rocon_gateway.hub_api.Hub Class Reference

List of all members.

Public Member Functions
def	__init__
def	advertise
	Posting Information to the Hub.
def	connect
	Hub Connections.
def	get_remote_connection_state
def	get_remote_gateway_firewall_flag
def	list_remote_gateway_names
def	matches_remote_gateway_name
def	post_flip_details
def	post_pull_details
def	register_gateway
def	remote_gateway_info
	Hub Data Retrieval.
def	remove_flip_details
def	remove_pull_details
def	send_flip_request
	Gateway-Gateway Communications.
def	send_unflip_request
def	unadvertise
def	unregister_gateway
Public Attributes
	name
	remote_gateway_listener_thread
	uri
Static Public Attributes
	callback = None
	pool = None
	pubsub = None
	server = None
Private Member Functions
def	_send_unflip_request
Private Attributes
	_firewall
	_gateway_name
	_redis_channels
	_redis_keys
	_redis_pubsub_server
	_remote_gateway_request_callbacks
	_unique_gateway_name

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Detailed Description

Definition at line 137 of file hub_api.py.

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Constructor & Destructor Documentation

def rocon_gateway.hub_api.Hub.__init__	(		self,
			remote_gateway_request_callbacks,
			gateway_name,
			firewall
	)

  @param remote_gateway_request_callbacks : to handle redis responses
  @type list of function pointers (back to GatewaySync class

  @param gateway_name : recommended name for this gateway
  @type string

  @param firewall : whether this gateway blocks flips or not (we publish this info)
  @type Bool

Definition at line 144 of file hub_api.py.

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Member Function Documentation

def rocon_gateway.hub_api.Hub._send_unflip_request	(		self,
			gateway,
			rule
	)		[private]

Definition at line 524 of file hub_api.py.

def rocon_gateway.hub_api.Hub.advertise	(		self,
			connection
	)

Posting Information to the Hub.

  Places a topic, service or action on the public interface. On the
  redis server, this representation will always be:

   - topic : a triple { name, type, xmlrpc node uri }
   - service : a triple { name, rosrpc uri, xmlrpc node uri }
   - action : ???

  @param connection: representation of a connection (topic, service, action)
  @type  connection: str
  @raise .exceptions.ConnectionTypeError: if connection arg is invalid.

Definition at line 352 of file hub_api.py.

def rocon_gateway.hub_api.Hub.connect	(		self,
			ip,
			portarg
	)

Hub Connections.

Definition at line 173 of file hub_api.py.

def rocon_gateway.hub_api.Hub.get_remote_connection_state	(		self,
			gateway
	)

  Equivalent to getConnectionState, but generates it from the public
  interface of a foreign gateway
       

Definition at line 316 of file hub_api.py.

def rocon_gateway.hub_api.Hub.get_remote_gateway_firewall_flag	(		self,
			gateway
	)

  Returns the value of the remote gateway's firewall (flip)
  flag.

  @param gateway : gateway string id
  @param string

  @return state of the flag
  @rtype Bool

  @raise UnavailableGatewayError when specified gateway is not on the hub

Definition at line 329 of file hub_api.py.

def rocon_gateway.hub_api.Hub.list_remote_gateway_names

(

self

)

  Return a list of the gateways (name list, not redis keys).
  e.g. ['gateway32','pirate33']

Definition at line 284 of file hub_api.py.

def rocon_gateway.hub_api.Hub.matches_remote_gateway_name	(		self,
			gateway
	)

  Use this when gateway can be a regular expression and
  we need to check it off against list_remote_gateway_names()

Definition at line 303 of file hub_api.py.

def rocon_gateway.hub_api.Hub.post_flip_details	(		self,
			gateway,
			name,
			type,
			node
	)

  Post flip details to the redis server. This has no actual functionality,
  it is just useful for debugging with the remote_gateway_info service.

  @param gateway : the target of the flip
  @type string
  @param name : the name of the connection
  @type string
  @param type : the type of the connection (one of ConnectionType.xxx
  @type string
  @param node : the node name it was pulled from
  @type string

Definition at line 381 of file hub_api.py.

def rocon_gateway.hub_api.Hub.post_pull_details	(		self,
			gateway,
			name,
			type,
			node
	)

  Post pull details to the hub. This has no actual functionality,
  it is just useful for debugging with the remote_gateway_info service.

  @param gateway : the gateway it is pulling from
  @type string
  @param name : the name of the connection
  @type string
  @param type : the type of the connection (one of ConnectionType.xxx
  @type string
  @param node : the node name it was pulled from
  @type string

Definition at line 417 of file hub_api.py.

def rocon_gateway.hub_api.Hub.register_gateway	(		self,
			ip
	)

  Register a gateway with the hub. Note that you must have already
  connected before calling this function.

