ZOCP classes & methods¶

Frequently used methods¶

`zocp.ZOCP.register_int`(name, value[, ...])	Register an integer variable
`zocp.ZOCP.register_float`(name, value[, ...])	Register a float variable
`zocp.ZOCP.register_string`(name, value[, access])	Register a string variable
`zocp.ZOCP.get_value`(name)	Retrieve the current value of a named parameter in the capability tree
`zocp.ZOCP.signal_subscribe`(recv_peer, ...)	Subscribe a receiver to an emitter
`zocp.ZOCP.emit_signal`(emitter, value)	Update the value of the emitter and signal all subscribed receivers
`zocp.ZOCP.on_peer_enter`(peer, name, headers, ...)	This method is called when a new peer is discovered
`zocp.ZOCP.on_peer_subscribed`(peer, name, ...)	Called when a peer subscribes to an emitter on this node.
`zocp.ZOCP.on_peer_signaled`(peer, name, data, ...)	Called when a peer signals that some of its data is modified.

ZOCP class¶

class ZOCP(*args, **kwargs)¶

The ZOCP class provides all methods for ZOCP nodes

Parameters:	name (str) – Name of the node, if not given a random name will be created

set_capability(cap)¶: Set node’s capability, overwites previous :param dict cap: The dictionary replacing the previous capabilities

get_capability()¶: Return node’s capabilities :return: The capability dictionary

set_node_location(location=[0, 0, 0])¶: Set node’s location, overwites previous

set_node_orientation(orientation=[0, 0, 0])¶: Set node’s name, overwites previous

set_node_scale(scale=[0, 0, 0])¶: Set node’s name, overwites previous

set_node_matrix(matrix=[[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]])¶: Set node’s matrix, overwites previous

set_object(name=None, type='Unknown')¶: Create a new object on this nodes capability

register_int(name, value, access='r', min=None, max=None, step=None)¶

Register an integer variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (int) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor min (int) – minimal value max (int) – maximal value step (int) – step value for increments and decrements

register_float(name, value, access='r', min=None, max=None, step=None)¶

Register a float variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (float) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor min (float) – minimal value max (float) – maximal value step (float) – step value for increments and decrements

register_percent(name, value, access='r', min=None, max=None, step=None)¶

Register a percentage variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (float) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor min (float) – minimal value max (float) – maximal value step (float) – step value for increments and decrements

register_bool(name, value, access='r')¶

Register an integer variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (bool) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor

register_string(name, value, access='r')¶

Register a string variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (str) – the variable value access (str) – set the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor

register_vec2f(name, value, access='r', min=None, max=None, step=None)¶

Register a 2 dimensional vector variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (tuple) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor min (tuple) – minimal value max (tuple) – maximal value step (tuple) – step value for increments and decrements

register_vec3f(name, value, access='r', min=None, max=None, step=None)¶

Register a three dimensional vector variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (tuple) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor min (tuple) – minimal value max (tuple) – maximal value step (tuple) – step value for increments and decrements

register_vec4f(name, value, access='r', min=None, max=None, step=None)¶

Register a four dimensional vector variable

Parameters:	name (str) – the name of the variable as how nodes can refer to it value (tuple) – the variable value access (str) – the access state of the variable. ‘r’=readable, ‘w’=writeable, ‘e’=signal emitter, ‘s’=signal sensor min (tuple) – minimal value max (tuple) – maximal value step (tuple) – step value for increments and decrements

get_value(name)¶

Retrieve the current value of a named parameter in the capability tree

Parameters:	name (str) – the name of the variable as how nodes refer to it
Returns:	the value of the named variable

peer_get_capability(peer)¶

Get the capabilities of peer

Convenience method since it’s the same a calling GET on a peer with no data

peer_get(peer, keys)¶: Get items from peer

peer_set(peer, data)¶: Set items on peer

peer_call(peer, method, *args)¶: Call method on peer

signal_subscribe(recv_peer, receiver, emit_peer, emitter)¶

Subscribe a receiver to an emitter

Parameters:	recv_peer (uuid) – the id of the receiving peer receiver (str) – the name of the receiving variable. If None, no capability on the receiving peer is updated, but a on_peer_signal event is still fired. emit_peer (uuid) – the id of the emitting peer emitter (str) – the name the emitter. If None, all capabilities will emit to the receiver

