gd_node.protocols package

Subpackages

gd_node.protocols.http package

Submodules

gd_node.protocols.base module

Developers: - Manuel Silva (manuel.silva@mov.ai) - 2020 - Tiago Paulino (tiago@mov.ai) - 2020

Base classes for all protocols

class gd_node.protocols.base.BaseIport(_node_name: str, _port_name: str, _topic: str, _message: str, _callback: str, update: bool = True, _gd_node: Any | None = None, **_ignore)

Bases: object

Class with common methods for all the iports

callback(msg: Any) → None: Executes the callback if port is enabled

register() → None: Enables the iport

unregister() → None: Disables the iport

class gd_node.protocols.base.BaseOport

Bases: object

Class with common methods for all the oports

gd_node.protocols.movai module

Developers: - Manuel Silva (manuel.silva@mov.ai) - 2020 - Tiago Paulino (tiago@mov.ai) - 2020

Module that implements specific Mov.AI protocol to deal with GD_Nodes

class gd_node.protocols.movai.ContextClientIn(_node_name: str, _port_name: str, _topic: str, _message: str, _callback: str, _params: dict, _update: bool, **_ignore)

Bases: BaseIport

Class that implements the Client Context comunication in the GD_Node: Is subscribed to a redis hash (param)

Parameters:

_node_name – Name of the node instance
_iport_name – Name of the port
_cb_name – Name of the callback to be executed

callback(msg): Executes callback

is_port_subscribed()

async register_sub(_port_name: str, _node_name: str) → None: Subscribe to key.

class gd_node.protocols.movai.ContextClientOut(_node_name: str, _oport_name: str, _params: dict)

Bases: object

Class that implements Client Context comunication in the GD_Node

send(msg): Send function

class gd_node.protocols.movai.ContextMsg(id={}, data={}, changed={})

Bases: object

Message for Context data -> dictionary of full context table changed -> dictionary only of values changed

class gd_node.protocols.movai.ContextServerIn(_node_name: str, _port_name: str, _topic: str, _message: str, _callback: str, _params: dict, _update: bool, **_ignore)

Bases: BaseIport

Class that implements the Server Context comunication in the GD_Node: Is subscribed to a redis hash (param)

Parameters:

_node_name – Name of the node instance
_iport_name – Name of the port
_cb_name – Name of the callback to be executed

callback(msg): Executes callback

async register_sub(_port_name: str, _node_name: str) → None: Subscribe to key.

class gd_node.protocols.movai.ContextServerOut(_node_name: str, _oport_name: str, _params: dict)

Bases: object

Class that implements Client Context comunication in the GD_Node

send(msg): Send function

class gd_node.protocols.movai.Exit(_node_name: str, _port_name: str, _topic: str, _message: str, _callback: str, **_ignore)

Bases: BaseIport

Class that implements the exit callback of the GD_Node

Parameters:

_node_name – Name of the node instance
_iport_name – Name of the port
_cb_name – Name of the callback to be executed

execute(): Executes exit callback

unregister(): Disables the iport

class gd_node.protocols.movai.Init(_node_name: str, _port_name: str, _callback: str, **_ignore)

Bases: BaseIport

Class that implements the init callback of the GD_Node

Parameters:

_node_name – Name of the node instance
_iport_name – Name of the port
_cb_name – Name of the callback to be executed

class gd_node.protocols.movai.StateMachineProtocol(_node_name: str, _port_name: str, _topic: str, _message: str, _callback: str, _params: dict, **_ignore)

Bases: BaseIport

Class that implements a state machine inside a GD_Node

callback(msg) → None: Executes the callback if port is enabled

change_state(port): Change from current state to next one according to port called

get_state(): Returns the current state

async register_sub(loop, scope, callback, **sub_dict)

run(): Executes the callback of the current state

set_state(state): Sets the current state

class gd_node.protocols.movai.Transition(_node_name: str, _oport_name: str, _flow_name: str)

Bases: object

Method for changing between GD_Nodes

Parameters:

_node_name – Name of the node instance
_oport_name – Name of the port

send(msg=None) → None: Send function

class gd_node.protocols.movai.TransitionIn(_node_name: str, _port_name: str, _callback: str, _data, **_ignore)

Bases: BaseIport

Class that implements the transition callback of the state GD_Node

Parameters:

_node_name – Name of the node instance
_iport_name – Name of the port
_cb_name – Name of the callback to be executed

gd_node.protocols.redissub module

Developers: - Manuel Silva (manuel.silva@mov.ai) - 2020 - Tiago Paulino (tiago@mov.ai) - 2020

Module that implements Redis Subscriber as a GD_Node input protocol

class gd_node.protocols.redissub.Var_Subscriber(_node_name: str, _port_name: str, _topic: str, _message: str, _callback: str, _params: dict, _update: bool, **_ignore)

Bases: BaseIport

Redis Var Event Subscriber. Implementention of redis pubsub

Parameters:

_node_name – Name of the node instance
_port_name – Name of the port
_topic – Iport topic - not used
_message – Custom Message containing subscribed info
_callback – Name of the callback to be executed

callback(msg: Any) → None

Callback of the Redis subscriber protocol

Parameters:: msg – Redis psubscribe message

async register_sub(db, loop, sub_dict, callback): Register the subscriber

gd_node.protocols.ros1 module

gd_node.protocols.ros2 module

Module contents

Developers: - Alexandre Pires (alexandre.pires@mov.ai) - 2020