Package rospy :: Package impl :: Module masterslave :: Class ROSHandler

Class ROSHandler

                 object --+    
                          |    
roslib.xmlrpc.XmlRpcHandler --+
                              |
                             ROSHandler

Base handler for both slave and master nodes. API methods generally provide the capability for establishing point-to-point connections with other nodes.

Instance methods are XML-RPC API methods, so care must be taken as to what is added here.

Instance Methods

__init__(self, name, master_uri)
Base constructor for ROS nodes/masters

source code

getUri(*args, **kwds)

source code

getName(*args, **kwds)

source code

getBusStats(*args, **kwds)
Retrieve transport/topic statistics

source code

getBusInfo(*args, **kwds)
Retrieve transport/topic connection information

source code

[int, str, str]

getMasterUri(*args, **kwds)
Get the URI of the master node.

source code

[int, str, int]

shutdown(*args, **kwds)
Stop this server

source code

[int, str, int]

getPid(*args, **kwds)
Get the PID of this server

source code

getSubscriptions(*args, **kwds)
Retrieve a list of topics that this node subscribes to

source code

[int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]

getPublications(*args, **kwds)
Retrieve a list of topics that this node publishes.

source code

[int, str, int]

paramUpdate(*args, **kwds)
Callback from master of current publisher list for specified topic.

source code

[int, str, int]

publisherUpdate(*args, **kwds)
Callback from master of current publisher list for specified topic.

source code

[int, str, [str, XmlRpcLegalValue*]]

requestTopic(*args, **kwds)
Publisher node API method called by a subscriber node.

source code

Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Class Methods

list

remappings(cls, methodName)
@internal

source code

Properties
Inherited from `object`: `__class__`

Method Details

init(self, name, master_uri)
(Constructor)

source code

Base constructor for ROS nodes/masters

Parameters:

name (str) - ROS name of this node
master_uri (str) - URI of master node, or None if this node is the master

Overrides: object.__init__

remappings(cls, methodName)
Class Method

source code

@internal

Parameters:

cls (Class: class to register remappings on) - class to register remappings on

Returns: list

parameters (by pos) that should be remapped because they are names

getUri(*args, **kwds)

source code

Decorators:

@apivalidate('')

getName(*args, **kwds)

source code

Decorators:

@apivalidate('')

getBusStats(*args, **kwds)

source code

Retrieve transport/topic statistics

Parameters:

caller_id (str) - ROS caller id

Returns:

[publishStats, subscribeStats, serviceStats]:

  publishStats: [[topicName, messageDataSent, pubConnectionData]...[topicNameN, messageDataSentN, pubConnectionDataN]]
      pubConnectionData: [connectionId, bytesSent, numSent, connected]* . 
  subscribeStats: [[topicName, subConnectionData]...[topicNameN, subConnectionDataN]]
      subConnectionData: [connectionId, bytesReceived, dropEstimate, connected]* . dropEstimate is -1 if no estimate. 
  serviceStats: not sure yet, probably akin to [numRequests, bytesReceived, bytesSent]

Decorators:

@apivalidate([])

getBusInfo(*args, **kwds)

source code

Retrieve transport/topic connection information

Parameters:

caller_id (str) - ROS caller id

Decorators:

@apivalidate([])

getMasterUri(*args, **kwds)

source code

Get the URI of the master node.

Parameters:

caller_id (str) - ROS caller id

Returns: [int, str, str]

[code, msg, masterUri]

Decorators:

@apivalidate('')

shutdown(*args, **kwds)

source code

Stop this server

Parameters:

caller_id (str) - ROS caller id
msg (str) - a message describing why the node is being shutdown.

Returns: [int, str, int]

[code, msg, 0]

Decorators:

@apivalidate(0, (None,))

getPid(*args, **kwds)

source code

Get the PID of this server

Parameters:

caller_id (str) - ROS caller id

Returns: [int, str, int]

[1, "", serverProcessPID]

Decorators:

@apivalidate(-1)

getSubscriptions(*args, **kwds)

source code

Retrieve a list of topics that this node subscribes to

Parameters:

caller_id (str) - ROS caller id

Decorators:

@apivalidate([])

getPublications(*args, **kwds)

source code

Retrieve a list of topics that this node publishes.

Parameters:

caller_id (str) - ROS caller id

Returns: [int, str, [ [topic1, topicType1]...[topicN, topicTypeN]]]

list of topics published by this node

Decorators:

@apivalidate([])

paramUpdate(*args, **kwds)

source code

Callback from master of current publisher list for specified topic.

Parameters:

caller_id (str) - ROS caller id
parameter_key (str @param parameter_value New parameter value), str - parameter name, globally resolved
parameter_value (XMLRPC-legal value)

Returns: [int, str, int]

[code, status, ignore]. If code is -1 ERROR, the node is not subscribed to parameter_key

Decorators:

@apivalidate(-1, (global_name('parameter_key'), None))

publisherUpdate(*args, **kwds)

source code

Callback from master of current publisher list for specified topic.

Parameters:

caller_id (str) - ROS caller id
topic (str), str - topic name
publishers ([str]) - list of current publishers for topic in the form of XMLRPC URIs

Returns: [int, str, int]

[code, status, ignore]

Decorators:

@apivalidate(-1, (is_topic('topic'), is_publishers_list('publishers')))

requestTopic(*args, **kwds)

source code

Publisher node API method called by a subscriber node.

Request that source allocate a channel for communication. Subscriber provides a list of desired protocols for communication. Publisher returns the selected protocol along with any additional params required for establishing connection. For example, for a TCP/IP-based connection, the source node may return a port number of TCP/IP server.

Parameters:

caller_id (str), str - ROS caller id
topic (str) - topic name
protocols ([[str, XmlRpcLegalValue*]]) - list of desired protocols for communication in order of preference. Each protocol is a list of the form [ProtocolName, ProtocolParam1, ProtocolParam2...N]

Returns: [int, str, [str, XmlRpcLegalValue*]]

[code, msg, protocolParams]. protocolParams may be an empty list if there are no compatible protocols.

Decorators:

@apivalidate([], (is_topic('topic'), non_empty('protocols')))

Class ROSHandler

__init__(self, name, master_uri) (Constructor)

remappings(cls, methodName) Class Method

getUri(*args, **kwds)

getName(*args, **kwds)

getBusStats(*args, **kwds)

getBusInfo(*args, **kwds)

getMasterUri(*args, **kwds)

shutdown(*args, **kwds)

getPid(*args, **kwds)

getSubscriptions(*args, **kwds)

getPublications(*args, **kwds)

paramUpdate(*args, **kwds)

publisherUpdate(*args, **kwds)

requestTopic(*args, **kwds)

init(self, name, master_uri)
(Constructor)

remappings(cls, methodName)
Class Method