comm_handler.subscriber.Subscriber Class Reference

A subscriber for listening to messages on a communication channel. More...

Inheritance diagram for comm_handler.subscriber.Subscriber:

Public Member Functions
None	__init__ (self, LCM lcm, str channel_name, type channel_type, Callable[[int, str, object], None] callback, list[object] callback_args=[])
	Initializes the subscriber with the necessary parameters for subscribing to a communication channel and setting up the callback function.
None	subscriber_callback (self, str channel_name, bytes data)
	Callback function to handle incoming messages on the subscribed channel.
	subscribe (self)
	Subscribe to the configured channel.
	restart (self)
	Reconnect the subscriber to its channel.
None	suspend (self)
	Suspends the subscriber by unsubscribing from the communication channel.
	get_info (self)
	Return a dictionary describing this subscriber.
Public Member Functions inherited from comm_handler.comm_handler.CommHandler
	__init__ (self, LCM lcm, str channel_name, type channel_type)
	Initializes the communication handler with an LCM instance, a channel name, and a channel type.
str	__repr__ (self)
	Returns a string representation of the communication handler, showing the channel name and the type of message it handles.

Public Attributes
str	comm_type = "Subscriber"
Public Attributes inherited from comm_handler.comm_handler.CommHandler
str	channel_name = channel_name
type	channel_type = channel_type
bool	active = True

Protected Attributes
Callable[[int, str, object], None]	_user_callback = callback
list[object]	_callback_args = callback_args
	_sub = self._lcm.subscribe(self.channel_name, self.subscriber_callback)
Protected Attributes inherited from comm_handler.comm_handler.CommHandler
LCM	_lcm = lcm
	Initializes the communication handler with an LCM instance, a channel name, and a channel type.

Detailed Description

A subscriber for listening to messages on a communication channel.

This class subscribes to a specified communication channel and calls a user-defined callback function whenever a new message is received. The message data is passed to the callback along with the timestamp and channel name.

Note

: This class is a subclass of CommHandler and requires an LCM instance, a channel name, and a channel type to function correctly.

Constructor & Destructor Documentation

__init__()

None comm_handler.subscriber.Subscriber.__init__	(		self,
		LCM	lcm,
		str	channel_name,
		type	channel_type,
		Callable[[int, str, object], None]	callback,
		list[object]	callback_args = [] )

Initializes the subscriber with the necessary parameters for subscribing to a communication channel and setting up the callback function.

Parameters

lcm	The LCM instance used for communication.
channel_name	The name of the communication channel.
channel_type	The type of the message expected for this communication channel.
callback	The user-defined callback function to be called with the message data.
callback_args	Additional arguments to be passed to the callback function.

Member Function Documentation

get_info()

comm_handler.subscriber.Subscriber.get_info

(

self

)

Return a dictionary describing this subscriber.

Reimplemented from comm_handler.comm_handler.CommHandler.

restart()

comm_handler.subscriber.Subscriber.restart

(

self

)

Reconnect the subscriber to its channel.

Reimplemented from comm_handler.comm_handler.CommHandler.

subscribe()

comm_handler.subscriber.Subscriber.subscribe

(

self

)

Subscribe to the configured channel.

Returns

: None

subscriber_callback()

None comm_handler.subscriber.Subscriber.subscriber_callback	(		self,
		str	channel_name,
		bytes	data )

Callback function to handle incoming messages on the subscribed channel.

This method decodes the message data, records the timestamp, and calls the user-defined callback function with the timestamp, channel name, and message.

Parameters

channel_name	The name of the communication channel the message was received from.
data	The raw byte data of the message.

suspend()

None comm_handler.subscriber.Subscriber.suspend

(

self

)

Suspends the subscriber by unsubscribing from the communication channel.

This method releases the subscription and logs that the subscriber has been unsubscribed.

Reimplemented from comm_handler.comm_handler.CommHandler.

Member Data Documentation

_callback_args

comm_handler.subscriber.Subscriber._callback_args = callback_args

protected

_sub

comm_handler.subscriber.Subscriber._sub = self._lcm.subscribe(self.channel_name, self.subscriber_callback)

protected

_user_callback

Callable[[int, str, object], None] comm_handler.subscriber.Subscriber._user_callback = callback

protected

comm_type

str comm_handler.subscriber.Subscriber.comm_type = "Subscriber"

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The documentation for this class was generated from the following file:

• ark/client/comm_handler/subscriber.py