niryo_libraries.rospy.impl.tcpros_base.TCPROSTransportProtocol

class documentation

class TCPROSTransportProtocol(object):

Constructor: TCPROSTransportProtocol(resolved_name, recv_data_class, queue_size, buff_size)

Abstraction of TCPROS connections. Implementations Services/Publishers/Subscribers must implement this protocol, which defines how messages are deserialized from an inbound connection (read_messages()) as well as which fields to send when creating a new connection (get_header_fields()).

Method	`__init__`	ctor @param resolved_name: resolved service or topic name @type resolved_name: str @param recv_data_class: message class for deserializing inbound messages @type recv_data_class: Class @param queue_size: maximum number of inbound messages to maintain @type queue_size: int @param buff_size: receive buffer size (in bytes) for reading from the connection...
Method	`get_header_fields`	Header fields that should be sent over the connection. The header fields are protocol specific (i.e. service vs. topic, publisher vs. subscriber). @return: {str : str}: header fields to send over connection @rtype: dict...
Method	`read_messages`	@param b StringIO: read buffer @param msg_queue [Message]: queue of deserialized messages @type msg_queue: [Message] @param sock socket: protocol can optionally read more data from the socket, but in most cases the required data will already be in b...
Instance Variable	`buff_size`	Undocumented
Instance Variable	`direction`	Undocumented
Instance Variable	`queue_size`	Undocumented
Instance Variable	`recv_data_class`	Undocumented
Instance Variable	`resolved_name`	Undocumented

def __init__(self, resolved_name, recv_data_class, queue_size=None, buff_size=DEFAULT_BUFF_SIZE): ¶

ctor @param resolved_name: resolved service or topic name @type resolved_name: str @param recv_data_class: message class for deserializing inbound messages @type recv_data_class: Class @param queue_size: maximum number of inbound messages to maintain @type queue_size: int @param buff_size: receive buffer size (in bytes) for reading from the connection. @type buff_size: int

def get_header_fields(self): ¶

Header fields that should be sent over the connection. The header fields are protocol specific (i.e. service vs. topic, publisher vs. subscriber). @return: {str : str}: header fields to send over connection @rtype: dict

def read_messages(self, b, msg_queue, sock): ¶

@param b StringIO: read buffer @param msg_queue [Message]: queue of deserialized messages @type msg_queue: [Message] @param sock socket: protocol can optionally read more data from the socket, but in most cases the required data will already be in b

buff_size = ¶

Undocumented

direction = ¶

Undocumented

queue_size = ¶

Undocumented

recv_data_class = ¶

Undocumented

resolved_name = ¶

Undocumented