A generic Zenoh client that can handle arbitrary message types and processing functions.
This class inherits from ZenohClient and provides functionality for publishing and
processing generic messages with optional custom processing functions.
Fields
Optional function for custom message processing
The most recently published/received message
Constructor
Initialize the generic client.
Note: {
For generic client, you also need to include the following keys:
- “msg_type”: The message type (e.g., “Bool”, “Twist”, “Pose”)
- “fn”: The function to process the message
}
Configuration dictionary for the client
Dictionary of agent parameters. Defaults to None.
Optional shared Zenoh session. Defaults to None.
Methods
getLatestMessage()
Return the most recent message from the subscription queue.
Blocks for up to one second waiting for a message.
Returns:
The raw payload bytes of the latest message, or None if no
message was received within the timeout.
get_msg()
Get the most recent message.
Returns:
The most recently published/received message
msg_cb()
Handle an incoming Zenoh sample by storing its payload in the queue.
The Zenoh sample received from the subscription.
process_latest_msg()
Process the latest received message.
Gets the latest message, deserializes it using CDR or JSON fallback,
and processes it with the configured function if one exists.
Returns:
None
publish()
Publish data to the topic.
Raw bytes to publish on the configured topic.
publish_msg()
Publish a message to the configured topic.
If a processing function is defined, it will be called before publishing.
The message to publish (can be a pycdr2 IdlStruct, dict, or primitive)
run()
Start the client by declaring a subscriber or publisher on the session.
stop()
Undeclare the subscriber and close the owned Zenoh session if any. 
