Python Dora-Zenoh集成示例

本示例展示如何使用Python将Dora与Zenoh连接进行双向通信。

概述

两个组件相互通信：

Dora节点（Python）：向Zenoh主题发布和订阅消息
Zenoh应用（Python）：通过Zenoh与Dora节点交换消息

结构

dataflow.yml：Dora数据流配置
dora_node.py：集成Zenoh的Dora节点实现
zenoh_app.py：独立的Zenoh应用程序
requirements.txt：Python依赖

前置条件

Python 3.8+
Dora已安装并在PATH中可用，或通过DORA环境变量设置
Python包：dora-rs和eclipse-zenoh

安装

安装所需的Python包：

pip install -r requirements.txt

工作原理

Dora节点：
- 每500ms向dora/data发布“Hello“消息
- 订阅zenoh/data上的消息
- 持续运行直到按Ctrl+C
Zenoh应用：
- 订阅dora/data
- 接收5条消息后，开始向zenoh/data发布
- 继续双向收发直到按Ctrl+C

运行示例

方式1：手动运行（推荐用于测试）

终端1 - 启动Dora数据流：

dora up
dora start dataflow.yml

终端2 - 运行Zenoh应用：

python3 zenoh_app.py

停止：

在终端2按Ctrl+C停止Zenoh应用
在终端1按Ctrl+C停止Dora节点，或运行：

dora destroy dataflow.yml

方式2：使用Dora Daemon

dora daemon --run-dataflow dataflow.yml

然后在另一个终端：

python3 zenoh_app.py

预期输出

来自dora_node.py：

Initializing Zenoh session...
Declaring Zenoh publisher for 'dora/data'...
Declaring Zenoh subscriber for 'zenoh/data'...
Dora node with Zenoh integration started!
Press Ctrl+C to stop...
Publishing message: Hello from Dora node! Message #1
Publishing message: Hello from Dora node! Message #2
Publishing message: Hello from Dora node! Message #3
...
>> [Subscriber] Received PUT ('zenoh/data': 'Hello from Zenoh app, payload counter: 0')
>> [Subscriber] Received PUT ('zenoh/data': 'Hello from Zenoh app, payload counter: 1')
...
(持续运行直到按Ctrl+C)

来自zenoh_app.py：

Opening Zenoh session...
Subscribing to dora/data...
Waiting for 5 messages from Dora node before publishing...
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #1')
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #2')
...
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #5')

Received 5 messages! Creating publisher for 'zenoh/data'...
Publishing to Dora node (Press Ctrl+C to stop)...

<< [Publisher] Sent payload(counter = 0)
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #6')
<< [Publisher] Sent payload(counter = 1)
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #7')
...
(持续双向通信直到按Ctrl+C)

故障排除

确保Zenoh可以通信（检查防火墙设置）
确保已安装dora-rs和eclipse-zenoh
检查是否使用Python 3.8+

源码

完整源码请参考：dora-examples/python-zenoh-dataflow

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