rosbridge_protocol.py

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from __future__ import print_function
from rosbridge_library.protocol import Protocol
from rosbridge_library.capabilities.call_service import CallService
from rosbridge_library.capabilities.advertise import Advertise
from rosbridge_library.capabilities.publish import Publish
from rosbridge_library.capabilities.subscribe import Subscribe
# imports for defragmentation
from rosbridge_library.capabilities.defragmentation import Defragment
# imports for external service_server
from rosbridge_library.capabilities.advertise_service import AdvertiseService
from rosbridge_library.capabilities.service_response import ServiceResponse
from rosbridge_library.capabilities.unadvertise_service import UnadvertiseService



class RosbridgeProtocol(Protocol):
    """ Adds the handlers for the rosbridge opcodes """
    rosbridge_capabilities = [CallService, Advertise, Publish, Subscribe, Defragment, AdvertiseService, ServiceResponse, UnadvertiseService]

    print("registered capabilities (classes):")
    for cap in rosbridge_capabilities:
        print(" -", str(cap))

    parameters = None

    def __init__(self, client_id, parameters = None):
        self.parameters = parameters
        Protocol.__init__(self, client_id)
        for capability_class in self.rosbridge_capabilities:
            self.add_capability(capability_class)