niryo_libraries.rosbridge_library.capability.Capability

class documentation

class Capability:

Constructor: Capability(protocol)

Handles the operation-specific logic of a rosbridge message

May define one or more opcodes to handle, for example 'publish' or 'call_service'

Each connected client receives its own capability instance, which are managed by the client's own protocol instance.

Protocol.send() is available to send messages back to the client.

Method	`__init__`	Abstract class constructor. All capabilities require a handle to the containing protocol.
Method	`basic_type_check`	Performs basic typechecking on fields in msg.
Method	`finish`	Notify this capability that the client is finished and that it's time to free up resources.
Method	`handle_message`	Handle an incoming message.
Instance Variable	`protocol`	Undocumented

def __init__(self, protocol): ¶

Abstract class constructor. All capabilities require a handle to the containing protocol.

Keyword arguments: protocol -- the protocol instance for this capability instance

def basic_type_check(self, msg, types_info): ¶

Performs basic typechecking on fields in msg.

Keyword arguments: msg -- a message, deserialized into a dictoinary types_info -- a list of tuples (mandatory, fieldname, fieldtype) where

mandatory - boolean, is the field mandatory fieldname - the name of the field in the message fieldtypes - the expected python type of the field or list of types

Throws: MissingArgumentException -- if a field is mandatory but not present in the message InvalidArgumentException -- if a field is present but not of the type specified by fieldtype

def finish(self): ¶

Notify this capability that the client is finished and that it's time to free up resources.

def handle_message(self, message): ¶

Handle an incoming message.

Called by the protocol after having already checked the message op code

Keyword arguments: message -- the incoming message, deserialized into a dictionary

protocol = ¶

Undocumented