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

Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Source Distributions

No source distribution files available for this release.See tutorial on generating distribution archives.

Built Distributions

If you're not sure about the file name format, learn more about wheel file names.

The dropdown lists show the available interpreters, ABIs, and platforms. Enable javascript to be able to filter the list of wheel files.

rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_x86_64.whl (5.6 MB view details)

Uploaded Aug 11, 2026 CPython 3.13manylinux: glibc 2.35+ x86-64

rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_aarch64.whl (5.3 MB view details)

Uploaded Aug 11, 2026 CPython 3.13manylinux: glibc 2.35+ ARM64

rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_x86_64.whl (5.6 MB view details)

Uploaded Aug 11, 2026 CPython 3.12manylinux: glibc 2.35+ x86-64

rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_aarch64.whl (5.3 MB view details)

Uploaded Aug 11, 2026 CPython 3.12manylinux: glibc 2.35+ ARM64

rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_x86_64.whl (5.6 MB view details)

Uploaded Aug 11, 2026 CPython 3.11manylinux: glibc 2.35+ x86-64

rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_aarch64.whl (5.3 MB view details)

Uploaded Aug 11, 2026 CPython 3.11manylinux: glibc 2.35+ ARM64

File details

Details for the file rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_x86_64.whl.

File metadata

Download URL: rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_x86_64.whl
Upload date: Aug 11, 2026
Size: 5.6 MB
Tags: CPython 3.13, manylinux: glibc 2.35+ x86-64
Uploaded using Trusted Publishing? No
Uploaded via: twine/7.0.0 CPython/3.12.5

File hashes

Hashes for rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_x86_64.whl
Algorithm	Hash digest
SHA256	`cc1e05227e9743a7866f7d690902e766af5eb6122f736bc49b56c8d960fdfe58`
MD5	`5c481af31a76c5cc9704091f1800f503`
BLAKE2b-256	`610ffde7a8a17d927611902f4f9c200f4dc98407bef84ae311761c8db8a4c7c3`

See more details on using hashes here.

File details

Details for the file rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_aarch64.whl.

File metadata

Download URL: rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_aarch64.whl
Upload date: Aug 11, 2026
Size: 5.3 MB
Tags: CPython 3.13, manylinux: glibc 2.35+ ARM64
Uploaded using Trusted Publishing? No
Uploaded via: twine/7.0.0 CPython/3.12.5

File hashes

Hashes for rainbow_rb_zenoh-0.0.78-cp313-cp313-manylinux_2_35_aarch64.whl
Algorithm	Hash digest
SHA256	`4faeb5b9e73730b4a1a4d9e21cb280aebadc5d4b5dee0781eec5fdf61b27847c`
MD5	`3a2a32bae56597230b9e605315dacd3d`
BLAKE2b-256	`5414c104a47378470908e66e555efeb7a6953c60ffe4c631d43c5f0efa133cf6`

See more details on using hashes here.

File details

Details for the file rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_x86_64.whl.

File metadata

Download URL: rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_x86_64.whl
Upload date: Aug 11, 2026
Size: 5.6 MB
Tags: CPython 3.12, manylinux: glibc 2.35+ x86-64
Uploaded using Trusted Publishing? No
Uploaded via: twine/7.0.0 CPython/3.12.5

File hashes

Hashes for rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_x86_64.whl
Algorithm	Hash digest
SHA256	`4da62f67cb2af70bbef8f53b2fd35833c43f9489bb5ec9e1a04dc2cc5b7b3198`
MD5	`31cffae316321e8c00ab737a990c1eca`
BLAKE2b-256	`0d64ad95ca1cb4bd9f071c49572d357493ac37ed4b0179ffb04484e10400ab40`

See more details on using hashes here.

File details

Details for the file rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_aarch64.whl.

File metadata

Download URL: rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_aarch64.whl
Upload date: Aug 11, 2026
Size: 5.3 MB
Tags: CPython 3.12, manylinux: glibc 2.35+ ARM64
Uploaded using Trusted Publishing? No
Uploaded via: twine/7.0.0 CPython/3.12.5

File hashes

Hashes for rainbow_rb_zenoh-0.0.78-cp312-cp312-manylinux_2_35_aarch64.whl
Algorithm	Hash digest
SHA256	`cc13a00b1054a9e165633ebff0c584af45951cfda2ea8f08fdf7b2a7c8025516`
MD5	`c7ad5c1b6fc5263091d03c404463574d`
BLAKE2b-256	`543e8479064aa2ed0dfaeb7df51f019ca7d1996f653b5d83bd087082e2147f9e`

See more details on using hashes here.

File details

Details for the file rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_x86_64.whl.

File metadata

Download URL: rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_x86_64.whl
Upload date: Aug 11, 2026
Size: 5.6 MB
Tags: CPython 3.11, manylinux: glibc 2.35+ x86-64
Uploaded using Trusted Publishing? No
Uploaded via: twine/7.0.0 CPython/3.12.5

File hashes

Hashes for rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_x86_64.whl
Algorithm	Hash digest
SHA256	`ff5e7dab0376da743f97780d11cab8206fda2ebdb715a85956074ca848de02aa`
MD5	`aeec27c8b044e98f15d7fa72ea9e8ff0`
BLAKE2b-256	`f9dce3e450169c4843a38b1753716b3119b817ccf3dcfe8aa904391038c04970`

See more details on using hashes here.

File details

Details for the file rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_aarch64.whl.

File metadata

Download URL: rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_aarch64.whl
Upload date: Aug 11, 2026
Size: 5.3 MB
Tags: CPython 3.11, manylinux: glibc 2.35+ ARM64
Uploaded using Trusted Publishing? No
Uploaded via: twine/7.0.0 CPython/3.12.5

File hashes

Hashes for rainbow_rb_zenoh-0.0.78-cp311-cp311-manylinux_2_35_aarch64.whl
Algorithm	Hash digest
SHA256	`905073783144b2a82148735a5d1f06a499b3cd1e13bde45be59435d7e543bbef`
MD5	`6b98d913b309c1ae03bb55afffc13ae2`
BLAKE2b-256	`d78a484eb927771160e752fbf7c157ee4588d732db8d10dc83042aea022f1d39`