127.0.0.1', socket_rep_port: int = 5558, socket_req_port: int = 5559, start_proxy_broker: bool = True, proxy_broker_spawn: bool = 'process', zeromq_kwargs: dict | None = None, **kwargs)

Bases: Server

__init__(name: str, out_topic: str, carrier: str = 'tcp', socket_ip: str = '127.0.0.1', socket_rep_port: int = 5558, socket_req_port: int = 5559, start_proxy_broker: bool = True, proxy_broker_spawn: bool = 'process', zeromq_kwargs: dict | None = None, **kwargs)

Initialize the server and start the device broker if necessary.

Parameters:

• name – str: Name of the server

• 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 REQ/REP pattern. Default is ‘tcp’

• socket_ip – str: IP address of the socket. Default is ‘127.0.0.1’

• socket_rep_port – int: Port of the socket for REP pattern. Default is 5558

• socket_req_port – int: Port of the socket for REQ pattern. Default is 5559

• start_proxy_broker – bool: Whether to start a device broker. Default is True

• proxy_broker_spawn – str: Whether to spawn the device broker as a process or thread. Default is ‘process’

• zeromq_kwargs – dict: Additional kwargs for the ZeroMQ Req/Rep middleware

• kwargs – dict: Additional kwargs for the server

close()

Close the server.

class wrapyfi.servers.zeromq.ZeroMQNativeObjectServer(name: str, out_topic: str, carrier: str = 'tcp', serializer_kwargs: dict | None = None, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ZeroMQServer

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

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

Parameters:

• name – str: Name of the server

• 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’

• serializer_kwargs – dict: Additional kwargs for the serializer

• deserializer_kwargs – dict: Additional kwargs for the deserializer

establish(**kwargs)

Establish the connection to the server.

await_request(*args, **kwargs)

Await and deserialize the client’s request, returning the extracted arguments and keyword arguments. The method blocks until a message is received, then attempts to deserialize it using the configured JSON decoder hook, returning the extracted arguments and keyword arguments.

Returns:

Tuple[list, dict]: A tuple containing two items: - A list of arguments extracted from the received message - A dictionary of keyword arguments extracted from the received message

reply(obj)

Serialize the provided Python object to a JSON string and send it as a reply to the client. The method uses the configured JSON encoder for serialization before sending the resultant string to the client.

Parameters:

obj – Any: The Python object to be serialized and sent

class wrapyfi.servers.zeromq.ZeroMQImageServer(name: str, out_topic: str, carrier: str = 'tcp', width: int = -1, height: int = -1, rgb: bool = True, fp: bool = False, jpg: bool = False, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ZeroMQNativeObjectServer

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

Specific server handling image data as numpy arrays, serializing them to JSON strings for transmission.

Parameters:

• name – str: Name of the server

• 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 REQ/REP pattern. 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 decompressed from JPG. Default is False

• deserializer_kwargs – dict: Additional kwargs for the deserializer

reply(img: numpy.ndarray)

Serialize the provided image data and send it as a reply to the client.

Parameters:

img – np.ndarray: Image to send formatted as a cv2 image - np.ndarray[img_height, img_width, channels]

class wrapyfi.servers.zeromq.ZeroMQAudioChunkServer(name: str, out_topic: str, carrier: str = 'tcp', channels: int = 1, rate: int = 44100, chunk: int = -1, deserializer_kwargs: dict | None = None, **kwargs)

Bases: ZeroMQNativeObjectServer

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

Specific server handling audio data as numpy arrays, serializing them to JSON strings for transmission.

Parameters:

• name – str: Name of the server

• 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 REQ/REP pattern. Default is ‘tcp’

• 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)

• deserializer_kwargs – dict: Additional kwargs for the deserializer

reply(aud: Tuple[numpy.ndarray, int])

Serialize the provided audio data and send it as a reply to the client.

Parameters:

aud – Tuple[np.ndarray, int]: Audio chunk to publish formatted as (np.ndarray[audio_chunk, channels], int[samplerate])

Module contents

class wrapyfi.servers.FallbackServer(name: str, out_topic: str, carrier: str = '', missing_middleware_object: str = '', **kwargs)

Bases: Server

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

Initialize the server.

Parameters:

• name – str: The name of the server

• out_topic – str: The topic to publish to

• carrier – str: The middleware carrier to use

• out_topic_connect – str: The topic to connect to (this is deprecated and will be removed in the future since its usage is limited to YARP)

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

Establish the server.

await_request(*args, **kwargs)

Await a request from a client.

reply(obj)

Reply to a client request.

close()

Close the connection.