Package rosmaster :: Module registrations :: Class Registrations

Class Registrations

object --+
         |
        Registrations

All calls may result in access/modifications to node registrations dictionary, so be careful to guarantee appropriate thread-safeness.

Data structure for storing a set of registrations (e.g. publications, services). The underlying data storage is the same except for services, which have the constraint that only one registration may be active for a given key.

Instance Methods

__init__(self, type_)
ctor.

source code

__nonzero__(self)
Returns: True if there are no registrations

source code

iterkeys(self)
Iterate over registration keys

source code

get_service_api(self, service)
Lookup service API URI.

source code

[str]

get_apis(self, key)
Only valid if self.type != SERVICE.

source code

__contains__(self, key)
Emulate mapping type for has_key()

source code

[(str, str),]

__getitem__(self, key)
Returns: (caller_id, caller_api) for registered key, empty list if registration is not valid

source code

bool

has_key(self, key)
Returns: True if key is registered

source code

[str, [str]...]

get_state(self)
Returns: state in getSystemState()-friendly format [ [key, [callerId1...callerIdN]] ...

source code

register(self, key, caller_id, caller_api, service_api=None)
Add caller_id into the map as a provider of the specified service (key).

source code

unregister_all(self, caller_id)
Remove all registrations associated with caller_id

source code

code, msg, val

unregister(self, key, caller_id, caller_api, service_api=None)
Remove caller_id from the map as a provider of the specified service (key).

source code

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

Class Variables
	TOPIC_SUBSCRIPTIONS = `1`
	TOPIC_PUBLICATIONS = `2`
	SERVICE = `3`
	PARAM_SUBSCRIPTIONS = `4`

Properties
Inherited from `object`: `__class__`

Method Details

init(self, type_)
(Constructor)

source code

ctor.

Parameters:

type_ (int) - one of [ TOPIC_SUBSCRIPTIONS, TOPIC_PUBLICATIONS, SERVICE, PARAM_SUBSCRIPTIONS ]

Overrides: object.__init__

nonzero(self)
(Boolean test operator)

source code

Returns:: True if there are no registrations

iterkeys(self)

source code

Iterate over registration keys

Returns:: iterator for registration keys

get_service_api(self, service)

source code

Lookup service API URI. NOTE: this should only be valid if type==SERVICE as service Registrations instances are the only ones that track service API URIs.

Parameters:

service (str) - service name

get_apis(self, key)

source code

Only valid if self.type != SERVICE.

Parameters:

key (str) - registration key (e.g. topic/service/param name)

Returns: [str]

caller_apis for registered key, empty list if registration is not valid

getitem(self, key)
(Indexing operator)

source code

Parameters:

key (str) - registration key (e.g. topic/service/param name)

Returns: [(str, str),]

(caller_id, caller_api) for registered key, empty list if registration is not valid

has_key(self, key)

source code

Parameters:

key (str) - registration key (e.g. topic/service/param name)

Returns: bool

True if key is registered

get_state(self)

source code

Returns: [str, [str]...]: state in getSystemState()-friendly format [ [key, [callerId1...callerIdN]] ... ]

register(self, key, caller_id, caller_api, service_api=None)

source code

Add caller_id into the map as a provider of the specified service (key). caller_id must not have been previously registered with a different caller_api.

Subroutine for managing provider map data structure (essentially a multimap).

Parameters:

key (str) - registration key (e.g. topic/service/param name)
caller_id (str) - caller_id of provider
caller_api (str) - API URI of provider
service_api (str) - (keyword) ROS service API URI if registering a service

unregister_all(self, caller_id)

source code

Remove all registrations associated with caller_id

Parameters:

caller_id (str) - caller_id of provider

unregister(self, key, caller_id, caller_api, service_api=None)

source code

Remove caller_id from the map as a provider of the specified service (key). Subroutine for managing provider map data structure, essentially a multimap

Parameters:

key (str) - registration key (e.g. topic/service/param name)
caller_id (str) - caller_id of provider
caller_api (str) - API URI of provider
service_api (str) - (keyword) ROS service API URI if registering a service

Returns: code, msg, val

for ease of master integration, directly returns unregister value for higher-level XMLRPC API. val is the number of APIs unregistered (0 or 1)

Class Registrations

__init__(self, type_) (Constructor)

__nonzero__(self) (Boolean test operator)

iterkeys(self)

get_service_api(self, service)

get_apis(self, key)

__getitem__(self, key) (Indexing operator)

has_key(self, key)

get_state(self)

register(self, key, caller_id, caller_api, service_api=None)

unregister_all(self, caller_id)

unregister(self, key, caller_id, caller_api, service_api=None)

init(self, type_)
(Constructor)

nonzero(self)
(Boolean test operator)

getitem(self, key)
(Indexing operator)