Package rospy :: Package impl :: Module tcpros_service

Module tcpros_service

Internal use: Service-specific extensions for TCPROS support

Classes
	TCPService Protocol implementation for Services over TCPROS
	TCPROSServiceClient Protocol Implementation for Service clients over TCPROS
	ServiceProxy Create a handle to a ROS service for invoking calls.
	ServiceImpl Implementation of ROS Service.
	Service Declare a ROS service.

Functions

wait_for_service(service, timeout=None)
Blocks until service is available.

source code

convert_return_to_response(response, response_class)
Convert return value of function to response instance.

source code

str

service_connection_handler(sock, client_addr, header)
Process incoming service connection.

source code

Variables
	logger = `logging.getLogger('rospy.service')`
	__package__ = `'rospy.impl'`

Function Details

wait_for_service(service, timeout=None)

source code

Blocks until service is available. Use this in initialization code if your program depends on a service already running.

Parameters:

service (str) - name of service
timeout (double) - timeout time in seconds, None for no timeout. NOTE: timeout=0 is invalid as wait_for_service actually contacts the service, so non-blocking behavior is not possible. For timeout=0 uses cases, just call the service without waiting.

Raises:

ROSException - if specified timeout is exceeded
ROSInterruptException - if shutdown interrupts wait

convert_return_to_response(response, response_class)

source code


Convert return value of function to response instance. The
rules/precedence for this are:

1. If the return type is the same as the response type, no conversion
is done.

2. If the return type is a dictionary, it is used as a keyword-style
initialization for a new response instance.

3. If the return type is *not* a list type, it is passed in as a single arg
to a new response instance.

4. If the return type is a list/tuple type, it is used as a args-style
initialization for a new response instance.

service_connection_handler(sock, client_addr, header)

source code

Process incoming service connection. For use with TCPROSServer. Reads in service name from handshake and creates the appropriate service handler for the connection.

Parameters:

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

Returns: str

error string or None