Package rospy :: Package impl :: Module tcpros_base :: Class TCPROSTransportProtocol

Class TCPROSTransportProtocol

object --+
         |
        TCPROSTransportProtocol

Known Subclasses:

Abstraction of TCPROS connections. Implementations Services/Publishers/Subscribers must implement this protocol, which defines how messages are deserialized from an inbound connection (read_messages()) as well as which fields to send when creating a new connection (get_header_fields()).

Instance Methods

__init__(self, resolved_name, recv_data_class, queue_size=None, buff_size=65536)
ctor

source code

read_messages(self, b, msg_queue, sock)

source code

dict

get_header_fields(self)
Header fields that should be sent over the connection.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties
Inherited from `object`: `__class__`

Method Details

init(self, resolved_name, recv_data_class, queue_size=None, buff_size=65536)
(Constructor)

source code

ctor

Parameters:

resolved_name (str) - resolved service or topic name
recv_data_class (Class) - message class for deserializing inbound messages
queue_size (int) - maximum number of inbound messages to maintain
buff_size (int) - receive buffer size (in bytes) for reading from the connection.

Overrides: object.__init__

read_messages(self, b, msg_queue, sock)

source code

Parameters:

b, StringIO - read buffer
msg_queue ([Message]), [Message] - queue of deserialized messages
sock, socket - protocol can optionally read more data from the socket, but in most cases the required data will already be in b

get_header_fields(self)

source code

Header fields that should be sent over the connection. The header fields are protocol specific (i.e. service vs. topic, publisher vs. subscriber).

Returns: dict: {str : str}: header fields to send over connection

Class TCPROSTransportProtocol

__init__(self, resolved_name, recv_data_class, queue_size=None, buff_size=65536) (Constructor)

read_messages(self, b, msg_queue, sock)

get_header_fields(self)

init(self, resolved_name, recv_data_class, queue_size=None, buff_size=65536)
(Constructor)