Package Summary

Tags No category tags.
Version 0.2.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stonier/message_multiplexing.git
VCS Type git
VCS Version 0.2-kinetic-melodic
Last Updated 2016-10-23
Dev Status MAINTAINED
Released UNRELEASED

Package Description

Multiplexing many packet types across a single connection. Great for embedded connections by serial or ethernet types.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Daniel Stonier

PubSub (De)MultiPlexers

These classes allow a regular nanomsg pubsub system to be mux'd on the publisher side and demux'd on the subscriber side. On most systems you wouldn't worry about it (c.f. ros which creates a port for every pub/sub connection), however for embedded systems this gets expensive - the extra creation of ports does get somewhat costly.

Overview

  • Use a packet id (unsigned int) for each type of publication.
  • Decoupled marshalling code in message_multiplexing::Message classes.
  • Mux and demux registered with a name/url pair. Pubs and subs connect by name.
  • Publishers can publish from anywhere.
  • Only one subscriber per packet id

Classes

  • Message : basic serialiser/deserialiser for a particular message type
  • Publisher : can publish any/all packet types
  • Subscriber : single packet type receiver which will convert a received buffer and relay to a user callback
  • MessageRegistry : global enabler for managing the mux/demux's and their connection with pubs/subs.

Socket Address Types

  • IntraProcess : inproc://a
  • InterProcess : ipc:///tmp/test.ipc
  • InterPC : tcp://server001:5560

Roadmap

Todos:

  • zero-copy buffer allocations via nn_allocmsg for nanomsg transport
    • as reduce cost of resizing buffers on the way in via the publisher (spec. for images, maybe c++11 std::move?)
  • transports - mux and demux should separate the actual underlying transport (nanomsg/serial...)
  • handle use case in which packets are gathered and sent (e.g. kobuki style)
    • optional flag when sending that belays the send.
    • ~~split packet signature from packet id/payload length~~
  • ~~loadable { packet_id : data_type } registries for pubs and subs to check against~~
  • ~~switch to ecl byte array converters in impl/builders.hpp~~
  • ~~mux should create muxes on the fly like demux~~
    • ~~publisher to encode, then send a buffer to the mux which relays across the wire ~~
  • ~~convert the builders to specific Message class types with encode/decode functionality~~

Maybe dos:

  • Relax the one subscriber per packet id constraint.

Testing

You can test the subscriber end of a connection without programming using nanocat. An example:

> nanocat --sub --connect tcp://192.168.1.3:5555 --ascii

CHANGELOG

Changelog

0.2.0 (2014-09-17)

  • nanomsg pipeline and service demo programs
  • mux/demux static api renamed to allow cross-class templatisation calls

0.1.1 (2014-09-12)

  • publisher and subscriber frontends.
  • multiplexer and demultiplexer.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mm_mux_demux at answers.ros.org

Package Summary

Tags No category tags.
Version 0.2.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stonier/message_multiplexing.git
VCS Type git
VCS Version release/0.2-kinetic-melodic
Last Updated 2016-10-23
Dev Status MAINTAINED
Released RELEASED

Package Description

Multiplexing many packet types across a single connection. Great for embedded connections by serial or ethernet types.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Daniel Stonier

PubSub (De)MultiPlexers

These classes allow a regular nanomsg pubsub system to be mux'd on the publisher side and demux'd on the subscriber side. On most systems you wouldn't worry about it (c.f. ros which creates a port for every pub/sub connection), however for embedded systems this gets expensive - the extra creation of ports does get somewhat costly.

Overview

  • Use a packet id (unsigned int) for each type of publication.
  • Decoupled marshalling code in message_multiplexing::Message classes.
  • Mux and demux registered with a name/url pair. Pubs and subs connect by name.
  • Publishers can publish from anywhere.
  • Only one subscriber per packet id

Classes

  • Message : basic serialiser/deserialiser for a particular message type
  • Publisher : can publish any/all packet types
  • Subscriber : single packet type receiver which will convert a received buffer and relay to a user callback
  • MessageRegistry : global enabler for managing the mux/demux's and their connection with pubs/subs.

