rb_zenoh

rb_zenoh는 Zenoh 기반의 공통 통신 패키지입니다. 주요 기능은 publish/subscribe, query/queryable, ZenohRouter 데코레이터 라우팅입니다.

설치/의존성

Python: >=3.12,<3.13
패키지 의존성: flatbuffers, psutil, rb_utils, rb_modules
_core native extension은 패키지 설치 중 빌드하지 않습니다. 필요 플랫폼용 _core*.so/_core*.pyd를 먼저 생성한 뒤 패키지에 포함합니다.

# 현재 host용
bash scripts/backend/build_cpp_core.sh zenoh

# Docker/Linux용
RB_CPP_CORE_TARGETS="linux/amd64 linux/arm64" bash scripts/backend/build_cpp_core.sh zenoh

배포용 rainbow-rb-zenoh은 fat wheel을 만들지 않고 플랫폼별 wheel로 분리합니다. 각 wheel에는 해당 플랫폼의 _core artifact 하나만 포함됩니다.

핵심 객체

ZenohClient: 저수준 통신 API
ZenohRouter: 데코레이터 기반 라우터
SubscribeOptions: subscribe 동작 옵션

1) publish

from rb_zenoh.client import ZenohClient

client = ZenohClient()
client.publish("muscat/sample/topic", payload={"ok": True})

FlatBuffer 요청 publish:

from rb_flat_buffers.IPC.Request_MotionPause import Request_MotionPauseT

req = Request_MotionPauseT()
client.publish(
    "C500920/call_pause",
    flatbuffer_req_obj=req,
    flatbuffer_buf_size=64,
)

2) subscribe

from rb_zenoh.client import ZenohClient
from rb_zenoh.schema import SubscribeOptions

client = ZenohClient()

async def on_msg(*, topic, mv, obj_payload, dict_payload, attachment):
    print(topic, obj_payload, dict_payload, attachment)

client.subscribe(
    "muscat/sample/topic",
    on_msg,
    options=SubscribeOptions(dispatch="immediate"),
)

콜백 시그니처:

topic: topic 문자열
mv: raw payload(memoryview)
obj_payload: flatbuffer_obj_t=<FlatBuffer T class> 파싱 객체 (T | None)
dict_payload: flatbuffer_obj_t 유무와 무관하게 dict 변환 결과 (dict | None)
attachment: sender, sender_id 정보

3) queryable

def on_query(req=None, params=None):
    return {"status": "ok"}

client.queryable("muscat/sample/query", on_query)

콜백 인자 의미:

req: query payload 본문
- flatbuffer_req_t/flatbuffer_req_T_class를 지정한 경우에만 주입됩니다.
- 내부에서 InitFromPackedBuf(...)로 파싱한 FlatBuffer ...T 객체입니다.
- 요청 payload가 없는데 flatbuffer_req_t를 지정하면 에러가 발생합니다.
params: query parameter
- 내부 q.parameters 값을 dict[str, str] 형태로 주입합니다.
- payload(req)와 별도로 필터/옵션 전달에 사용합니다.

주의사항:

콜백 파라미터 이름이 정확히 req, params일 때만 자동 주입됩니다.
request, query_params 같은 다른 이름으로 선언하면 주입되지 않습니다.
둘 다 선언하지 않으면 인자 없이 호출됩니다.

4) query_one / query_all

query_one

res = client.query_one("muscat/program/state", timeout=0.3)
print(res.get("dict_payload"))

첫 응답 1개만 반환
응답이 없으면 ZenohNoReply 예외

query_all

res_list = client.query_all("*/health", timeout=0.5)
for item in res_list:
    print(item.get("key"), item.get("dict_payload"))

timeout 내 도착한 응답을 모두 list로 반환
응답이 없어도 빈 리스트 반환

언제 무엇을 쓸지

단일 대상 호출: query_one
와일드카드/다중 서비스 수집: query_all

FlatBuffer 파라미터 상세

`flatbuffer_req_obj`

의미: 요청으로 보낼 FlatBuffer 객체(Pack() 가능한 객체)
사용 위치: publish, query_one, query_all
내부 동작: builder로 pack 후 bytes payload 전송

`flatbuffer_buf_size`

의미: FlatBuffer 직렬화 builder 초기 버퍼 크기
사용 위치:
- 요청 직렬화: publish, query_one, query_all
- queryable 응답 직렬화: queryable(..., flatbuffer_res_buf_size=...)
너무 작으면 직렬화 실패 가능
권장: 64/128/256/512부터 시작해 payload 크기에 맞게 상향

`flatbuffer_res_T_class`

의미: 응답 payload를 어떤 FlatBuffer 타입으로 파싱할지 지정
사용 위치: query_one, query_all
타입: FlatBuffer Object API 클래스(T 클래스) 를 넘겨야 함
- 예: Response_FunctionsT, State_CoreT
- 보통 이름이 ...T로 끝나는 클래스
- 내부적으로 InitFromPackedBuf(...)를 통해 파싱됨
결과:
- 지정 시: obj_payload에 파싱 객체
- 미지정 시: dict_payload/raw payload 중심 사용

예시:

from rb_flat_buffers.IPC.Request_MotionPause import Request_MotionPauseT
from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT

res = client.query_one(
    "C500920/call_pause",
    flatbuffer_req_obj=Request_MotionPauseT(),
    flatbuffer_res_T_class=Response_FunctionsT,
    flatbuffer_buf_size=64,
    timeout=0.3,
)
obj = res.get("obj_payload")

5) ZenohRouter 사용

from rb_zenoh.router import ZenohRouter

router = ZenohRouter(prefix="muscat/common")

@router.subscribe("health")
async def on_health(*, topic, obj_payload, dict_payload, attachment):
    pass

@router.queryable("echo")
async def on_echo(params=None):
    return {"ok": True}

라이프사이클:

시작 시 await router.startup()
종료 시 await router.shutdown()

예외/주의사항

query_one no-reply: ZenohNoReply
transport 재연결 계열: ZenohTransportError
ZenohClient는 프로세스 단위 싱글톤이므로 불필요한 잦은 close() 호출은 피하는 것을 권장

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