Public Member Functions | |
| def | __init__ |
| def | add_capability |
| def | deserialize |
| def | finish |
| def | incoming |
| def | log |
| def | outgoing |
| def | register_operation |
| def | send |
| def | serialize |
| def | unregister_operation |
Public Attributes | |
| buffer | |
| capabilities | |
| client_id | |
| delay_between_messages | |
| old_buffer | |
| operations | |
Static Public Attributes | |
| string | buffer = "" |
| busy = False | |
| float | delay_between_messages = 0.01 |
| fragment_size = None | |
| string | old_buffer = "" |
| parameters = None | |
| png = None | |
| request_list = None | |
Detailed Description
The interface for a single client to interact with ROS. See rosbridge_protocol for the default protocol used by rosbridge The lifecycle for a Protocol instance is as follows: - Pass incoming messages from the client to incoming - Propagate outgoing messages to the client by overriding outgoing - Call finish to clean up resources when the client is finished
Definition at line 59 of file protocol.py.
Constructor & Destructor Documentation
| def rosbridge_library.protocol.Protocol.__init__ | ( | self, | |
| client_id | |||
| ) |
Keyword arguments: client_id -- a unique ID for this client to take. Uniqueness is important otherwise there will be conflicts between multiple clients with shared resources
Definition at line 87 of file protocol.py.
Member Function Documentation
| def rosbridge_library.protocol.Protocol.add_capability | ( | self, | |
| capability_class | |||
| ) |
Add a capability to the protocol. This method is for convenience; assumes the default capability constructor Keyword arguments: capability_class -- the class of the capability to add
Definition at line 330 of file protocol.py.
| def rosbridge_library.protocol.Protocol.deserialize | ( | self, | |
| msg, | |||
cid = None |
|||
| ) |
Turns the wire-level representation into a dictionary of values Default behaviour assumes JSON. Override to use a different container. Keyword arguments: msg -- the wire-level message to deserialize cid -- (optional) an ID associated with this. Is logged on error Returns a dictionary of values
Definition at line 278 of file protocol.py.
| def rosbridge_library.protocol.Protocol.finish | ( | self | ) |
Indicate that the client is finished and clean up resources. All clients should call this method after disconnecting.
Definition at line 248 of file protocol.py.
| def rosbridge_library.protocol.Protocol.incoming | ( | self, | |
message_string = "" |
|||
| ) |
Process an incoming message from the client Keyword arguments: message_string -- the wire-level message sent by the client
Definition at line 104 of file protocol.py.
| def rosbridge_library.protocol.Protocol.log | ( | self, | |
| level, | |||
| message, | |||
lid = None |
|||
| ) |
Log a message to the client. By default just sends to stdout Keyword arguments: level -- the logger level of this message message -- the string message to send to the user lid -- an associated for this log message
Definition at line 342 of file protocol.py.
| def rosbridge_library.protocol.Protocol.outgoing | ( | self, | |
| message | |||
| ) |
Pass an outgoing message to the client. This method should be overridden. Keyword arguments: message -- the wire-level message to send to the client
Definition at line 200 of file protocol.py.
| def rosbridge_library.protocol.Protocol.register_operation | ( | self, | |
| opcode, | |||
| handler | |||
| ) |
Register a handler for an opcode Keyword arguments: opcode -- the opcode to register this handler for handler -- a callback function to call for messages with this opcode
Definition at line 310 of file protocol.py.
| def rosbridge_library.protocol.Protocol.send | ( | self, | |
| message, | |||
cid = None |
|||
| ) |
Called internally in preparation for sending messages to the client This method pre-processes the message then passes it to the overridden outgoing method. Keyword arguments: message -- a dict of message values to be marshalled and sent cid -- (optional) an associated id
Definition at line 210 of file protocol.py.
| def rosbridge_library.protocol.Protocol.serialize | ( | self, | |
| msg, | |||
cid = None |
|||
| ) |
Turns a dictionary of values into the appropriate wire-level representation. Default behaviour uses JSON. Override to use a different container. Keyword arguments: msg -- the dictionary of values to serialize cid -- (optional) an ID associated with this. Will be logged on err. Returns a JSON string representing the dictionary
Definition at line 257 of file protocol.py.
| def rosbridge_library.protocol.Protocol.unregister_operation | ( | self, | |
| opcode | |||
| ) |
Unregister a handler for an opcode Keyword arguments: opcode -- the opcode to unregister the handler for
Definition at line 320 of file protocol.py.
Member Data Documentation
string rosbridge_library::protocol.Protocol::buffer = "" [static] |
Definition at line 76 of file protocol.py.
Definition at line 109 of file protocol.py.
rosbridge_library::protocol.Protocol::busy = False [static] |
Definition at line 78 of file protocol.py.
Definition at line 92 of file protocol.py.
Definition at line 92 of file protocol.py.
float rosbridge_library::protocol.Protocol::delay_between_messages = 0.01 [static] |
Definition at line 82 of file protocol.py.
Definition at line 92 of file protocol.py.
rosbridge_library::protocol.Protocol::fragment_size = None [static] |
Definition at line 73 of file protocol.py.
string rosbridge_library::protocol.Protocol::old_buffer = "" [static] |
Definition at line 77 of file protocol.py.
Definition at line 109 of file protocol.py.
Definition at line 92 of file protocol.py.
rosbridge_library::protocol.Protocol::parameters = None [static] |
Reimplemented in rosbridge_library.rosbridge_protocol.RosbridgeProtocol.
Definition at line 85 of file protocol.py.
rosbridge_library::protocol.Protocol::png = None [static] |
Definition at line 74 of file protocol.py.
rosbridge_library::protocol.Protocol::request_list = None [static] |
Definition at line 83 of file protocol.py.
The documentation for this class was generated from the following file: