Gateway Configuration and Main Loop Class. More...

Public Member Functions
def	__init__
def	ros_service_connect_hub
	Ros Service Callbacks.
def	ros_service_gateway_info
def	ros_service_remote_gateway_info
def	spin
	Main Loop.
Public Attributes
	gateway_sync
	param
Private Member Functions
def	_attempt_direct_connection
	Hub Connection Methods.
def	_connect
def	_scan_for_zeroconf_hubs
def	_setup_ros_services
	Ros Pubs, Subs and Services.
def	_shutdown
Private Attributes
	_gateway_services
	_zeroconf_services

Detailed Description

Gateway Configuration and Main Loop Class.

  Currently this just provides getup and go for the gateway.

    1. configure ros params
    2. setup ros pubsubs, services
    3. optionally setup zeroconf if necessary and available
    4. loop until a hub connection is made, then spin
    5. shutdown

Definition at line 25 of file src/rocon_gateway/gateway.py.

Constructor & Destructor Documentation

def rocon_gateway.gateway.Gateway.__init__ ( self )

Definition at line 35 of file src/rocon_gateway/gateway.py.

Member Function Documentation

def rocon_gateway.gateway.Gateway._attempt_direct_connection ( self ) [private]

Hub Connection Methods.

  If configured with a static hub_uri, attempt a direct connection.

  @return success of the connection
  @rtype bool

Definition at line 154 of file src/rocon_gateway/gateway.py.

def rocon_gateway.gateway.Gateway._connect	(	self,
		ip,
		port
	)	`[private]`

Definition at line 194 of file src/rocon_gateway/gateway.py.

def rocon_gateway.gateway.Gateway._scan_for_zeroconf_hubs	(	self,
		previously_found_hubs
	)	`[private]`

  Does a quick scan on zeroconf for gateway hubs. If new ones are
  found, and it is not on the blacklist, it attempts a connection.

  This gets run in the pre-spin part of the spin loop.

  @param previously_found_hubs: zeroconf names of previously scanned hubs
  @type  previously_found_hubs: list of str

Definition at line 170 of file src/rocon_gateway/gateway.py.

def rocon_gateway.gateway.Gateway._setup_ros_services ( self ) [private]

Ros Pubs, Subs and Services.

Definition at line 78 of file src/rocon_gateway/gateway.py.

def rocon_gateway.gateway.Gateway._shutdown ( self ) [private]

  Clears this gateway's information from the redis server.

Definition at line 64 of file src/rocon_gateway/gateway.py.

def rocon_gateway.gateway.Gateway.ros_service_connect_hub	(	self,
		request
	)

Ros Service Callbacks.

  Incoming requests are used to then try and connect to the gateway hub
  if not already connected.

  Requests are of the form of a uri (hostname:port pair) pointing to
  the gateway hub.

Definition at line 95 of file src/rocon_gateway/gateway.py.