Gateway Configuration and Main Loop Class. More...

Public Member Functions
def	__init__
	Init & Shutdown.
def	ros_service_connect_hub
def	ros_service_remote_gateway_info
def	ros_service_shutdown
	Ros Service Callbacks.
def	spin
Private Member Functions
def	_disengage_hub
def	_publish_gateway_info
def	_register_gateway
	Hub Discovery & Connection.
def	_setup_ros_publishers
def	_setup_ros_services
	Ros Pubs, Subs and Services.
def	_setup_ros_subscribers
def	_shutdown
def	_wait_for_shutdown
Private Attributes
	_disallowed_hubs
	_disallowed_hubs_error_codes
	_gateway
	_gateway_publishers
	_gateway_services
	_gateway_subscribers
	_hub_discovery_thread
	_hub_manager
	_param
	_unique_name

Detailed Description

Gateway Configuration and Main Loop Class.

  Currently this just provides getup and go for the gateway.

Definition at line 28 of file gateway_node.py.

Constructor & Destructor Documentation

def rocon_gateway.gateway_node.GatewayNode.__init__ ( self )

Init & Shutdown.

Definition at line 37 of file gateway_node.py.

Member Function Documentation

def rocon_gateway.gateway_node.GatewayNode._disengage_hub	(	self,
		hub
	)	`[private]`

  Called whenever gateway_hub detects the connection to the hub has been
  lost.

  This function informs the hub discovery thread that the hub was lost,
  which allows the hub_discovery thread to start looking for the hub.

  @param hub: hub to be disengaged
  @type GatewayHub

Definition at line 175 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._publish_gateway_info ( self ) [private]

Definition at line 257 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._register_gateway	(	self,
		ip,
		port
	)	`[private]`

Hub Discovery & Connection.

  Called when either the hub discovery module finds a hub
  or a request to connect via ros service is made.

  It starts the actual redis connection with the hub and also
  registers the appropriate information about the gateway on
  the hub.

  Note, the return type is only really used by the service callback
  (ros_service_connect_hub).

  @return error code and message
  @rtype gateway_msgs.ErrorCodes, string

  @sa hub_discovery.HubDiscovery

Definition at line 121 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._setup_ros_publishers ( self ) [private]

Definition at line 223 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._setup_ros_services ( self ) [private]

Ros Pubs, Subs and Services.

Definition at line 199 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._setup_ros_subscribers ( self ) [private]

Definition at line 228 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._shutdown ( self ) [private]

  Clears this gateway's information from the redis server.

Definition at line 103 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._wait_for_shutdown ( self ) [private]

  Shutdown hook - we wait here for an external shutdown via ros service
  timing out after a reasonable time if we need to.

Definition at line 86 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode.ros_service_connect_hub	(	self,
		request
	)

  Handle incoming requests to connect directly to a gateway hub.

  Requests are of the form of a uri (hostname:port pair) pointing to
  the gateway hub.

Definition at line 242 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode.ros_service_remote_gateway_info	(	self,
		request
	)

  Sends out to the hubs to get the remote gateway information for either the specified,
  or the known list of remote gateways.

  :todo: can we optimise this so that hub requests go as a group?

Definition at line 282 of file gateway_node.py.