  On registration, the hub will provide a unique identifier number
  which will be appended to the suggested name of this gateway to
  ensure a unique id string and key for this gateway.

  @return: success or failure of the operation
  @rtype: bool

  @todo - maybe merge with 'connect', or at the least check if it
  is actually connected here first.

Definition at line 184 of file hub_api.py.

def rocon_gateway.hub_api.Hub.remote_gateway_info	(		self,
			gateway
	)

Hub Data Retrieval.

  Return remote gateway information for the specified gateway string id.

  @param gateways : gateway id string to search for
  @type string
  @return remote gateway information
  @rtype gateway_msgs.msg.RemotGateway or None

Definition at line 247 of file hub_api.py.

def rocon_gateway.hub_api.Hub.remove_flip_details	(		self,
			gateway,
			name,
			type,
			node
	)

  Post flip details to the redis server. This has no actual functionality,
  it is just useful for debugging with the remote_gateway_info service.

  @param gateway : the target of the flip
  @type string
  @param name : the name of the connection
  @type string
  @param type : the type of the connection (one of ConnectionType.xxx
  @type string
  @param node : the node name it was pulled from
  @type string

Definition at line 399 of file hub_api.py.

def rocon_gateway.hub_api.Hub.remove_pull_details	(		self,
			gateway,
			name,
			type,
			node
	)

  Post pull details to the hub. This has no actual functionality,
  it is just useful for debugging with the remote_gateway_info service.

  @param gateway : the gateway it was pulling from
  @type string
  @param name : the name of the connection
  @type string
  @param type : the type of the connection (one of ConnectionType.xxx
  @type string
  @param node : the node name it was pulled from
  @type string

Definition at line 435 of file hub_api.py.

def rocon_gateway.hub_api.Hub.send_flip_request	(		self,
			gateway,
			connection
	)

Gateway-Gateway Communications.

  Sends a message to the remote gateway via redis pubsub channel. This is called from the
  watcher thread, when a flip rule gets activated.

   - redis channel name: rocon:<remote_gateway_name>
   - data : list of [ command, gateway, rule type, type, xmlrpc_uri ]
    - [0] - command       : in this case 'flip'
    - [1] - gateway       : the name of this gateway, i.e. the flipper
    - [2] - name          : local name
    - [3] - node          : local node name
    - [4] - connection_type : one of ConnectionType.PUBLISHER etc
    - [5] - type_info     : a ros format type (e.g. std_msgs/String or service api)
    - [6] - xmlrpc_uri    : the xmlrpc node uri

  @param command : string command name - either 'flip' or 'unflip'
  @type str

  @param flip_rule : the flip to send
  @type gateway_msgs.msg.RemoteRule

  @param type_info : topic type (e.g. std_msgs/String)
  @param str

  @param xmlrpc_uri : the node uri
  @param str

Definition at line 457 of file hub_api.py.

def rocon_gateway.hub_api.Hub.send_unflip_request	(		self,
			gateway,
			rule
	)

Definition at line 492 of file hub_api.py.

def rocon_gateway.hub_api.Hub.unadvertise	(		self,
			connection
	)

  Removes a topic, service or action from the public interface.

  @param connection: representation of a connection (topic, service, action)
  @type  connection: str
  @raise .exceptions.ConnectionTypeError: if connectionarg is invalid.

Definition at line 369 of file hub_api.py.

def rocon_gateway.hub_api.Hub.unregister_gateway

(

self

)

  Remove all gateway info from the hub.

  @return: success or failure of the operation
  @rtype: bool

Definition at line 219 of file hub_api.py.

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Member Data Documentation

rocon_gateway::hub_api.Hub::_firewall [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::_gateway_name [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::_redis_channels [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::_redis_keys [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::_redis_pubsub_server [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::_remote_gateway_request_callbacks [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::_unique_gateway_name [private]

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::callback = None [static]

Definition at line 142 of file hub_api.py.

rocon_gateway::hub_api.Hub::name

Definition at line 153 of file hub_api.py.

rocon_gateway::hub_api.Hub::pool = None [static]

Definition at line 139 of file hub_api.py.

rocon_gateway::hub_api.Hub::pubsub = None [static]

Definition at line 141 of file hub_api.py.

rocon_gateway::hub_api.Hub::remote_gateway_listener_thread

Definition at line 197 of file hub_api.py.

rocon_gateway::hub_api.Hub::server = None [static]

Definition at line 140 of file hub_api.py.

rocon_gateway::hub_api.Hub::uri

Definition at line 153 of file hub_api.py.

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The documentation for this class was generated from the following file:

• hub_api.py