Package rospy :: Package impl :: Module tcpros_base :: Class TCPROSTransport

Class TCPROSTransport

         object --+    
                  |    
transport.Transport --+
                      |
                     TCPROSTransport

Generic implementation of TCPROS exchange routines for both topics and services

Instance Methods

__init__(self, protocol, name, header=None)
ctor

source code

get_transport_info(self)
Get detailed connection information.

source code

fileno(self)
Get descriptor for select

source code

set_endpoint_id(self, endpoint_id)
Set the endpoint_id of this transport.

source code

set_socket(self, sock, endpoint_id)
Set the socket for this transport

source code

connect(self, dest_addr, dest_port, endpoint_id, timeout=None)
Establish TCP connection to the specified address/port.

source code

write_header(self)
Writes the TCPROS header to the active connection.

source code

read_header(self)
Read TCPROS header from active socket @raise TransportInitError if header fails to validate

source code

send_message(self, msg, seq)
Convenience routine for services to send a message across a particular connection.

source code

write_data(self, data)
Write raw data to transport

source code

[Msg]

receive_once(self)
block until messages are read off of socket

source code

receive_loop(self, msgs_callback)
Receive messages until shutdown

source code

close(self)
close i/o and release resources

source code

set_cleanup_callback(self, cleanup_callback) (Inherited from rospy.impl.transport.Transport)

source code

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

Class Variables
	transport_type = `'TCPROS'`

Properties
Inherited from `object`: `__class__`

Method Details

init(self, protocol, name, header=None)
(Constructor)

source code

ctor

Parameters:

name, str - identifier @param protocol TCPROSTransportProtocol protocol implementation
header, dict - (optional) handshake header if transport handshake header was already read off of transport. @raise TransportInitError if transport cannot be initialized according to arguments

Overrides: object.__init__

get_transport_info(self)

source code

Get detailed connection information. Similar to getTransportInfo() in 'libros/transport/transport_tcp.cpp' e.g. TCPROS connection on port 41374 to [127.0.0.1:40623 on socket 6]

Overrides: transport.Transport.get_transport_info

fileno(self)

source code

Get descriptor for select

Overrides: transport.Transport.fileno

set_endpoint_id(self, endpoint_id)

source code

Set the endpoint_id of this transport. Allows the endpoint_id to be set before the socket is initialized.

set_socket(self, sock, endpoint_id)

source code

Set the socket for this transport

Parameters:

sock (socket.socket) - socket
endpoint_id (str) - identifier for connection endpoint

Raises:

TransportInitError - if socket has already been set

connect(self, dest_addr, dest_port, endpoint_id, timeout=None)

source code

Establish TCP connection to the specified address/port. connect() always calls write_header() and read_header() after the connection is made

Parameters:

dest_addr (str) - destination IP address
dest_port (int) - destination port
endpoint_id (str) - string identifier for connection (for statistics)
timeout (float) - (optional keyword) timeout in seconds

Raises:

TransportInitError - if unable to create connection

send_message(self, msg, seq)

source code

Convenience routine for services to send a message across a particular connection. NOTE: write_data is much more efficient if same message is being sent to multiple connections. Not threadsafe.

Parameters: