mahos.node.client.NodeClient

class mahos.node.client.NodeClient(gconf: dict, name: NodeName, context: Context | None = None, prefix: str | None = None)

Client to use Node’s function.

Parameters:

• gconf – global config dict.

• name – name of target node.

• context – communication context.

• prefix – name prefix for logger.

Variables:

• conf – target node’s local config.

• ctx – communication context.

• logger – configured logger.

Important methods

add_req(gconf: dict, endpoint: str = 'rep_endpoint', rep_type: Type[Reply] | None = None) → Requester

Add and return a Requester for endpoint.

Request timeout (req_timeout_ms) is searched from self.conf or gconf.

add_sub(topic_handler_types: list[tuple[bytes | str, Optional[mahos.util.typing.SubHandler], Optional[Type[mahos.msgs.common_msgs.Message]]]], endpoint: str = 'pub_endpoint') → list[mahos.util.typing.MessageGetter]

Subscribe to topics from endpoint registering the handlers.

To do so, add and start a SubWorker for this client.

Parameters:

topic_handler_types – List of (topic, handler, msg_type), (topic, handler) or topic. In second case, msg_type is considered None. In the last case, handler and msg_type are considered None.

Returns:

List of MessageGetters. Length is same as topic_handler_types.

Other methods

__init__(gconf, name[, context, prefix])
close([close_ctx])	Close this client.
full_name()	Get full name: (prefix->)ClientClassName(target_node.joined_name())
get_status()	Get status of node: default implementation is void and raises NotImplementedError.
is_up()	Check if the target is up.
joined_name()	Get target node name as single string 'hostname::nodename'.
name()	Get target node name as a tuple (hostname, nodename).
start_subworker(subw)	Start a thread for a SubWorker.
wait()	Wait until the target is ready.

Attributes

M	The module that defines message types for target node.