narupa.trajectory.frame_publisher module

class narupa.trajectory.frame_publisher.FramePublisher

Bases: narupa.protocol.trajectory.trajectory_service_pb2_grpc.TrajectoryServiceServicer

An implementation of a trajectory service. Call send_frame to send data to clients when called by other python code.

SubscribeFrames(request, context)

Subscribe to all the frames produced by the service.

This method publishes all the frames produced by the trajectory service, starting when the client subscribes.

SubscribeLatestFrames(request, context)

Subscribe to the last produced frames produced by the service.

This method publishes the latest frame available at the time of yielding.

close()

send_frame(frame_index: int, frame: Union[narupa.trajectory.frame_data.FrameData, narupa.protocol.trajectory.frame_pb2.FrameData])