mahos.node.node.Node

class mahos.node.node.Node(gconf: dict, name: NodeName, context: Context | None = None)

Node is the main node type that runs in a loop and communicates with other nodes.

Node implements main(), which is iterated until shutdown. If the loop should run at a constant rate (i.e. not a busy loop), rate management should be done inside main().

Parameters:

• gconf – global config dict.

• name – name of this node.

Variables:

• conf – node’s local config.

• ctx – communication context.

• logger – configured logger.

Methods to be overridden

main()

Main procedure that will be looped.

Default implementation calls poll().

close_resources()

Close custom resources.

Important methods

add_rep(handler: RepHandler | None = None, endpoint: str = 'rep_endpoint', req_type: Type[Request] | None = None)

Add the reply handler for request of req_type at endpoint.

add_pub(topic: bytes | str, endpoint: str = 'pub_endpoint') → Publisher

Add and return a Publisher for topic at endpoint.

add_clients(*clis)

Register internal NodeClient(s).

poll()

Poll inbound messages and call corresponding handlers.

this function can consume poll_timeout_ms if any inbound communication is registered.

Other methods

__init__(gconf, name[, context])
close()	Close this node.
fail_with(msg)	log error and return failing response with same message.
main_event(shutdown_ev)	Main loop that can be stopped by shutdown_ev.
main_interrupt()	Main loop that can be stopped by KeyboardInterrupt.
set_shutdown()	Shutdown this node, quitting from the main loop.
wait()	Wait until required resources are ready.

Attributes

CLIENT	The class object for standard client.
TOPIC_TYPES	Mapping from topic-name to message type (class object) for the topic.