Package rosmaster :: Module master_api

Module master_api

ROS Master API.

ROSMasterHandler provides the API implementation of the Master. Python allows an API to be introspected from a Python class, so the handler has a 1-to-1 mapping with the actual XMLRPC API.

API return convention: (statusCode, statusMessage, returnValue)

statusCode: an integer indicating the completion condition of the method.
statusMessage: a human-readable string message for debugging
returnValue: the return value of the method; method-specific.

Current status codes:

-1: ERROR: Error on the part of the caller, e.g. an invalid parameter
0: FAILURE: Method was attempted but failed to complete correctly.
1: SUCCESS: Method completed successfully.

Individual methods may assign additional meaning/semantics to statusCode.

Classes
	ROSMasterHandler XML-RPC handler for ROS master APIs.

Functions

mloginfo(msg, *args)
Info-level master log statements.

source code

mlogwarn(msg, *args)
Warn-level master log statements.

source code

apivalidate(error_return_value, validators=())
ROS master/slave arg-checking decorator. source code

publisher_update_task(api, topic, pub_uris)
Contact api.publisherUpdate with specified parameters

source code

service_update_task(api, service, uri)
Contact api.serviceUpdate with specified parameters

source code

Variables
	NUM_WORKERS = `3`
	STATUS = `0`
	MSG = `1`
	VAL = `2`
	LOG_API = `False`
	__package__ = `'rosmaster'`

Function Details

mloginfo(msg, *args)

source code

Info-level master log statements. These statements may be printed to screen so they should be user-readable.

Parameters:

msg (str) - Message string
args - arguments for msg if msg is a format string

mlogwarn(msg, *args)

source code

Warn-level master log statements. These statements may be printed to screen so they should be user-readable.

Parameters:

msg (str) - Message string
args - arguments for msg if msg is a format string

apivalidate(error_return_value, validators=`()`)

source code

ROS master/slave arg-checking decorator. Applies the specified validator to the corresponding argument and also remaps each argument to be the value returned by the validator. Thus, arguments can be simultaneously validated and canonicalized prior to actual function call.

Parameters:

error_return_value - API value to return if call unexpectedly fails
validators (sequence) - sequence of validators to apply to each arg. None means no validation for the parameter is required. As all api methods take caller_id as the first parameter, the validators start with the second param.

publisher_update_task(api, topic, pub_uris)

source code

Contact api.publisherUpdate with specified parameters

Parameters:

api (str) - XML-RPC URI of node to contact
topic (str) - Topic name to send to node
pub_uris ([str]) - list of publisher APIs to send to node

service_update_task(api, service, uri)

source code

Contact api.serviceUpdate with specified parameters

Parameters:

api (str) - XML-RPC URI of node to contact
service (str) - Service name to send to node
uri (str) - URI to send to node

Module master_api

mloginfo(msg, *args)

mlogwarn(msg, *args)

apivalidate(error_return_value, validators=())

publisher_update_task(api, topic, pub_uris)

service_update_task(api, service, uri)

apivalidate(error_return_value, validators=`()`)