roboflex.transport.zmq

Roboflex support for the ZMQ transport.

any node -> ZMQPublisher ==THEINTERNET==> ZMQSubscriber -> any node

See https://zeromq.org/ for details.

Using ZMQ, nodes can connect to other nodes, running in different threads, different processes, or different computers, with a publisher-subscriber pattern. roboflex.transport.zmq supports:

"inproc" transport -> between threads within same process
"ipc" transport -> between processes on same computer
"tcp" transport -> between processes on different computers

System Dependencies

None! We build libzmq from source...

pip install

pip install roboflex.transport.zmq

Import (python)

import roboflex.transport.zmq as rtz

Build (for c++ projects):

mkdir build && cd build
cmake ..
make
make install

Run Examples (see examples)

go to roboflex_transport_zmq/examples

... create and activate some sort of virtual environment
where you installed roboflex.transport.zmq...

python pub_sub_0_py.py

Nodes:

There are three: ZMQContext, ZMQPublisher, ZMQSubscriber.

To use the ZMQ transport nodes, first you must create a ZMQContext object. This mirrors the design of ZMQ itself.

# all parameters optional
zmq_context = ZMQContext(
    num_io_threads = 1,
)

First, know this. "bind addresses" in this world can be three different things. All are strings, but can create different types of queues. These all implement one-to-many publish-subscribe pattern (in fact, it's actually many-to-many).

1. thread-to-thread only queues; "inproc://somename"; the fastest.
2. process-to-process (or thread-to-thread) queues; "ipc://somename"; sort of fast.
3. computer-to-computer (can work anywhere) queues (uses TCP): "tcp://*:5647"; the slowest, but works across the planet.

Then, create a ZMQPublisher:

zmq_pub = ZMQPublisher(
    # the ZMQContext object you created
    zmq_context, 

    # what socket to bind to, or what transport to publish on
    bind_address = <bind address>,
    #    or
    bind_addresses = [<bind address>],

    # optional
    
    # name of the
    name = "ZMQPublisher",

    # same as 'high-water mark' in zeromq parlance
    max_queued_msgs = 1000,
)

#... when a ZMQPublisher receives a message from some upstream node, #it will wire-serialize it, and publish on its transport.

#You can get the bind_addresses:

ba = zmq_pub.bind_addresses

# you can get the high-water mark
hm = zmq_pub.max_queued_msgs

# You can publish a message 'by hand' - same as calling 'receive' on the node.
zmq_pub.publish(some_message)

Then, create one or more ZMQSubscribers, to listen to what you are publishing. ZMQSubscribes are the equivalent of 'sensors' in that the are root nodes, must be started, and start a thread.

zmq_sub = ZMQSubscriber(
    # the ZMQContext object you created
    zmq_context, 

    # what socket to bind to, or what transport to subscribe on
    connect_address = <bind address>,
    #    or
    connect_addresses = [<bind address>],

    # optional
    
    # name of the
    name = "ZMQPublisher",

    # same as 'high-water mark' in zeromq parlance
    max_queued_msgs = 1000,

    # how often to yield control on the thread
    # You'll probably never change this.
    timeout_milliseconds = 10,
)

# you get get values
zmq_sub.connect_addresses
zmq_sub.connect_address
zmq_sub.max_queued_msgs
zmq_sub.timeout_milliseconds

# you MUST start it!
zmq_sub.start()

# you may pull a message 'by hand':
msg_or_none = zmq_sub.pull(
    10, # timeout_milliseconds - how long to wait for a message
)

# you may 'produce' messages 'by hand' - this will wait x milliseconds
# for one message, and if it has received one, signals it downstream
zmq_sub.produce(
    10, # timeout_milliseconds
)