class TCPROSHandler(rospy.impl.transport.ProtocolHandler):
Constructor: TCPROSHandler()
ROS Protocol handler for TCPROS. Accepts both TCPROS topic connections as well as ROS service connections over TCP. TCP server socket is run once start_server() is called -- this is implicitly called during init_publisher().
Method | __init__ |
ctor |
Method | create |
Connect to topic resolved_name on Publisher pub_uri using TCPROS. @param resolved_name str: resolved topic name @type resolved_name: str @param pub_uri: XML-RPC URI of publisher @type pub_uri: str @param protocol_params: protocol parameters to use for connecting @type protocol_params: [XmlRpcLegal] @return: code, message, debug @rtype: (int, str, int)... |
Method | get |
Get supported protocols |
Method | init |
Initialize this node to receive an inbound TCP connection, i.e. startup a TCP server if one is not already running. |
Method | set |
@param resolved_name: resolved topic name @type resolved_name: str |
Method | shutdown |
stops the TCP/IP server responsible for receiving inbound connections |
Method | supports |
@param protocol: name of protocol @type protocol: str @return: True if protocol is supported @rtype: bool |
Method | topic |
Process incoming topic connection. Reads in topic name from handshake and creates the appropriate L{TCPROSPub} handler for the connection. @param sock: socket connection @type sock: socket.socket @param client_addr: client address @type client_addr: (str, int) @param header: key/value pairs from handshake header @type header: dict @return: error string or None @rtype: str... |
Instance Variable | tcp |
Undocumented |
Connect to topic resolved_name on Publisher pub_uri using TCPROS. @param resolved_name str: resolved topic name @type resolved_name: str @param pub_uri: XML-RPC URI of publisher @type pub_uri: str @param protocol_params: protocol parameters to use for connecting @type protocol_params: [XmlRpcLegal] @return: code, message, debug @rtype: (int, str, int)
Initialize this node to receive an inbound TCP connection, i.e. startup a TCP server if one is not already running.
@param resolved_name: topic name @type resolved__name: str
- @param protocol: negotiated protocol
- parameters. protocol[0] must be the string 'TCPROS'
@type protocol: [str, value*] @return: (code, msg, [TCPROS, addr, port]) @rtype: (int, str, list)
@param resolved_name: resolved topic name @type resolved_name: str
@param tcp_nodelay: If True, sets TCP_NODELAY on publisher's socket (disables Nagle algorithm). This results in lower latency publishing at the cost of efficiency. @type tcp_nodelay: bool
@param protocol: name of protocol @type protocol: str @return: True if protocol is supported @rtype: bool
Process incoming topic connection. Reads in topic name from handshake and creates the appropriate L{TCPROSPub} handler for the connection. @param sock: socket connection @type sock: socket.socket @param client_addr: client address @type client_addr: (str, int) @param header: key/value pairs from handshake header @type header: dict @return: error string or None @rtype: str