rosserial_python.SerialClient.SerialClient Class Reference

Inheritance diagram for rosserial_python.SerialClient.SerialClient:

Public Member Functions
def	__init__ (self, port=None, baud=57600, timeout=5.0, fix_pyserial_for_test=False)
def	handleLoggingRequest (self, data)
def	handleParameterRequest (self, data)
def	handleTimeRequest (self, data)
def	processWriteQueue (self)
def	requestTopics (self)
def	run (self)
def	send (self, topic, msg)
def	sendDiagnostics (self, level, msg_text)
def	setPublishSize (self, size)
def	setSubscribeSize (self, size)
def	setupPublisher (self, data)
def	setupServiceClientPublisher (self, data)
def	setupServiceClientSubscriber (self, data)
def	setupServiceServerPublisher (self, data)
def	setupServiceServerSubscriber (self, data)
def	setupSubscriber (self, data)
def	tryRead (self, length)
def	txStopRequest (self)

Public Attributes
	buffer_in
	buffer_out
	callbacks
	fix_pyserial_for_test
	last_read
	last_write
	lastsync
	lastsync_lost
	lastsync_success
	port
	pub_diagnostics
	publishers
	read_lock
	services
	subscribers
	synced
	timeout
	write_lock
	write_queue
	write_thread

Static Public Attributes
string	header = b'\xff'
string	protocol_ver = protocol_ver2
string	protocol_ver1 = b'\xff'
string	protocol_ver2 = b'\xfe'

Private Member Functions
def	_send (self, topic, msg_bytes)
def	_write (self, data)

Detailed Description

    ServiceServer responds to requests from the serial device.

Definition at line 319 of file SerialClient.py.

Constructor & Destructor Documentation

__init__()

def rosserial_python.SerialClient.SerialClient.__init__	(		self,
			port = None,
			baud = 57600,
			timeout = 5.0,
			fix_pyserial_for_test = False
	)

Initialize node, connect to bus, attempt to negotiate topics. 

Definition at line 331 of file SerialClient.py.

Member Function Documentation

_send()

def rosserial_python.SerialClient.SerialClient._send (   self,   topic,   msg_bytes  )

private

Send a message on a particular topic to the device.

Definition at line 752 of file SerialClient.py.

_write()

def rosserial_python.SerialClient.SerialClient._write (   self,   data  )

private

Writes raw data over the serial port. Assumes the data is formatting as a packet. http://wiki.ros.org/rosserial/Overview/Protocol

Definition at line 744 of file SerialClient.py.

handleLoggingRequest()

def rosserial_python.SerialClient.SerialClient.handleLoggingRequest	(		self,
			data
	)

Forward logging information from serial device into ROS. 

Definition at line 723 of file SerialClient.py.

handleParameterRequest()

def rosserial_python.SerialClient.SerialClient.handleParameterRequest	(		self,
			data
	)

Send parameters to device. Supports only simple datatypes and arrays of such. 

Definition at line 687 of file SerialClient.py.

handleTimeRequest()

def rosserial_python.SerialClient.SerialClient.handleTimeRequest	(		self,
			data
	)

Respond to device with system time. 

Definition at line 678 of file SerialClient.py.

processWriteQueue()

def rosserial_python.SerialClient.SerialClient.processWriteQueue

(

self

)

Main loop for the thread that processes outgoing data to write to the serial port.

Definition at line 773 of file SerialClient.py.

requestTopics()

def rosserial_python.SerialClient.SerialClient.requestTopics

(

self

)

Determine topics to subscribe/publish. 

Definition at line 406 of file SerialClient.py.

run()

def rosserial_python.SerialClient.SerialClient.run

(

self

)

Forward recieved messages to appropriate publisher. 

Definition at line 447 of file SerialClient.py.

send()

def rosserial_python.SerialClient.SerialClient.send	(		self,
			topic,
			msg
	)

Queues data to be written to the serial port.

Definition at line 738 of file SerialClient.py.

sendDiagnostics()

def rosserial_python.SerialClient.SerialClient.sendDiagnostics	(		self,
			level,
			msg_text
	)

Definition at line 800 of file SerialClient.py.

setPublishSize()

def rosserial_python.SerialClient.SerialClient.setPublishSize	(		self,
			size
	)

Definition at line 559 of file SerialClient.py.

setSubscribeSize()

def rosserial_python.SerialClient.SerialClient.setSubscribeSize	(		self,
			size
	)

Definition at line 564 of file SerialClient.py.

setupPublisher()

def rosserial_python.SerialClient.SerialClient.setupPublisher	(		self,
			data
	)

Register a new publisher. 

