rocon_gateway.gateway_node.GatewayNode Class Reference

Gateway Configuration and Main Loop Class. More...

Public Member Functions
def	__init__ (self)
	Init & Shutdown. More...
def	ros_service_connect_hub (self, request)
	Ros Service Callbacks. More...
def	ros_service_remote_gateway_info (self, request)
def	spin (self)

Private Member Functions
def	_disengage_hub (self, hub)
def	_hub_ensure_connection (self, ip, port)
	Hub Discovery & Connection. More...
def	_publish_gateway_info (self)
def	_register_gateway (self, hub)
def	_setup_ros_publishers (self)
def	_setup_ros_services (self)
	Ros Pubs, Subs and Services. More...
def	_setup_ros_subscribers (self)
def	_shutdown (self)

Private Attributes
	_disallowed_hubs
	_disallowed_hubs_error_codes
	_gateway
	_gateway_publishers
	_gateway_services
	_gateway_subscribers
	_hub_discovery_thread
	_hub_manager
	_param
	_unique_name

Detailed Description

Gateway Configuration and Main Loop Class.

  Currently this just provides getup and go for the gateway.

Definition at line 28 of file gateway_node.py.

Constructor & Destructor Documentation

def rocon_gateway.gateway_node.GatewayNode.__init__

(

self

)

Init & Shutdown.

Definition at line 37 of file gateway_node.py.

Member Function Documentation

def rocon_gateway.gateway_node.GatewayNode._disengage_hub (   self,   hub  )

private

  Called whenever gateway_hub detects the connection to the hub has been
  lost.

  This function informs the hub discovery thread that the hub was lost,
  which allows the hub_discovery thread to start looking for the hub.

  @param hub: hub to be disengaged
  @type GatewayHub

Definition at line 177 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._hub_ensure_connection (   self,   ip,   port  )

private

Hub Discovery & Connection.

Called when the hub discovery can ping a hub

:param ip:
:param port:
:return:

Definition at line 102 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._publish_gateway_info (   self )

private

Definition at line 255 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._register_gateway (   self,   hub  )

private

  Called when either the hub discovery module finds a hub
  or a request to connect via ros service is made.

  It starts the actual redis connection with the hub and also
  registers the appropriate information about the gateway on
  the hub.

  Note, the return type is only really used by the service callback
  (ros_service_connect_hub).

  @return error code and message
  @rtype gateway_msgs.ErrorCodes, string

  @sa hub_discovery.HubDiscovery

Definition at line 143 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._setup_ros_publishers (   self )

private

Definition at line 225 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._setup_ros_services (   self )

private

Ros Pubs, Subs and Services.

Definition at line 201 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._setup_ros_subscribers (   self )

private

Definition at line 230 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode._shutdown (   self )

private

  Clears this gateway's information from the redis server.

Definition at line 80 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode.ros_service_connect_hub	(		self,
			request
	)

Ros Service Callbacks.

  Handle incoming requests to connect directly to a gateway hub.

  Requests are of the form of a uri (hostname:port pair) pointing to
  the gateway hub.

Definition at line 240 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode.ros_service_remote_gateway_info	(		self,
			request
	)

  Sends out to the hubs to get the remote gateway information for either the specified,
  or the known list of remote gateways.

  :todo: can we optimise this so that hub requests go as a group?

Definition at line 280 of file gateway_node.py.

def rocon_gateway.gateway_node.GatewayNode.spin

(

self

)

Definition at line 75 of file gateway_node.py.

Member Data Documentation

rocon_gateway.gateway_node.GatewayNode._disallowed_hubs

private

Definition at line 48 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._disallowed_hubs_error_codes

private

Definition at line 49 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._gateway

private

Definition at line 63 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._gateway_publishers

private

Definition at line 61 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._gateway_services

private

Definition at line 64 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._gateway_subscribers

private

Definition at line 65 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._hub_discovery_thread

private

Definition at line 69 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._hub_manager

private

Definition at line 56 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._param

private

Definition at line 38 of file gateway_node.py.

rocon_gateway.gateway_node.GatewayNode._unique_name

private

Definition at line 40 of file gateway_node.py.

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The documentation for this class was generated from the following file:

• gateway_node.py