rosproxy::handler::ProxyHandler Class Reference

Inheritance diagram for rosproxy::handler::ProxyHandler:

Public Member Functions
def	__init__
def	getBusInfo
def	getBusStats
def	getMasterUri
def	getPid
def	getPublications
def	getSubscriptions
def	paramUpdate
def	publisherUpdate
def	requestTopic
def	shutdown
Public Attributes
	done
	master_uri
	name
	protocol_handlers
	reg_man
	topic_man
	uri
Private Member Functions
def	_custom_validate
def	_ready

Detailed Description

Definition at line 61 of file handler.py.

Member Function Documentation

def rosproxy::handler::ProxyHandler::__init__	(	self,
		name,
		master_uri,
		topic_manager,
		protocol_handlers
	)

Variant handler for proxy
@param name: ROS name of this node
@type  name: str
@param master_uri: URI of master node, or None if this node is the master
@type  master_uri: str

Definition at line 63 of file handler.py.

def rosproxy::handler::ProxyHandler::_custom_validate	(	self,
		validation,
		param_name,
		param_value,
		caller_id
	)		`[private]`

Implements validation rules that require access to internal ROSHandler state.
@param validation: name of validation rule to use
@type  validation: str
@param param_name: name of parameter being validated
@type  param_name: str
@param param_value str: value of parameter
@type  param_value: str
@param caller_id: value of caller_id parameter to API method
@type  caller_id: str
@raise ParameterInvalid: if the parameter does not meet validation
@return: new value for parameter, after validation

Definition at line 95 of file handler.py.

def rosproxy::handler::ProxyHandler::_ready	(	self,
		uri
	)		`[private]`

@param uri: XML-RPC URI
@type  uri: str
callback from ROSNode to inform handler of correct i/o information

Definition at line 87 of file handler.py.

def rosproxy::handler::ProxyHandler::getBusInfo	(	self,
		caller_id
	)

Definition at line 131 of file handler.py.

def rosproxy::handler::ProxyHandler::getBusStats	(	self,
		caller_id
	)

Definition at line 126 of file handler.py.

def rosproxy::handler::ProxyHandler::getMasterUri	(	self,
		caller_id
	)

Definition at line 136 of file handler.py.

def rosproxy::handler::ProxyHandler::getPid	(	self,
		caller_id
	)

Definition at line 144 of file handler.py.

def rosproxy::handler::ProxyHandler::getPublications	(	self,
		caller_id
	)

Retrieve a list of topics that this node publishes.
@param caller_id: ROS caller id    
@type  caller_id: str
@return: list of topics published by this node
@rtype: [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]

Definition at line 160 of file handler.py.

def rosproxy::handler::ProxyHandler::getSubscriptions	(	self,
		caller_id
	)

Retrieve a list of topics that this node subscribes to
@param caller_id: ROS caller id    
@type  caller_id: str
@return [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]: list of topics this node subscribes to

Definition at line 151 of file handler.py.

def rosproxy::handler::ProxyHandler::paramUpdate	(	self,
		caller_id,
		parameter_key,
		parameter_value
	)

Callback from master of current publisher list for specified topic.
@param caller_id: ROS caller id
@type  caller_id: str
@param parameter_key str: parameter name, globally resolved
@type  parameter_key: str
@param parameter_value New parameter value
@type  parameter_value: XMLRPC-legal value
@return: [code, status, ignore]. If code is -1 ERROR, the node
is not subscribed to parameter_key
@rtype: [int, str, int]

Definition at line 171 of file handler.py.

def rosproxy::handler::ProxyHandler::publisherUpdate	(	self,
		caller_id,
		topic,
		publishers
	)

Callback from master of current publisher list for specified topic.
@param caller_id: ROS caller id
@type  caller_id: str
@param topic str: topic name
@type  topic: str
@param publishers: list of current publishers for topic in the form of XMLRPC URIs
@type  publishers: [str]
@return: [code, status, ignore]
@rtype: [int, str, int]

Definition at line 188 of file handler.py.

def rosproxy::handler::ProxyHandler::requestTopic	(	self,
		caller_id,
		topic,
		protocols
	)

Publisher node API method called by a subscriber node.
   
Request that source allocate a channel for communication. Subscriber provides
a list of desired protocols for communication. Publisher returns the
selected protocol along with any additional params required for
establishing connection. For example, for a TCP/IP-based connection,
the source node may return a port number of TCP/IP server. 
@param caller_id str: ROS caller id    
@type  caller_id: str
@param topic: topic name
@type  topic: str
@param protocols: list of desired
 protocols for communication in order of preference. Each
 protocol is a list of the form [ProtocolName,
 ProtocolParam1, ProtocolParam2...N]
@type  protocols: [[str, XmlRpcLegalValue*]]
@return: [code, msg, protocolParams]. protocolParams may be an
empty list if there are no compatible protocols.
@rtype: [int, str, [str, XmlRpcLegalValue*]]

Definition at line 205 of file handler.py.