Package rospy :: Package impl :: Module tcpros_service :: Class ServiceImpl

Class ServiceImpl

source code

      object --+    
               |    
service._Service --+
                   |
                  ServiceImpl
Known Subclasses:

Implementation of ROS Service. This intermediary class allows for more configuration of behavior than the Service class.

Instance Methods
 
__init__(self, name, service_class, handler, buff_size=65536)
x.__init__(...) initializes x; see x.__class__.__doc__ for signature
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shutdown(self, reason='')
Stop this service
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spin(self)
Let service run and take over thread until service or node shutdown.
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handle(self, transport, header)
Process incoming request.
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Inherited from object: __delattr__, __format__, __getattribute__, __hash__, __new__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__

Properties

Inherited from object: __class__

Method Details

__init__(self, name, service_class, handler, buff_size=65536)
(Constructor)

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x.__init__(...) initializes x; see x.__class__.__doc__ for signature

Overrides: object.__init__
(inherited documentation)

shutdown(self, reason='')

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Stop this service

Parameters:
  • reason (str) - human-readable shutdown reason

spin(self)

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Let service run and take over thread until service or node shutdown. Use this method to keep your scripts from exiting execution.

handle(self, transport, header)

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Process incoming request. This method should be run in its own thread. If header['persistent'] is set to 1, method will block until connection is broken.

Parameters:
  • transport (TCPROSTransport) - transport instance
  • header (dict) - headers from client