Definition at line 569 of file SerialClient.py.

setupServiceClientPublisher()

def rosserial_python.SerialClient.SerialClient.setupServiceClientPublisher	(		self,
			data
	)

Register a new service client. 

Definition at line 640 of file SerialClient.py.

setupServiceClientSubscriber()

def rosserial_python.SerialClient.SerialClient.setupServiceClientSubscriber	(		self,
			data
	)

Register a new service client. 

Definition at line 659 of file SerialClient.py.

setupServiceServerPublisher()

def rosserial_python.SerialClient.SerialClient.setupServiceServerPublisher	(		self,
			data
	)

Register a new service server. 

Definition at line 602 of file SerialClient.py.

setupServiceServerSubscriber()

def rosserial_python.SerialClient.SerialClient.setupServiceServerSubscriber	(		self,
			data
	)

Register a new service server. 

Definition at line 621 of file SerialClient.py.

setupSubscriber()

def rosserial_python.SerialClient.SerialClient.setupSubscriber	(		self,
			data
	)

Register a new subscriber. 

Definition at line 582 of file SerialClient.py.

tryRead()

def rosserial_python.SerialClient.SerialClient.tryRead	(		self,
			length
	)

Definition at line 427 of file SerialClient.py.

txStopRequest()

def rosserial_python.SerialClient.SerialClient.txStopRequest

(

self

)

Send stop tx request to client before the node exits. 

Definition at line 418 of file SerialClient.py.

Member Data Documentation

buffer_in

rosserial_python.SerialClient.SerialClient.buffer_in

Definition at line 386 of file SerialClient.py.

buffer_out

rosserial_python.SerialClient.SerialClient.buffer_out

Definition at line 385 of file SerialClient.py.

callbacks

rosserial_python.SerialClient.SerialClient.callbacks

Definition at line 388 of file SerialClient.py.

fix_pyserial_for_test

rosserial_python.SerialClient.SerialClient.fix_pyserial_for_test

Definition at line 347 of file SerialClient.py.

header

string rosserial_python.SerialClient.SerialClient.header = b'\xff'

static

Definition at line 323 of file SerialClient.py.

last_read

rosserial_python.SerialClient.SerialClient.last_read

Definition at line 343 of file SerialClient.py.

last_write

rosserial_python.SerialClient.SerialClient.last_write

Definition at line 344 of file SerialClient.py.

lastsync

rosserial_python.SerialClient.SerialClient.lastsync

Definition at line 340 of file SerialClient.py.

lastsync_lost

rosserial_python.SerialClient.SerialClient.lastsync_lost

Definition at line 341 of file SerialClient.py.

lastsync_success

rosserial_python.SerialClient.SerialClient.lastsync_success

Definition at line 342 of file SerialClient.py.

port

rosserial_python.SerialClient.SerialClient.port

Definition at line 365 of file SerialClient.py.

protocol_ver

string rosserial_python.SerialClient.SerialClient.protocol_ver = protocol_ver2

static

Definition at line 329 of file SerialClient.py.

protocol_ver1

string rosserial_python.SerialClient.SerialClient.protocol_ver1 = b'\xff'

static

Definition at line 327 of file SerialClient.py.

protocol_ver2

string rosserial_python.SerialClient.SerialClient.protocol_ver2 = b'\xfe'

static

Definition at line 328 of file SerialClient.py.

pub_diagnostics

rosserial_python.SerialClient.SerialClient.pub_diagnostics

Definition at line 358 of file SerialClient.py.

publishers

rosserial_python.SerialClient.SerialClient.publishers

Definition at line 349 of file SerialClient.py.

read_lock

rosserial_python.SerialClient.SerialClient.read_lock

Definition at line 334 of file SerialClient.py.

services

rosserial_python.SerialClient.SerialClient.services

Definition at line 351 of file SerialClient.py.

subscribers

rosserial_python.SerialClient.SerialClient.subscribers

Definition at line 350 of file SerialClient.py.

synced

rosserial_python.SerialClient.SerialClient.synced

Definition at line 346 of file SerialClient.py.

timeout

rosserial_python.SerialClient.SerialClient.timeout

Definition at line 345 of file SerialClient.py.

write_lock

rosserial_python.SerialClient.SerialClient.write_lock

Definition at line 336 of file SerialClient.py.

write_queue

rosserial_python.SerialClient.SerialClient.write_queue

Definition at line 337 of file SerialClient.py.

write_thread

rosserial_python.SerialClient.SerialClient.write_thread

Definition at line 338 of file SerialClient.py.

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

• SerialClient.py