Package rospy :: Package impl :: Module udpros :: Class UDPROSHandler

Class UDPROSHandler

transport.ProtocolHandler --+
                            |
                           UDPROSHandler

rospy protocol handler for UDPROS. Stores the datagram server if necessary.

Instance Methods

__init__(self, port=0)
ctor

source code

init_server(self)
Initialize and start the server thread, if not already initialized.

source code

run(self)

source code

shutdown(self)

source code

(int, str, int)

create_transport(self, topic_name, pub_uri, protocol_params)
Connect to topic resolved_name on Publisher pub_uri using UDPROS.

source code

bool

supports(self, protocol)
Returns: True if protocol is supported

source code

get_supported(self)
Get supported protocols

source code

(int, str, list)

init_publisher(self, topic_name, protocol_params)
Initialize this node to start publishing to a new UDP location.

source code

str

topic_connection_handler(self, sock, client_addr, header)
Process incoming topic connection.

source code

Method Details

create_transport(self, topic_name, pub_uri, protocol_params)

source code

Connect to topic resolved_name on Publisher pub_uri using UDPROS.

Parameters:

resolved_name (str), str - resolved topic name
pub_uri (str) - XML-RPC URI of publisher
protocol_params ([XmlRpcLegal]) - protocol parameters to use for connecting

Returns: (int, str, int)

code, message, debug

supports(self, protocol)

source code

Parameters:

protocol (str) - name of protocol

Returns: bool

True if protocol is supported

init_publisher(self, topic_name, protocol_params)

source code

Initialize this node to start publishing to a new UDP location.

Parameters:

resolved_name - topic name
protocol_params ([str, value*]) - requested protocol parameters. protocol[0] must be the string 'UDPROS'
resolved__name (str)

Returns: (int, str, list)

(code, msg, [UDPROS, addr, port])

topic_connection_handler(self, sock, client_addr, header)

source code

Process incoming topic connection. Reads in topic name from handshake and creates the appropriate TCPROSPub handler for the connection.

Parameters:

sock (socket.socket) - socket connection
client_addr ((str, int)) - client address
header (dict) - key/value pairs from handshake header

Returns: str

error string or None