Socket Address Types

  • IntraProcess : inproc://a
  • InterProcess : ipc:///tmp/test.ipc
  • InterPC : tcp://server001:5560

Roadmap

Todos:

  • zero-copy buffer allocations via nn_allocmsg for nanomsg transport
    • as reduce cost of resizing buffers on the way in via the publisher (spec. for images, maybe c++11 std::move?)
  • transports - mux and demux should separate the actual underlying transport (nanomsg/serial...)
  • handle use case in which packets are gathered and sent (e.g. kobuki style)
    • optional flag when sending that belays the send.
    • ~~split packet signature from packet id/payload length~~
  • ~~loadable { packet_id : data_type } registries for pubs and subs to check against~~
  • ~~switch to ecl byte array converters in impl/builders.hpp~~
  • ~~mux should create muxes on the fly like demux~~
    • ~~publisher to encode, then send a buffer to the mux which relays across the wire ~~
  • ~~convert the builders to specific Message class types with encode/decode functionality~~

Maybe dos:

  • Relax the one subscriber per packet id constraint.

Testing

You can test the subscriber end of a connection without programming using nanocat. An example:

> nanocat --sub --connect tcp://192.168.1.3:5555 --ascii

CHANGELOG

Changelog

0.2.0 (2014-09-17)

  • nanomsg pipeline and service demo programs
  • mux/demux static api renamed to allow cross-class templatisation calls

0.1.1 (2014-09-12)

  • publisher and subscriber frontends.
  • multiplexer and demultiplexer.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mm_mux_demux at answers.ros.org

Package Summary

Tags No category tags.
Version 0.2.4
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/stonier/message_multiplexing.git
VCS Type git
VCS Version indigo
Last Updated 2016-10-23
Dev Status MAINTAINED
Released RELEASED

Package Description

Multiplexing many packet types across a single connection. Great for embedded connections by serial or ethernet types.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Daniel Stonier

PubSub (De)MultiPlexers

These classes allow a regular nanomsg pubsub system to be mux'd on the publisher side and demux'd on the subscriber side. On most systems you wouldn't worry about it (c.f. ros which creates a port for every pub/sub connection), however for embedded systems this gets expensive - the extra creation of ports does get somewhat costly.

Overview

  • Use a packet id (unsigned int) for each type of publication.
  • Decoupled marshalling code in message_multiplexing::Message classes.
  • Mux and demux registered with a name/url pair. Pubs and subs connect by name.
  • Publishers can publish from anywhere.
  • Only one subscriber per packet id

Classes

  • Message : basic serialiser/deserialiser for a particular message type
  • Publisher : can publish any/all packet types
  • Subscriber : single packet type receiver which will convert a received buffer and relay to a user callback
  • MessageRegistry : global enabler for managing the mux/demux's and their connection with pubs/subs.

Socket Address Types

  • IntraProcess : inproc://a
  • InterProcess : ipc:///tmp/test.ipc
  • InterPC : tcp://server001:5560

Roadmap

Todos:

  • zero-copy buffer allocations via nn_allocmsg for nanomsg transport
    • as reduce cost of resizing buffers on the way in via the publisher (spec. for images, maybe c++11 std::move?)
  • transports - mux and demux should separate the actual underlying transport (nanomsg/serial...)
  • handle use case in which packets are gathered and sent (e.g. kobuki style)
    • optional flag when sending that belays the send.
    • ~~split packet signature from packet id/payload length~~
  • ~~loadable { packet_id : data_type } registries for pubs and subs to check against~~
  • ~~switch to ecl byte array converters in impl/builders.hpp~~
  • ~~mux should create muxes on the fly like demux~~
    • ~~publisher to encode, then send a buffer to the mux which relays across the wire ~~
  • ~~convert the builders to specific Message class types with encode/decode functionality~~

Maybe dos:

  • Relax the one subscriber per packet id constraint.

Testing

You can test the subscriber end of a connection without programming using nanocat. An example:

> nanocat --sub --connect tcp://192.168.1.3:5555 --ascii

CHANGELOG

Changelog

0.2.0 (2014-09-17)

  • nanomsg pipeline and service demo programs
  • mux/demux static api renamed to allow cross-class templatisation calls

0.1.1 (2014-09-12)

  • publisher and subscriber frontends.
  • multiplexer and demultiplexer.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mm_mux_demux at answers.ros.org