pycram.worlds.multiverse_communication.socket

Multiverse Client base class.

Attributes

T

Classes

MultiverseSocket

Module Contents

pycram.worlds.multiverse_communication.socket.T

class pycram.worlds.multiverse_communication.socket.MultiverseSocket(port: str, host: str = Conf.HOST, meta_data: pycram.datastructures.dataclasses.MultiverseMetaData = MultiverseMetaData())

_send_data = None

port

host

_meta_data

client_name

_multiverse_socket

property request_meta_data: typing_extensions.Dict

The request_meta_data which is sent to the server.

_api_callbacks: typing_extensions.Optional[typing_extensions.Dict] = None

_start_time = 0.0

run() → None

Run the client.

_run() → None

Run the client, should call the _connect_and_start() method. It’s left to the user to implement this method in threaded or non-threaded fashion.

stop() → None

Stop the client.

property response_meta_data: typing_extensions.Dict

Get the response_meta_data.

Returns:

The response_meta_data as a dictionary.

send_and_receive_meta_data()

Send and receive the metadata, this should be called before sending and receiving data.

send_and_receive_data()

Send and receive the data, this should be called after sending and receiving the metadata.

property send_data: typing_extensions.List[float]

Get the send_data.

property receive_data: typing_extensions.List[float]

Get the receive_data, the first element should be the current simulation time, the rest should be the received data with the following order: double -> uint8_t -> uint16_t

Returns:

The received data.

property api_callbacks: typing_extensions.Dict[str, typing_extensions.Callable[[typing_extensions.List[str]], typing_extensions.List[str]]]

Get the api_callbacks.

Returns:

The api_callbacks as a dictionary of function names and their respective callbacks.

_bind_request_meta_data(request_meta_data: T) → T

Bind the request_meta_data before sending it to the server.

Parameters:

request_meta_data – The request_meta_data to bind.

Returns:

The bound request_meta_data.

_bind_response_meta_data(response_meta_data: T) → T

Bind the response_meta_data after receiving it from the server.

Parameters:

response_meta_data – The response_meta_data to bind.

Returns:

The bound response_meta_data.

_bind_send_data(send_data: T) → T

Bind the send_data before sending it to the server.

Parameters:

send_data – The send_data to bind.

Returns:

The bound send_data.

_bind_receive_data(receive_data: T) → T

Bind the receive_data after receiving it from the server.

Parameters:

receive_data – The receive_data to bind.

Returns:

The bound receive_data.

_connect_and_start() → None

Connect to the server and start the client.

_disconnect() → None

Disconnect from the server.

_communicate(resend_request_meta_data: bool = False) → bool

Communicate with the server.

Parameters:

resend_request_meta_data – Resend the request metadata.

Returns:

True if the communication was successful, False otherwise.

_restart() → None

Restart the client.

log_info(message: str) → None

Log information.

Parameters:

message – The message to log.

log_warn(message: str) → None

Warn the user.

Parameters:

message – The message to warn about.

_message_template(message: str) → str

property world_time: float

Get the world time from the server.

Returns:

The world time.

property sim_time: float

Get the current simulation time.

Returns:

The current simulation time.