Fix typo: selialize -> serialize

README.md

@@ -5,7 +5,7 @@ mqtt_bridge provides a functionality to bridge between ROS and MQTT in bidirecti
 
 ## Principle
 
-`mqtt_bridge` uses ROS message as its protocol. Messages from ROS are selialized by json (or messagepack) for MQTT, and messages from MQTT are deselialized for ROS topic. So MQTT messages should be ROS message compatible. (We use `rosbridge_library.internal.message_conversion` for message conversion.)
+`mqtt_bridge` uses ROS message as its protocol. Messages from ROS are serialized by json (or messagepack) for MQTT, and messages from MQTT are deserialized for ROS topic. So MQTT messages should be ROS message compatible. (We use `rosbridge_library.internal.message_conversion` for message conversion.)
 
 This limitation can be overcome by defining custom bridge class, though.
 
@@ -114,13 +114,13 @@ See `mqtt_bridge.mqtt_client` for detail.
 
 If `mqtt/private_path` parameter is set, leading `~/` in MQTT topic path will be replaced by this value. For example, if `mqtt/pivate_path` is set as "device/001", MQTT path "~/value" will be converted to "device/001/value".
 
-### selializer and deselializer
+### serializer and deserializer
 
-`mqtt_bridge` uses `json` as a selializer in default. But you can also configure other selializers. For example, if you want to use messagepack for selialization, add following configuration.
+`mqtt_bridge` uses `json` as a serializer in default. But you can also configure other serializers. For example, if you want to use messagepack for serialization, add following configuration.
 
 ``` yaml
-selializer: msgpack:dumps
-deselializer: msgpack:loads
+serializer: msgpack:dumps
+deserializer: msgpack:loads
 ```
 
 ### bridges

config/demo_params.yaml

@@ -6,8 +6,8 @@ mqtt:
     port: 1883
     keepalive: 60
   private_path: device/001
-selializer: msgpack:dumps
-deselializer: msgpack:loads
+serializer: msgpack:dumps
+deserializer: msgpack:loads
 bridge:
   # ping pong
   - factory: mqtt_bridge.bridge:RosToMqttBridge

src/mqtt_bridge/app.py

@@ -10,15 +10,15 @@ from .mqtt_client import create_private_path_extractor
 from .util import lookup_object
 
 
-def create_config(mqtt_client, selializer, deselializer, mqtt_private_path):
-    if isinstance(selializer, basestring):
-        selializer = lookup_object(selializer)
-    if isinstance(deselializer, basestring):
-        deselializer = lookup_object(deselializer)
+def create_config(mqtt_client, serializer, deserializer, mqtt_private_path):
+    if isinstance(serializer, basestring):
+        serializer = lookup_object(serializer)
+    if isinstance(deserializer, basestring):
+        deserializer = lookup_object(deserializer)
     private_path_extractor = create_private_path_extractor(mqtt_private_path)
     def config(binder):
-        binder.bind('selializer', selializer)
-        binder.bind('deselializer', deselializer)
+        binder.bind('serializer', serializer)
+        binder.bind('deserializer', deserializer)
         binder.bind(mqtt.Client, mqtt_client)
         binder.bind('mqtt_private_path_extractor', private_path_extractor)
     return config
@@ -41,13 +41,13 @@ def mqtt_bridge_node():
     mqtt_client_factory = lookup_object(mqtt_client_factory_name)
     mqtt_client = mqtt_client_factory(mqtt_params)
 
-    # load serializer and deselializer
-    selializer = params.get('selializer', 'json:dumps')
-    deselializer = params.get('deselializer', 'json:loads')
+    # load serializer and deserializer
+    serializer = params.get('serializer', 'json:dumps')
+    deserializer = params.get('deserializer', 'json:loads')
 
     # dependency injection
     config = create_config(
-        mqtt_client, selializer, deselializer, mqtt_private_path)
+        mqtt_client, serializer, deserializer, mqtt_private_path)
     inject.configure(config)
 
     # configure and connect to MQTT broker

src/mqtt_bridge/bridge.py

@@ -38,14 +38,14 @@ class Bridge(object):
     u""" Bridge base class
 
     :param mqtt.Client _mqtt_client: MQTT client
-    :param _selialize: message selialize callable
-    :param _deselialize: message deselialize callable
+    :param _serialize: message serialize callable
+    :param _deserialize: message deserialize callable
     """
     __metaclass__ = ABCMeta
 
     _mqtt_client = inject.attr(mqtt.Client)
-    _selialize = inject.attr('selializer')
-    _deselialize = inject.attr('deselializer')
+    _serialize = inject.attr('serializer')
+    _deserialize = inject.attr('deserializer')
     _extract_private_path = inject.attr('mqtt_private_path_extractor')
 
 
@@ -73,7 +73,7 @@ class RosToMqttBridge(Bridge):
             self._last_published = now
 
     def _publish(self, msg):
-        payload = bytearray(self._selialize(extract_values(msg)))
+        payload = bytearray(self._serialize(extract_values(msg)))
         self._mqtt_client.publish(topic=self._topic_to, payload=payload)
 
 
@@ -121,7 +121,7 @@ class MqttToRosBridge(Bridge):
         :param mqtt.Message mqtt_msg: MQTT Message
         :return rospy.Message: ROS Message
         """
-        msg_dict = self._deselialize(mqtt_msg.payload)
+        msg_dict = self._deserialize(mqtt_msg.payload)
         return populate_instance(msg_dict, self._msg_type())