A python robotic framework and tools
Project description
:lizard: pyGecko
My robot software.
- Doesn't use ROS, ROS is a pain to install and maintain
on macOS and various linux systems
- Uses some of the same ideas, constructs, architecture ideas, APIs but not strictly adhering to them
- Uses Zero MQ as the inter-process communication
(uses both TCP and UDS) instead of RPC-XML
- looked at Google's protobuf, but was more complex than I needed
- using
msgpack
to serialize data currently, but could be changed to something different - instead of
roscore
usegeckocore.py
as the message hub- produces performance data (see below)
- instead of
roslaunch
usegeckolaunch.py
json
- config and launch files- All of this runs on Raspberry Pi 3
- Also runs on macOS (UNIX)
Architecture
- GeckoCore is a hub that tracks what computer publishes what topic and prints
node cpu/memory usage
- Actually, when gecko processes start up, they tell geckocore their pid
numbers so it can track usage using
psutil
library - Obviously this only works on processes located on the same machine as geckocore
- GeckoCore really just displays info and keeps track of publisher topics/addresses
- Actually, when gecko processes start up, they tell geckocore their pid
numbers so it can track usage using
- Any number of pubs can talk to any number of sub ... it is not a one-to-one relationship
- Pubs/Subs can exist on remote machines
- If a Pub/Sub is on a remote machine, then it's performance data is not displayed
- There currently is no mechanism to get the remote performance data
geckocore.py
- Binder opens a random port for data
- Note: either a publisher or a subscriber can bind to a port
- Binder tells GeckoCore the topic and address/port
- GeckoCore acknowledges the binder
- A connector wants to connect to a topic and asks GeckoCore for the address/port
- GeckoCore:
- If topic is found, return the address/port and an ok status
- If topic is not found, returns None
- Connector connects to the binder with the given address/port
- Binder: only 1 per port, can be either pub or sub
- Connecter: can be many per port, can be pub or sub
This is the main message hub. GeckoCore also is passed the PIDs for processes on the local machine and prints performance data on each process:
+========================================
| Processes Performance
| [24790] GeckoCore............. cpu: 0.3% mem: 0.0%
| [24793] pub_ryan.............. cpu: 0.1% mem: 0.0%
| [24795] pub_mike.............. cpu: 0.1% mem: 0.0%
| [24796] sub_mike.............. cpu: 20.5% mem: 0.0%
| [24797] pub_sammie............ cpu: 0.1% mem: 0.0%
| [24798] sub_sammie............ cpu: 20.5% mem: 0.0%
+------------------------------
| ESTABLISHED Connections
| pub_mike............ 192.168.86.22:50551 --> 192.168.86.22:50557
| sub_mike............ 192.168.86.22:50557 --> 192.168.86.22:50551
| pub_sammie.......... 192.168.86.22:50554 --> 192.168.86.22:50558
| sub_sammie.......... 192.168.86.22:50558 --> 192.168.86.22:50554
+------------------------------
| LISTEN Connections
| GeckoCore........... 192.168.86.22:11311
| pub_ryan............ 192.168.86.22:50548
| pub_mike............ 192.168.86.22:50551
| pub_sammie.......... 192.168.86.22:50554
+========================================
| Published Topics <topic>@tcp://<ip>:<port>
| 1: ryan@tcp://192.168.86.22:50548
| 2: mike@tcp://192.168.86.22:50551
| 3: sammie@tcp://192.168.86.22:50554
+========================================
========================================
Geckocore [65975]
-------------
Key: local
Host IP: 10.0.1.57
Listening on: 224.3.29.110:11311
-------------
Known Services [6]
* hello:........................ tcp://10.0.1.57:65303
* hey there:.................... tcp://10.0.1.57:65304
