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
| Method | __init__ |
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 |
| Method | add |
Add a capability to the protocol. |
| Method | deserialize |
Turns the wire-level representation into a dictionary of values |
| Method | finish |
Indicate that the client is finished and clean up resources. |
| Method | incoming |
Process an incoming message from the client |
| Method | log |
Log a message to the client. By default just sends to stdout |
| Method | outgoing |
Pass an outgoing message to the client. This method should be overridden. |
| Method | register |
Register a handler for an opcode |
| Method | send |
Called internally in preparation for sending messages to the client |
| Method | serialize |
Turns a dictionary of values into the appropriate wire-level representation. |
| Method | unregister |
Unregister a handler for an opcode |
| Class Variable | busy |
Undocumented |
| Class Variable | external |
Undocumented |
| Class Variable | parameters |
Undocumented |
| Instance Variable | bson |
Undocumented |
| Instance Variable | buffer |
Undocumented |
| Instance Variable | capabilities |
Undocumented |
| Instance Variable | client |
Undocumented |
| Instance Variable | delay |
Undocumented |
| Instance Variable | fragment |
Undocumented |
| Instance Variable | old |
Undocumented |
| Instance Variable | operations |
Undocumented |
| Instance Variable | png |
Undocumented |
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
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
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
Indicate that the client is finished and clean up resources.
All clients should call this method after disconnecting.
Process an incoming message from the client
Keyword arguments: message_string -- the wire-level message sent by the client
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
Pass an outgoing message to the client. This method should be overridden.
Keyword arguments: message -- the wire-level message to send to the client
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
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
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