rosbridge_protocol.py
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00032 
00033 from __future__ import print_function
00034 from rosbridge_library.protocol import Protocol
00035 from rosbridge_library.capabilities.call_service import CallService
00036 from rosbridge_library.capabilities.advertise import Advertise
00037 from rosbridge_library.capabilities.publish import Publish
00038 from rosbridge_library.capabilities.subscribe import Subscribe
00039 # imports for defragmentation
00040 from rosbridge_library.capabilities.defragmentation import Defragment
00041 # imports for external service_server
00042 from rosbridge_library.capabilities.advertise_service import AdvertiseService
00043 from rosbridge_library.capabilities.service_response import ServiceResponse
00044 from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService
00045 
00046 
00047 
00048 class RosbridgeProtocol(Protocol):
00049     """ Adds the handlers for the rosbridge opcodes """
00050     rosbridge_capabilities = [CallService, Advertise, Publish, Subscribe, Defragment, AdvertiseService, ServiceResponse, UnadvertiseService]
00051 
00052     print("registered capabilities (classes):")
00053     for cap in rosbridge_capabilities:
00054         print(" -", str(cap))
00055 
00056     parameters = None
00057 
00058     def __init__(self, client_id, parameters = None):
00059         self.parameters = parameters
00060         Protocol.__init__(self, client_id)
00061         for capability_class in self.rosbridge_capabilities:
00062             self.add_capability(capability_class)


rosbridge_library
Author(s): Jonathan Mace
autogenerated on Thu Jun 6 2019 21:51:43