Inheritance diagram for rosbridge_library.protocol.Protocol:
Public Member Functions | |
| def | __init__ |
| def | add_capability |
| def | deserialize |
| def | finish |
| def | incoming |
| def | log |
| def | outgoing |
| def | register_operation |
| def | send |
| def | serialize |
| def | unregister_operation |
Public Attributes | |
| capabilities | |
| client_id | |
| operations | |
Detailed Description
The interface for a single client to interact with ROS. See rosbridge_protocol for the default protocol used by rosbridge The lifecycle for a Protocol instance is as follows: - Pass incoming messages from the client to incoming - Propagate outgoing messages to the client by overriding outgoing - Call finish to clean up resources when the client is finished
Definition at line 43 of file protocol.py.
Constructor & Destructor Documentation
| def rosbridge_library.protocol.Protocol.__init__ | ( | self, | |
| client_id | |||
| ) |
Keyword arguments: client_id -- a unique ID for this client to take. Uniqueness is important otherwise there will be conflicts between multiple clients with shared resources
Reimplemented in rosbridge_library.rosbridge_protocol.RosbridgeProtocol.
Definition at line 55 of file protocol.py.
Member Function Documentation
| def rosbridge_library.protocol.Protocol.add_capability | ( | self, | |
| capability_class | |||
| ) |
Add a capability to the protocol. This method is for convenience; assumes the default capability constructor Keyword arguments: capability_class -- the class of the capability to add
Definition at line 193 of file protocol.py.
| def rosbridge_library.protocol.Protocol.deserialize | ( | self, | |
| msg, | |||
cid = None |
|||
| ) |
Turns the wire-level representation into a dictionary of values Default behaviour assumes JSON. Override to use a different container. Keyword arguments: msg -- the wire-level message to deserialize cid -- (optional) an ID associated with this. Is logged on error Returns a dictionary of values
Definition at line 154 of file protocol.py.
| def rosbridge_library.protocol.Protocol.finish | ( | self | ) |
Indicate that the client is finished and clean up resources. All clients should call this method after disconnecting.
Definition at line 124 of file protocol.py.
| def rosbridge_library.protocol.Protocol.incoming | ( | self, | |
| message_string | |||
| ) |
Process an incoming message from the client Keyword arguments: message_string -- the wire-level message sent by the client
Definition at line 66 of file protocol.py.
| def rosbridge_library.protocol.Protocol.log | ( | self, | |
| level, | |||
| message, | |||
lid = None |
|||
| ) |
Log a message to the client. By default just sends to stdout Keyword arguments: level -- the logger level of this message message -- the string message to send to the user lid -- an associated for this log message
Definition at line 205 of file protocol.py.
| def rosbridge_library.protocol.Protocol.outgoing | ( | self, | |
| message | |||
| ) |
Pass an outgoing message to the client. This method should be overridden. Keyword arguments: message -- the wire-level message to send to the client
Definition at line 98 of file protocol.py.
| def rosbridge_library.protocol.Protocol.register_operation | ( | self, | |
| opcode, | |||
| handler | |||
| ) |
Register a handler for an opcode Keyword arguments: opcode -- the opcode to register this handler for handler -- a callback function to call for messages with this opcode
Definition at line 173 of file protocol.py.
| def rosbridge_library.protocol.Protocol.send | ( | self, | |
| message, | |||
cid = None |
|||
| ) |
Called internally in preparation for sending messages to the client This method pre-processes the message then passes it to the overridden outgoing method. Keyword arguments: message -- a dict of message values to be marshalled and sent cid -- (optional) an associated id
Definition at line 109 of file protocol.py.
| def rosbridge_library.protocol.Protocol.serialize | ( | self, | |
| msg, | |||
cid = None |
|||
| ) |
Turns a dictionary of values into the appropriate wire-level representation. Default behaviour uses JSON. Override to use a different container. Keyword arguments: msg -- the dictionary of values to serialize cid -- (optional) an ID associated with this. Will be logged on err. Returns a JSON string representing the dictionary
Definition at line 133 of file protocol.py.
| def rosbridge_library.protocol.Protocol.unregister_operation | ( | self, | |
| opcode | |||
| ) |
Unregister a handler for an opcode Keyword arguments: opcode -- the opcode to unregister the handler for
Definition at line 183 of file protocol.py.
Member Data Documentation
Definition at line 60 of file protocol.py.
Definition at line 60 of file protocol.py.
Definition at line 60 of file protocol.py.
The documentation for this class was generated from the following file: