Package rocon_gateway :: Module public_interface :: Class PublicInterface

Class PublicInterface

object --+
         |
        PublicInterface


The public interface is the set of rules
(pubs/subs/services/actions) that are exposed and made available for
freely sharing with a multimaster system.

It consists of:
 * list of currently available rules to be shared
 * list of rules and filters that will be watched
   and shared if they become available

Instance Methods

__init__(self, default_rule_blacklist, default_rules)
Initialises the public interface

source code

add_rule(self, rule)
Watch for a new public rule, as described for by the incoming message.

source code

remove_rule(self, rule)
Attempt to remove a watchlist rule from the public interface.

source code

advertise_all(self, blacklist)
Allow all rules apart from the ones in the provided blacklist + default blacklist

source code

unadvertise_all(self)
Disallow the allow all mode, if enabled.

source code

getInterface(self)

source code

getWatchlist(self)

source code

getBlacklist(self)

source code

Connection[], Connection[]

update(self, connections)
Checks a list of rules and determines which ones should be added/removed to the public interface.

source code

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

Properties
Inherited from `object`: `__class__`

Method Details

init(self, default_rule_blacklist, default_rules)
(Constructor)

source code

Initialises the public interface

Parameters:

default_rule_blacklist - connection type keyed dictionary of rules @type str keyed dictionary of gateway_msgs.msg.Rule[]
default_rules - connection type keyed dictionary of rules @type str keyed dictionary of gateway_msgs.msg.Rule[]

Overrides: object.__init__

add_rule(self, rule)

source code

Watch for a new public rule, as described for by the incoming message.

Parameters:

rule - a rule msg from the advertise call @type Rule
@return the rule if added, or None if the rule exists already @rtype Rule || None

remove_rule(self, rule)

source code

Attempt to remove a watchlist rule from the public interface. Be a bit careful looking for a rule to remove, depending on the node name, which can be set (exact rule/node name match) or None in which case all nodes of that kind of advertisement will match.

Parameters:

rule - a rule to unadvertise @type Rule
@return the list of rules removed @rtype Rule[]

advertise_all(self, blacklist)

source code

Allow all rules apart from the ones in the provided blacklist + default blacklist

Parameters:

blacklist - list of Rule objects
list (list of Rule objects
@return failure if already advertising all, success otherwise @rtype bool
)

unadvertise_all(self)

source code

Disallow the allow all mode, if enabled. If allow all mode is not enabled, remove everything from the public interface

update(self, connections)

source code

Checks a list of rules and determines which ones should be added/removed to the public interface. Modifies the public interface accordingly, and returns the list of rules to the gateway for hub operations

Parameters:

rules - the list of rules available locally @type dict of lists of Rule objects

Returns: Connection[], Connection[]

new public connections, as well as connections to be removed

Class PublicInterface

__init__(self, default_rule_blacklist, default_rules) (Constructor)

add_rule(self, rule)

remove_rule(self, rule)

advertise_all(self, blacklist)

unadvertise_all(self)

update(self, connections)

init(self, default_rule_blacklist, default_rules)
(Constructor)