Public Member Functions | |
| def | __init__ |
| def | basic_type_check |
| def | finish |
| def | handle_message |
Public Attributes | |
| protocol | |
Detailed Description
Handles the operation-specific logic of a rosbridge message May define one or more opcodes to handle, for example 'publish' or 'call_service' Each connected client receives its own capability instance, which are managed by the client's own protocol instance. Protocol.send() is available to send messages back to the client.
Definition at line 37 of file capability.py.
Constructor & Destructor Documentation
| def rosbridge_library.capability.Capability.__init__ | ( | self, | |
| protocol | |||
| ) |
Abstract class constructor. All capabilities require a handle to the containing protocol. Keyword arguments: protocol -- the protocol instance for this capability instance
Reimplemented in rosbridge_library.capabilities.subscribe.Subscribe, rosbridge_library.capabilities.advertise.Advertise, rosbridge_library.capabilities.advertise_service.AdvertiseService, rosbridge_library.capabilities.defragmentation.Defragment, rosbridge_library.capabilities.call_service.CallService, rosbridge_library.capabilities.publish.Publish, rosbridge_library.capabilities.fragmentation.Fragmentation, rosbridge_library.capabilities.service_response.ServiceResponse, and rosbridge_library.capabilities.unadvertise_service.UnadvertiseService.
Definition at line 50 of file capability.py.
Member Function Documentation
| def rosbridge_library.capability.Capability.basic_type_check | ( | self, | |
| msg, | |||
| types_info | |||
| ) |
Performs basic typechecking on fields in msg. Keyword arguments: msg -- a message, deserialized into a dictoinary types_info -- a list of tuples (mandatory, fieldname, fieldtype) where mandatory - boolean, is the field mandatory fieldname - the name of the field in the message fieldtypes - the expected python type of the field or list of types Throws: MissingArgumentException -- if a field is mandatory but not present in the message InvalidArgumentException -- if a field is present but not of the type specified by fieldtype
Definition at line 76 of file capability.py.
| def rosbridge_library.capability.Capability.finish | ( | self | ) |
Notify this capability that the client is finished and that it's time to free up resources.
Reimplemented in rosbridge_library.capabilities.subscribe.Subscribe, rosbridge_library.capabilities.defragmentation.Defragment, rosbridge_library.capabilities.advertise.Advertise, and rosbridge_library.capabilities.publish.Publish.
Definition at line 71 of file capability.py.
| def rosbridge_library.capability.Capability.handle_message | ( | self, | |
| message | |||
| ) |
Handle an incoming message. Called by the protocol after having already checked the message op code Keyword arguments: message -- the incoming message, deserialized into a dictionary
Definition at line 60 of file capability.py.
Member Data Documentation
Reimplemented in rosbridge_library.capabilities.defragmentation.Defragment.
Definition at line 56 of file capability.py.
The documentation for this class was generated from the following file: