Gateway. More...

Public Member Functions
def	__init__
def	connect_to_hub
	Rule Logic.
def	process_remote_gateway_flip_request
	Incoming commands from remote gateways.
def	process_remote_gateway_unflip_request
def	ros_service_advertise
	Incoming commands from local system (ros service callbacks)
def	ros_service_advertise_all
def	ros_service_flip
def	ros_service_flip_all
def	ros_service_pull
def	ros_service_pull_all
def	shutdown
def	update_flip_interface
	Update interface states (usually from watcher thread)
def	update_public_interface
def	update_pulled_interface
Public Attributes
	flipped_interface
	hub
	is_connected
	master
	param
	public_interface
	pulled_interface
	remote_gateway_request_callbacks
	unique_name
	unresolved_name
	watcher_thread
Private Member Functions
def	_ros_service_advertise_checks
def	_ros_service_flip_checks
def	_ros_service_remote_checks
Private Attributes
	_ip

Detailed Description

Gateway.

The gateway between ros system and redis server

Definition at line 40 of file gateway_sync.py.

Constructor & Destructor Documentation

def rocon_gateway.gateway_sync.GatewaySync.__init__	(	self,
		param
	)

Definition at line 45 of file gateway_sync.py.

Member Function Documentation

def rocon_gateway.gateway_sync.GatewaySync._ros_service_advertise_checks ( self ) [private]

Definition at line 324 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync._ros_service_flip_checks	(	self,
		gateway
	)	`[private]`

  Some simple checks for ros service flips.

  @param gateway : target gateway string of the flip
  @type string
  @return pair of result type and message
  @rtype gateway_msgs.msg.Result.xxx, string

Definition at line 330 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync._ros_service_remote_checks	(	self,
		gateway
	)	`[private]`

  Some simple checks for ros service pulls

  @param gateway : target gateway string of the pull
  @type string
  @return pair of result type and message
  @rtype gateway_msgs.msg.Result.xxx, string

Definition at line 350 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.connect_to_hub	(	self,
		ip,
		port
	)

Rule Logic.

Definition at line 81 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.process_remote_gateway_flip_request	(	self,
		registration
	)

Incoming commands from remote gateways.

  Used as a callback for incoming requests on redis pubsub channels.
  It gets assigned to RedisManager.callback.

  @param registration : fully detailed registration to be processed
  @type utils.Registration

Definition at line 474 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.process_remote_gateway_unflip_request	(	self,
		rule,
		remote_gateway
	)

Definition at line 493 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.ros_service_advertise	(	self,
		request
	)

Incoming commands from local system (ros service callbacks)

  Puts/Removes a number of rules on the public interface watchlist.
  As local rules matching these rules become available/go away,
  the public interface is modified accordingly. A manual update is done
  at the end of the advertise call to quickly capture existing
  rules

  @param request
  @type gateway_msgs.srv.AdvertiseRequest
  @return service response
  @rtype gateway_msgs.srv.AdvertiseReponse

Definition at line 106 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.ros_service_advertise_all	(	self,
		request
	)

  Toggles the advertise all mode. If advertising all, an additional
  blacklist parameter can be supplied which includes all the topics that
  will not be advertised/watched for. This blacklist is added to the
  default blacklist of the public interface

  @param request
  @type gateway_msgs.srv.AdvertiseAllRequest
  @return service response
  @rtype gateway_msgs.srv.AdvertiseAllReponse

Definition at line 145 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.ros_service_flip	(	self,
		request
	)

  Puts flip rules on a watchlist which (un)flips them when they
  become (un)available.

  @param request
  @type gateway_msgs.srv.RemoteRequest
  @return service response
  @rtype gateway_msgs.srv.RemoteResponse

Definition at line 179 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.ros_service_flip_all	(	self,
		request
	)

  Flips everything except a specified blacklist to a particular gateway,
  or if the cancel flag is set, clears all flips to that gateway.

  @param request
  @type gateway_msgs.srv.RemoteAllRequest
  @return service response
  @rtype gateway_msgs.srv.RemoteAllResponse

Definition at line 222 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.ros_service_pull	(	self,
		request
	)

  Puts a single rule on a watchlist and (un)flips it to a particular
  gateway when it becomes (un)available. Note that this can also
  completely reconfigure the fully qualified name for the rule when
  flipping (remapping). If not specified, it will simply reroot rule
  under <unique_gateway_name>.

  @param request
  @type gateway_msgs.srv.RemoteRequest
  @return service response
  @rtype gateway_msgs.srv.RemoteResponse

Definition at line 250 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.ros_service_pull_all	(	self,
		request
	)

  Pull everything except a specified blacklist from a particular gateway,
  or if the cancel flag is set, clears all pulls from that gateway.

  @param request
  @type gateway_msgs.srv.RemoteAllRequest
  @return service response
  @rtype gateway_msgs.srv.RemoteAllResponse

Definition at line 296 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.shutdown ( self )

Definition at line 93 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.update_flip_interface	(	self,
		connections,
		gateways
	)

Update interface states (usually from watcher thread)

  Process the list of local connections and check against
  the current flip rules and patterns for changes. If a rule
  has become (un)available take appropriate action.

  @param connections : list of current local connections parsed from the master
  @type : dictionary of ConnectionType.xxx keyed lists of utils.Connections

  @param gateways : list of remote gateway string id's
  @type string

Definition at line 372 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.update_public_interface	(	self,
		connections = `None`
	)

  Process the list of local connections and check against
  the current rules and patterns for changes. If a rule
  has become (un)available take appropriate action.

  @param connections : list of current local connections parsed from the master
  @type : dictionary of ConnectionType.xxx keyed lists of utils.Connections

Definition at line 441 of file gateway_sync.py.

def rocon_gateway.gateway_sync.GatewaySync.update_pulled_interface	(	self,
		connections,
		gateways
	)

  Process the list of local connections and check against
  the current pull rules and patterns for changes. If a rule
  has become (un)available take appropriate action.

  @param connections : list of current local connections parsed from the master
  @type : dictionary of ConnectionType.xxx keyed lists of utils.Connections

  @param gateways : list of remote gateway string id's
  @type string

Definition at line 404 of file gateway_sync.py.