Note

A third node can instruct two nodes to subscribe to one another by specifying the ids of the peers. The subscription request is then sent to the emitter node which in turn forwards the subscribtion request to the receiver node.

signal_unsubscribe(recv_peer, receiver, emit_peer, emitter)¶

Unsubscribe a receiver from an emitter

Parameters:	recv_peer (uuid) – the id of the receiving peer receiver (str) – the name of the receiving variable, or None if no receiver was specified when subscribing. emit_peer (uuid) – the id of the emitting peer emitter (str) – the name the emitter, or None if no emitter was specified during subscription

Note

A third node can instruct two nodes to unsubscribe from one another by specifying the ids of the peers. The subscription request is then sent to the emitter node which in turn forwards the subscribtion request to the receiver node.

emit_signal(emitter, value)¶

Update the value of the emitter and signal all subscribed receivers

Parameters:	emitter (str) – name of the emitting variable value – the new value

on_peer_enter(peer, name, headers, *args, **kwargs)¶

This method is called when a new peer is discovered

Parameters:	peer (uuid) – the id of the new peer name (str) – the name of the new peer hdrs – any headers of the peer

on_peer_exit(peer, name, *args, **kwargs)¶

This method is called when a peer is exiting

Parameters:	peer (uuid) – the id of the exiting peer name (str) – the name of the exiting peer

on_peer_join(peer, name, grp, *args, **kwargs)¶

This method is called when a peer is joining a group

Parameters:	peer (uuid) – the id of the joining peer name (str) – the name of the joining peer grp (str) – the name of the group the peer is joining

on_peer_leave(peer, name, grp, *args, **kwargs)¶

This method is called when a peer is leaving a group

Parameters:	peer (uuid) – the id of the leaving peer name (str) – the name of the leaving peer grp (str) – the name of the group the peer is leaving

on_peer_whisper(peer, name, data, *args, **kwargs)¶

This method is called when a peer is whispering

Parameters:	peer (uuid) – the id of the whispering peer name (str) – the name of the whispering peer data – the data the peer is whispering

on_peer_shout(peer, name, grp, data, *args, **kwargs)¶

This method is called when a peer is shouting

Parameters:	peer (uuid) – the id of the shouting peer name (str) – the name of the shouting peer grp (str) – the name of the group the peer is shouting in data – the data the peer is shouting

on_peer_modified(peer, name, data, *args, **kwargs)¶

Called when a peer signals that its capability tree is modified.

Parameters:	peer (uuid) – the id of the shouting peer name (str) – the name of the shouting peer data (dict) – changed data, formatted as a partial capability dictionary, containing only the changed part(s) of the capability tree of the node

on_peer_subscribed(peer, name, data, *args, **kwargs)¶

Called when a peer subscribes to an emitter on this node.

Parameters:	peer (uuid) – the id of the shouting peer name (str) – the name of the shouting peer data (list) – changed data, formatted as [emitter, receiver] emitter: name of the emitter on this node receiver: name of the receiver on the subscriber

on_peer_unsubscribed(peer, name, data, *args, **kwargs)¶

Called when a peer unsubscribes from an emitter on this node.

Parameters:	peer (uuid) – the id of the shouting peer name (str) – the name of the shouting peer data (list) – changed data, formatted as [emitter, receiver] emitter: name of the emitter on this node receiver: name of the receiver on the subscriber

on_peer_signaled(peer, name, data, *args, **kwargs)¶

Called when a peer signals that some of its data is modified.

Parameters:	peer (uuid) – the id of the shouting peer name (str) – the name of the shouting peer data (list) – changed data, formatted as [emitter, value, [sensors1, ...]] emitter: name of the emitter on the subscribee value: value of the emitter [sensor1,...]: list of names of sensors on the subscriber receiving the signal

on_modified(peer, name, data, *args, **kwargs)¶

Called when some data is modified on this node.

Parameters:	peer (uuid) – the id of the shouting peer name (str) – the name of the shouting peer data (dict) – changed data, formatted as a partial capability dictionary, containing only the changed part(s) of the capability tree of the node

run_once(timeout=None)¶

Run one iteration of getting ZOCP events

If timeout is None it will block until an event has been received. If 0 it will return instantly

The timeout is in milliseconds

run(timeout=None)¶: Run the ZOCP loop indefinitely