clearpath.horizon.protocol Namespace Reference

Module. More...

Classes
class	Client
Variables
string	__revision__ = "$Revision: 916 $"
string	__version__ = "1.0"
tuple	logger = logging.getLogger('clearpath.horizon.protocol')
	Message Log.

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Detailed Description

Module.

Horizon Protocol Python Module

Horizon Protocol Message Handlers
Abstracted from knowing messages & underlying transport.
Supported Horizon version(s): 0.1 - 1.0

Author:

Ryan Gariepy

Malcolm Robert

Date:

18/01/10

Todo:

Implement the protocol server wrapper & document in use clearpath.utils
clearpath.horizon.codes
clearpath.horizon.messages
clearpath.horizon.payloads
clearpath.horizon.transports

Version:

1.0

HORIZON

This protocol is meant as a simple way for users of the various Clearpath Robotics research offerings to interface with the Clearpath Robotics hardware.

It includes several features intended to increase communication reliability, while keeping message overhead and protocol complexity low. For the sake of rapid prototyping, it is not intended for multiple devices to be simultaneously connected to each communication line, removing the need for addressing or negotiation.

USE

The intended purpose of this module is to provide a layer between the Horizon interface (or emulator) and the low-level transports that will automatically handle acknowledgments and message formatting. Only Payload classes, message codes, and errors are exposed.

HISTORY

Version 0.1 - 0.3 {Ryan Gariepy}

• Initial Creation as protocol.py

Version 0.4 {Malcolm Robert}

• Move to horizon_protocol.py
• Added protocol abstraction
• Added TCP/IP
• Added UDP
• Added logging
• Added version support
• Added Doxygen documentation
• Changed version scheme to match Horizon doc
• Horizon support for v0.4

Version 0.5

• Horizon support for v0.5

Version 0.6

• Moved to protocol.py
• Horizon support for v0.6
• Improved search for header in read
• Added TCP encryption

Version 0.7

• Extracted transports to transports.py
• Horizon support for v0.7

Version 0.8

• Horizon support for v 0.1 - 0.8

Version 1.0

• Horizon support for v 0.1 - 1.0
• Python 2.6+ & 3.x compatible

License

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Variable Documentation

string clearpath::horizon::protocol.__revision__ = "$Revision: 916 $"

Definition at line 179 of file protocol.py.

string clearpath::horizon::protocol.__version__ = "1.0"

Definition at line 178 of file protocol.py.

tuple clearpath::horizon::protocol.logger = logging.getLogger('clearpath.horizon.protocol')

Message Log.

Definition at line 183 of file protocol.py.