clearpath_config.system.middleware module

class clearpath_config.system.middleware.MiddlewareConfig(config: dict = {}, rmw_implementation: str | RMWImplementation = 'rmw_fastrtps_cpp', discovery: str | Discovery = 'simple', profile: str = '', automatic_discovery_range: str = 'subnet', static_peers: str = [], override_server_id: bool = False, servers: List[dict] | ServerListConfig = [], hosts: HostListConfig = None, localhost: Hostname = None)

Bases: BaseConfig

AUTOMATIC_DISCOVERY_RANGE = 'automatic_discovery_range'

DEFAULTS = {'automatic_discovery_range': 'subnet', 'discovery': 'simple', 'implementation': 'rmw_fastrtps_cpp', 'override_server_id': False, 'profile': '', 'servers': [], 'static_peers': []}

DISCOVERY = 'discovery'

DISCOVERY_RANGES = ['subnet', 'localhost', 'off', 'system_default']

DISCOVERY_RANGE_LOCALHOST = 'localhost'

DISCOVERY_RANGE_OFF = 'off'

DISCOVERY_RANGE_SUBNET = 'subnet'

DISCOVERY_RANGE_SYSTEM_DEFAULT = 'system_default'

KEYS = {'automatic_discovery_range': 'middleware.automatic_discovery_range', 'discovery': 'middleware.discovery', 'implementation': 'middleware.implementation', 'override_server_id': 'middleware.override_server_id', 'profile': 'middleware.profile', 'servers': 'middleware.servers', 'static_peers': 'middleware.static_peers'}

MIDDLEWARE = 'middleware'

OVERRIDE_SERVER_ID = 'override_server_id'

PROFILE = 'profile'

RMW = 'implementation'

SERVERS = 'servers'

STATIC_PEERS = 'static_peers'

TEMPLATE = {'middleware': {'automatic_discovery_range': 'automatic_discovery_range', 'discovery': 'discovery', 'implementation': 'implementation', 'override_server_id': 'override_server_id', 'profile': 'profile', 'servers': 'servers', 'static_peers': 'static_peers'}}

assert_is_supported_on_platform(platform) → None

Make sure that the user’s middleware is compatible.

FastDDS is supported on everything.

Zenoh is only supported on platforms that do not use MicroROS.

@param platform The type of platform we’re running on

@exception Raises an UnsupportedMiddlewareException if the platform cannot use

this middleware

property automatic_discovery_range: str

property discovery: Discovery

get_local_server() → ServerConfig

get_servers_string() → str

property override_server_id: bool

property profile: str

property rmw_implementation: str

property servers: List[dict]

property static_peers: List[str]