rosbridge_server.websocket_handler module

class rosbridge_server.websocket_handler.IncomingQueue(protocol: rosbridge_library.rosbridge_protocol.RosbridgeProtocol)

Bases: Thread

Decouples incoming messages from the Tornado thread.

This mitigates cases where outgoing messages are blocked by incoming, and vice versa.

finish() → None

Clear the queue and do not accept further messages.

push(msg: str) → None

run() → None

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

class rosbridge_server.websocket_handler.RosbridgeWebSocket(*args: Any, **kwargs: Any)

Bases: WebSocketHandler

check_origin(origin: str) → bool

client_id: uuid.UUID

client_manager: ClassVar[ClientManager | None] = None

clients_connected: ClassVar[int] = 0

get_compression_options() → dict | None

incoming_queue: IncomingQueue

node_handle: ClassVar[Node | None] = None

on_close() → None

on_message(message: str | bytes) → None

open(*args: str, **kwargs: str) → None

async prewrite_message(message: bson.BSON | bytearray | str, binary: bool) → None

protocol: RosbridgeProtocol

protocol_parameters: ClassVar = {}

send_message(message: bson.BSON | bytearray | str, compression: str = 'none') → None

use_compression: ClassVar[bool] = False

rosbridge_server.websocket_handler.log_exceptions(f: Callable[P, R]) → Callable[P, R]

Log exceptions to ROS.