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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 TCPROS connection protocol. 36 37 Implements: U{http://ros.org/wiki/ROS/TCPROS} 38 39 The rospy tcpros implementation is split into three areas: 40 - L{rospy.tcpros_base}: common TCPROS routines, including header and connection processing 41 - L{rospy.tcpros_pubsub}: Topic-specific capabilities for publishing and subscribing 42 - L{rospy.tcpros_service}: Service-specific capabilities 43 """ 44 45 import rospy.impl.tcpros_service 46 47 from rospy.impl.tcpros_base import init_tcpros_server, DEFAULT_BUFF_SIZE 48 from rospy.impl.tcpros_pubsub import TCPROSHandler 49 50 _handler = TCPROSHandler() 5153 """ 54 @param tcpros_port: override the port of the TCP server 55 @type tcpros_port: int 56 """ 57 server = init_tcpros_server(port) 58 server.topic_connection_handler = _handler.topic_connection_handler 59 server.service_connection_handler = rospy.impl.tcpros_service.service_connection_handler6062 return _handler63
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