Public Member Functions
def	__call__
	Execute Blocking/NonBlocking.
def	__init__
	Initialisation.
def	wait_for_service
Public Attributes
	ServicePairRequest
	ServicePairResponse
	ServicePairSpec
Private Member Functions
def	_internal_callback
def	_make_blocking_call
	Private Support Methods.
def	_make_non_blocking_call
def	_timer_callback
Private Attributes
	_lock
	_publisher
	_request_handlers
	_subscriber
Static Private Attributes
list	__slots__

Detailed Description

  The client side of a pubsub service pair.

Definition at line 63 of file service_pair_client.py.

Constructor & Destructor Documentation

def rocon_python_comms.service_pair_client.ServicePairClient.__init__	(	self,
		name,
		ServicePairSpec
	)

Initialisation.

  @param name : resource name of service pair (e.g. testies for pair topics testies/request, testies/response)
  @type str
  @param ServicePairSpec : the pair type (e.g. rocon_service_pair_msgs.msg.TestiesPair)
  @type str

Definition at line 81 of file service_pair_client.py.

Member Function Documentation

def rocon_python_comms.service_pair_client.ServicePairClient.__call__	(	self,
		msg,
		timeout = `None`,
		callback = `None`,
		error_callback = `None`
	)

Execute Blocking/NonBlocking.

  Initiates and executes the client request to the server. The type of arguments
  supplied determines whether to apply blocking or non-blocking behaviour.

  @param msg : the request message
  @type <name>Request

  @param timeout : time to wait for data
  @type rospy.Duration

  @param callback : user callback invoked for responses of non-blocking calls
  @type method with arguments (uuid_msgs.UniqueID, <name>Response)

  @return msg/id : for blocking calls it is the response message, for non-blocking it is the unique id
  @rtype <name>Response/uuid_msgs.UniqueID

Definition at line 124 of file service_pair_client.py.

def rocon_python_comms.service_pair_client.ServicePairClient._internal_callback	(	self,
		msg
	)	`[private]`

  @param msg : message returned from the server (with pair id etc)
  @type self.ServicePairResponse

Definition at line 215 of file service_pair_client.py.

def rocon_python_comms.service_pair_client.ServicePairClient._make_blocking_call	(	self,
		request_handler,
		msg,
		timeout
	)	`[private]`

Private Support Methods.

  @param request_handler : information and event handler for the request
  @type RequestHandler

  @param msg : the request pair message structure
  @type self.ServicePairRequest

Definition at line 158 of file service_pair_client.py.

def rocon_python_comms.service_pair_client.ServicePairClient._make_non_blocking_call	(	self,
		request_handler,
		msg,
		timeout
	)	`[private]`

  @param request_handler : a copy of information and event handler for the request (used for the timer)
  @type RequestHandler

  @param msg : the request pair message structure
  @type self.ServicePairRequest

Definition at line 178 of file service_pair_client.py.

def rocon_python_comms.service_pair_client.ServicePairClient._timer_callback	(	self,
		unused_event,
		request_handler
	)	`[private]`

  Handle a timeout for non-blocking requests. This will call the user's defined error callback function
  (with args: (uuid_msgs.UniqueID, str)).

  @param event : regular rospy timer event object (not used)

  @param request_handler : a copy of the handler that gets bound when this callback is passed into the timer
  @type NonBlockingRequestHandler

  @todo respond on the error callback.

Definition at line 192 of file service_pair_client.py.

def rocon_python_comms.service_pair_client.ServicePairClient.wait_for_service	(	self,
		timeout
	)

  Waits for the service pair server to appear.

  @param timeout : time to wait for data
  @type rospy.Duration

  @raise ROSException: if specified timeout is exceeded
  @raise ROSInterruptException: if shutdown interrupts wait

Definition at line 100 of file service_pair_client.py.

Member Data Documentation

list rocon_python_comms::service_pair_client.ServicePairClient::__slots__ [static, private]

Initial value:

[
            '_publisher',
            '_subscriber',
            '_request_handlers',  # initiate, track and execute requests with these { hex string ids : dic of RequestHandler objects (Blocking/NonBlocking) }
            'ServicePairSpec',
            'ServicePairRequest',
            'ServicePairResponse',
            '_lock'               # prevent race conditions in handling of non-blocking callbacks and timeouts.
        ]

Definition at line 67 of file service_pair_client.py.

rocon_python_comms::service_pair_client.ServicePairClient::_lock [private]

Definition at line 86 of file service_pair_client.py.

rocon_python_comms::service_pair_client.ServicePairClient::_publisher [private]

Definition at line 86 of file service_pair_client.py.

rocon_python_comms::service_pair_client.ServicePairClient::_request_handlers [private]

Definition at line 86 of file service_pair_client.py.

rocon_python_comms::service_pair_client.ServicePairClient::_subscriber [private]

Definition at line 86 of file service_pair_client.py.

rocon_python_comms::service_pair_client.ServicePairClient::ServicePairRequest

Definition at line 86 of file service_pair_client.py.

rocon_python_comms::service_pair_client.ServicePairClient::ServicePairResponse