Public Member Functions | Public Attributes | Static Public Attributes
rosbridge_library.protocol.Protocol Class Reference
Inheritance diagram for rosbridge_library.protocol.Protocol:
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List of all members.

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

 buffer
 capabilities
 client_id
 delay_between_messages
 old_buffer
 operations

Static Public Attributes

string buffer = ""
 busy = False
float delay_between_messages = 0.01
dictionary external_service_list = {}
 fragment_size = None
string old_buffer = ""
 parameters = None
 png = None

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 60 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

Definition at line 89 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 335 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 283 of file protocol.py.

Indicate that the client is finished and clean up resources.

All clients should call this method after disconnecting.

Definition at line 250 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 106 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 347 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 202 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 315 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 212 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 259 of file protocol.py.

Unregister a handler for an opcode

Keyword arguments:
opcode -- the opcode to unregister the handler for

Definition at line 325 of file protocol.py.


Member Data Documentation

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Reimplemented in rosbridge_library.rosbridge_protocol.RosbridgeProtocol.

Definition at line 87 of file protocol.py.

Definition at line 75 of file protocol.py.


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


rosbridge_library
Author(s): Jonathan Mace
autogenerated on Thu Aug 27 2015 14:50:35