Source Code for Module rospy.impl.tcpros

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33  # Revision $Id: tcpros.py 9434 2010-04-28 00:20:16Z kwc $ 
34  """ 
35  TCPROS connection protocol. 
36   
37  Implements: U{http://ros.org/wiki/ROS/TCPROS} 
38   
39  The rospy tcpros implementation is split into three areas: 
40   - L{rospy.tcpros_base}: common TCPROS routines, including header and connection processing 
41   - L{rospy.tcpros_pubsub}: Topic-specific capabilities for publishing and subscribing 
42   - L{rospy.tcpros_service}: Service-specific capabilities  
43  """ 
44   
45  import rospy.impl.tcpros_service 
46   
47  from rospy.impl.tcpros_base import init_tcpros_server, DEFAULT_BUFF_SIZE 
48  from rospy.impl.tcpros_pubsub import TCPROSHandler 
49   
50  _handler = TCPROSHandler() 
51   
52 -def init_tcpros(): 
53      server = init_tcpros_server() 
54      server.topic_connection_handler = _handler.topic_connection_handler 
55      server.service_connection_handler = rospy.impl.tcpros_service.service_connection_handler 
56   
57 -def get_tcpros_handler(): 
58      return _handler 
59