* ryan:......................... tcp://10.0.1.57:65310
* mike:......................... tcp://10.0.1.57:65311
* sammie:....................... tcp://10.0.1.57:65312
* scott:........................ tcp://10.0.1.57:65313
Binders [6]
[65993] hello................. cpu: 0.0% mem: 0.0%
[65994] hey there............. cpu: 0.0% mem: 0.0%
[66008] ryan.................. cpu: 0.1% mem: 0.0%
[66010] mike.................. cpu: 0.1% mem: 0.0%
[66012] sammie................ cpu: 0.1% mem: 0.0%
[66014] scott................. cpu: 0.1% mem: 0.0%
Connections [8]
[65995] hello................. cpu: 20.7% mem: 0.0%
[65996] hello................. cpu: 20.9% mem: 0.0%
[65997] hey there............. cpu: 21.0% mem: 0.0%
[65998] hey there............. cpu: 20.8% mem: 0.0%
[66011] mike.................. cpu: 19.0% mem: 0.0%
[66013] sammie................ cpu: 19.0% mem: 0.0%
[66015] scott................. cpu: 19.4% mem: 0.0%
[66009] ryan.................. cpu: 18.7% mem: 0.0%
geckolaunch.py
geckolaunch.py
allows you to launch a bunch of processes quickly using a launch
file. A launch file is just a simple json file where each line takes the form:
[file, function, kwargs]
. Here is an example:
{
"processes":
[
["process", "publish", {"topic": "hello"}],
["process", "publish", {"topic": "hey there"}],
["process", "subscribe2", {"topic": "hello"}],
["process", "subscribe2", {"topic": "hello"}],
["process", "subscribe2", {"topic": "hey there"}],
["process", "subscribe2", {"topic": "hey there"}],
["process", "subscribe2", {"topic": "cv"}],
["process", "subscribe2", {"topic": "cv"}],
["process", "pcv", {"topic": "cv"}]
],
"geckocore": {
"host": "localhost" # or hostname.local
}
}
geckopy
See the examples, but this acts like a rospy
and helps make writing
pub/sub processes easy. See the /examples
folder to see it in action.
- init_node: this sets up the the process for communications with
geckocore
- logxxx: prints log messages
from pygecko import geckopy geckopy.loginfo('this is a info message') # just send a string geckopy.logwarn('this is a warning message') geckopy.logerror('this is a error message') geckopy.logdebug('this is a debug message')
- Subscriber: creates a subscriber and appends the callback function to an array in geckopy
- Publisher: creates a publisher and returns it
- Rate: given a frequency of how often a loop should run (i.e., 10Hz), the
returned object will dynamically set the sleep interval to achieve the rate. Ex:
from pygecko import geckopy rate = geckopy.Rate(20) # run loop at 20 Hz while True: rate.sleep()
Basic User API
- geckopy.*
- init_node(kwargs)
- logX(test, topic='log')
- X: Error, Debug, Info, Warning
- is_shutdown()
- Publisher(topics, addr=None, queue_size=10, bind=True)
- Subscriber(topics, callback=None, addr=None, bind=False)
Change Log
Date | Version | Notes |
---|---|---|
2019-May-18 | 1.3.0 | working with c++ |
2019-Mar-02 | 1.2.0 | set multicast as the default method to find nodes |
2018-Oct-28 | 1.1.0 | simplified and removed geckocore as the main hub |
2018-Sep-16 | 1.0.3 | implemented a multicast connection process |
2018-Sep-16 | 1.0.2 | dropping python 2.7 support, only 3.7+ |
2018-Sep-11 | 1.0.1 | working, but still need to flush it out some more |
2018-Jul-28 | 1.0.0 | totally nuked everything from orbit and started over |
2017-May-14 | 0.8.3 | updates and refactor |
2017-Apr-02 | 0.8.2 | fix pypi doc and refactor |
2017-Mar-19 | 0.7.0 | refactored |
2017-Mar-12 | 0.6.0 | changed messages from dict to classes |
2016-Dec-26 | 0.5.0 | refactor |
2016-Oct-09 | 0.4.1 | published to PyPi |
2010-Mar-10 | 0.0.1 | init |
MIT License
Copyright (c) 2010 Kevin J. Walchko
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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