Public Member Functions | |
| def | __init__ |
| def | create_transport |
| def | get_supported |
| def | init_publisher |
| def | set_tcp_nodelay |
| def | shutdown |
| def | supports |
| def | topic_connection_handler |
Public Attributes | |
| tcp_nodelay_map | |
| tcpros_server | |
| topic_manager | |
ROS Protocol handler for TCPROS. Accepts both TCPROS topic connections as well as ROS service connections over TCP. TCP server socket is run once start_server() is called -- this is implicitly called during init_publisher().
| def rosproxy.tcpros.ProxyTCPROSHandler.__init__ | ( | self, | |
| topic_manager, | |||
| tcpros_server | |||
| ) |
| def rosproxy.tcpros.ProxyTCPROSHandler.create_transport | ( | self, | |
| resolved_name, | |||
| pub_uri, | |||
| protocol_params | |||
| ) |
Connect to topic resolved_name on Publisher pub_uri using TCPROS. @param resolved_name str: resolved topic name @type resolved_name: str @param pub_uri: XML-RPC URI of publisher @type pub_uri: str @param protocol_params: protocol parameters to use for connecting @type protocol_params: [XmlRpcLegal] @return: code, message, debug @rtype: (int, str, int)
| def rosproxy.tcpros.ProxyTCPROSHandler.get_supported | ( | self | ) |
| def rosproxy.tcpros.ProxyTCPROSHandler.init_publisher | ( | self, | |
| resolved_name, | |||
| protocol | |||
| ) |
Initialize this node to receive an inbound TCP connection, i.e. startup a TCP server if one is not already running. @param resolved_name: topic name @type resolved__name: str @param protocol: negotiated protocol parameters. protocol[0] must be the string 'TCPROS' @type protocol: [str, value*] @return: (code, msg, [TCPROS, addr, port]) @rtype: (int, str, list)
| def rosproxy.tcpros.ProxyTCPROSHandler.set_tcp_nodelay | ( | self, | |
| resolved_name, | |||
| tcp_nodelay | |||
| ) |
| def rosproxy.tcpros.ProxyTCPROSHandler.shutdown | ( | self | ) |
| def rosproxy.tcpros.ProxyTCPROSHandler.supports | ( | self, | |
| protocol | |||
| ) |
| def rosproxy.tcpros.ProxyTCPROSHandler.topic_connection_handler | ( | self, | |
| sock, | |||
| client_addr, | |||
| header | |||
| ) |
Process incoming topic connection. Reads in topic name from
handshake and creates the appropriate L{TCPROSPub} handler for the
connection.
@param sock: socket connection
@type sock: socket.socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str