import logging
import os
from glob import glob
from pathlib import Path
from wrapyfi.utils.core_utils import (
dynamic_module_import,
scan_external,
WRAPYFI_MWARE_PATHS,
)
[docs]
class Clients(object):
"""
A class that holds all clients and their corresponding middleware communicators.
"""
registry = {}
mwares = set()
[docs]
@classmethod
def register(cls, data_type: str, communicator: str):
"""
Register a client with the given data type and middleware communicator.
:param data_type: str: The data type to register the client for e.g., "NativeObject", "Image", "AudioChunk", etc.
:param communicator: str: The middleware communicator to register the client for e.g., "ros", "ros2", "yarp", "zeromq", etc.
"""
def decorator(cls_):
cls.registry[data_type + ":" + communicator] = cls_
cls.mwares.add(communicator)
return cls_
return decorator
[docs]
@staticmethod
def scan():
"""
Scan for clients and add them to the registry.
"""
base_dir = Path(__file__).parent.parent / "clients"
modules = glob(str(base_dir / "*.py"), recursive=True)
modules = [
"wrapyfi.clients." + Path(module).relative_to(base_dir).as_posix()
for module in modules
]
dynamic_module_import(modules, globals())
scan_external(os.environ.get(WRAPYFI_MWARE_PATHS, ""), "clients")
[docs]
class Client(object):
"""
A base class for clients.
"""
[docs]
def __init__(self, name: str, in_topic: str, carrier: str = "", **kwargs):
"""
Initialize the client.
:param name: str: The name of the client
:param in_topic: str: The topic to listen to
:param carrier: str: The middleware carrier to use
"""
self.__name__ = name
self.in_topic = in_topic
self.carrier = carrier
self.established = False
[docs]
def establish(self):
"""
Establish the client.
"""
raise NotImplementedError
[docs]
def request(self, *args, **kwargs):
"""
Send a request to the server.
"""
raise NotImplementedError
def _request(self, *args, **kwargs):
"""
Internal method for sending a request to the server in the background.
"""
raise NotImplementedError
def _await_reply(self):
"""
Internal method for awaiting a reply from the server in the background.
"""
raise NotImplementedError
[docs]
def close(self):
"""
Close the connection.
"""
raise NotImplementedError