Package master_sync_fkie :: Module master_sync :: Class Main

Class Main

object --+
         |
        Main

Instance Methods

__init__(self)
Creates a new instance.

source code

handlerMasterStateMsg(self, data)
The method to handle the received MasterState messages.

source code

str or None

getMasteruri(self)
Requests the ROS master URI from the ROS master through the RPC interface and returns it.

source code

retrieveMasters(self)
This method use the service 'list_masters' of the master_discoverer to get the list of discovered ROS master.

source code

updateMaster(self, mastername, masteruri, timestamp, timestamp_local, discoverer_name, monitoruri)
Updates the timestamp of the given ROS master, or creates a new SyncThread to synchronize the local master with given ROS master.

source code

get_own_state(self, monitoruri)

source code

removeMaster(self, ros_master_name)
Removes the master with given name from the synchronization list.

source code

finish(self, msg='')
Removes all remote masters and unregister their topics and services. source code

rosservice_get_sync_info(self, req)
Callback for the ROS service to get the info to synchronized nodes.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Variables
	UPDATE_INTERVALL = `30`

Instance Variables
	materuri the ROS master URI of the `local` ROS master.
	sub_changes {dict} with topics `(name: rospy.Subscriber)` publishes the changes of the discovered ROS masters.

Properties
Inherited from `object`: `__class__`

Method Details

init(self)
(Constructor)

source code

Creates a new instance. Find the topic of the master_discovery node using master_discovery_fkie.interface_finder.get_changes_topic(). Also the parameter ~ignore_hosts will be analyzed to exclude hosts from sync.

Overrides: object.__init__

handlerMasterStateMsg(self, data)

source code

The method to handle the received MasterState messages. Based on this message new threads to synchronize with remote ROS master will be created, updated or removed.

Parameters:

data (master_discovery_fkie.MasterState) - the received message

getMasteruri(self)

source code

Requests the ROS master URI from the ROS master through the RPC interface and returns it. The 'materuri' attribute will be set to the requested value.

Returns: str or None: ROS master URI

retrieveMasters(self)

source code

This method use the service 'list_masters' of the master_discoverer to get the list of discovered ROS master. Based on this list the SyncThread for synchronization will be created.

See Also: master_discovery_fkie.interface_finder.get_listmaster_service()

updateMaster(self, mastername, masteruri, timestamp, timestamp_local, discoverer_name, monitoruri)

source code

Updates the timestamp of the given ROS master, or creates a new SyncThread to synchronize the local master with given ROS master.

Parameters:

mastername (str) - the name of the remote ROS master to update or synchronize.
masteruri (str) - the URI of the remote ROS master.
timestamp (float64) - the timestamp of the remote ROS master.
timestamp_local (float64) - the timestamp of the remote ROS master. (only local changes)
discoverer_name (str) - the name of the remote master_discoverer node
monitoruri (str) - the URI of the RPC interface of the remote master_discoverer node.

removeMaster(self, ros_master_name)

source code

Removes the master with given name from the synchronization list.

Parameters:

ros_master_name (str) - the name of the ROS master to remove.

Class Main

__init__(self) (Constructor)

handlerMasterStateMsg(self, data)

getMasteruri(self)

retrieveMasters(self)

updateMaster(self, mastername, masteruri, timestamp, timestamp_local, discoverer_name, monitoruri)

removeMaster(self, ros_master_name)

init(self)
(Constructor)