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1 # Software License Agreement (BSD License) 2 # 3 # Copyright (c) 2008, Willow Garage, Inc. 4 # All rights reserved. 5 # 6 # Redistribution and use in source and binary forms, with or without 7 # modification, are permitted provided that the following conditions 8 # are met: 9 # 10 # * Redistributions of source code must retain the above copyright 11 # notice, this list of conditions and the following disclaimer. 12 # * Redistributions in binary form must reproduce the above 13 # copyright notice, this list of conditions and the following 14 # disclaimer in the documentation and/or other materials provided 15 # with the distribution. 16 # * Neither the name of Willow Garage, Inc. nor the names of its 17 # contributors may be used to endorse or promote products derived 18 # from this software without specific prior written permission. 19 # 20 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 21 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 22 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 23 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 24 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 25 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 26 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 27 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 28 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 29 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 30 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 31 # POSSIBILITY OF SUCH DAMAGE. 32 # 33 # Revision $Id$ 34 """ 35 Base classes for rospy transports 36 37 These are the base underlying transport implementations, i.e. 38 TCP/IP connections, etc... 39 40 For topic implementations, see L{topics} 41 """ 42 43 import threading 44 45 # we need ids for the transports so we can send the IDs instead of 46 # full connection details 47 _transport_id = 0 48 _id_lock = threading.Lock()50 global _transport_id 51 try: 52 _id_lock.acquire() 53 _transport_id += 1 54 return _transport_id 55 finally: 56 _id_lock.release()57 58 INBOUND = 'i' 59 OUTBOUND = 'o' 60 BIDIRECTIONAL = 'b' 61 62 ## Base API of Transport implementations64 transport_type = 'UNKNOWN' 65 66 ## @param self 67 ## @param direction str: INBOUND | OUTBOUND | BIDIRECTIONAL 68 ## @param name str116 117 ## Shell class to hold stats about transport that is being killed off. 118 ## This allows the information to stick around but the original Tranport to be gc'd70 self.name = name 71 self.direction = direction 72 self.done = False 73 self.cleanup_cb = None 74 self.endpoint_id = '' 75 76 #STATS 77 self.id = _nextId() 78 self.stat_bytes = 0 79 # Number of messages that have passed through this transport 80 self.stat_num_msg = 0 81 82 # Endpoint Details (IP, Port) 83 self.local_endpoint = (0, 0) 84 self.remote_endpoint = (0, 0)85 91 92 ## callback function to invoke when this connection is 93 ## closed. Function will be passed this transport as an argument. 94 ## @param self 95 ## @param cleanup_callback fn(Transport): callback for when connection is closed 98 99 ## terminate i/o. Leaf subclasses should override and call this implementation 100 ## @param self 105 106 ## Write raw data to transport 107 ## @throws TransportInitialiationError could not be initialized 108 ## @throws TransportTerminated no longer open for publishing 111 112 ## Implements the getTransportInfo() from roscpp 113 ## Similar to getTransportInfo() in 'libros/transport/transport_tcp.cpp'120 121 ## @param self 122 ## @param transport str: transport name138 139 ## ProtocolHandler interface: implements topic communication for a 140 ## particular protocol(s). In order to understand the methods of this 141 ## API, it is important to understand how topic communication is 142 ## established: 143 ## 144 ## When a subscriber is notified of a new topic publisher, it contacts 145 ## the publisher to establish a connection. The subscriber gathers a 146 ## list of supported protocols (e.g. [['TCPROS'], ['MEMMAP']]) from 147 ## its protocol handlers (L{get_supported}) and then passes these to 148 ## the publisher. Each of these protocols is actual a list, 149 ## e.g. ['MPI', LaneWidth, BusSpeed], since a protocol may have 150 ## associated parameters. This is considered the start of the 151 ## 'negotiation phase'. 152 ## 153 ## subscriber -> pub.requestTopic(protocols) 154 ## 155 ## The Publisher selects a protocol from the lists and tells the 156 ## appropriate protocol handler to prepare the outbound connection: 157 ## 158 ## pub.requestTopic() -> pub.protocol_handler.init_publisher(selected_protocol) 159 ## 160 ## The protocol handler will return a new set of parameters 161 ## representing connection parameters, e.g. [TCPROS, address, 162 ## port]. These new parameters are passed back to the subscriber, 163 ## which tells its protocol handler to establish the connection. 164 ## 165 ## subscriber -> subscriber.protocol_handler.create_transport(protocolParams) 167 168 ## shutdown any resources associated with handling this protocol 169 ## @param self 172 173 ## Create a new Transport using the specified \a protocol_params 174 ## returned from the Publisher \a pub_uri. 175 ## @param self 176 ## @param protocol_params [[str, val*]]: parameter list from Publisher. Actual 177 ## contents are protocol-specified. 178 ## @param pub_uri str: publisher API URI 179 ## @param topic str: topic name 180 ## @return int, str, int: code, message, debug 183 184 ## @param self 185 ## @param protocol str: protocol name. Must match string identifier used in 186 ## negotiation. 187 ## @return bool: True if this handler supports the specified protocol""" 190 191 ## This method is called on subscribers and returns the protocol list 192 ## @param self 193 ## @return [[str, val*]]: list of supported protocol params. Each set of protocol params is a 194 ## list where the first element is the string identifier for the protocol. 197 198 ## Prepare a transport based on one of the supported protocols 199 ## declared by a Subscriber. Subscribers supply a list of 200 ## supported protocols, of which one is selected by the Publisher 201 ## and passed to init_publisher(). init_publisher is responsible 202 ## for initializing the publisher based on the selection. 203 ## @param self 204 ## @param topic str: name of topic 205 ## @param protocol: selected protocol parameters from the Subscriber. 206 ## @return (int, str, list): (code, statusMessage, params). params 207 ## is protocol specific. These params will be sent to the Subscriber 208 ## so that it can create_transport(). 210 raise Exception("interface impl") 211124 super(DeadTransport, self).__init__( 125 transport.direction, transport.name) 126 self.transport_type = transport.transport_type #class property 127 self.id = transport.id 128 self.stat_bytes = transport.stat_bytes 129 self.stat_num_msg = transport.stat_num_msg 130 self.done = True 131 self.endpoint_id = transport.endpoint_id 132 self.local_endpoint = transport.local_endpoint 133 self.remote_endpoint = transport.remote_endpoint134 135 ## @param self137 return "Closed %s connection on port %s to [%s:%s]" % (self.transport_type, self.local_endpoint[1], self.remote_endpoint[0], self.remote_endpoint[1])
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