/usr/lib/python2.7/dist-packages/rospy/impl/tcpros.py is in python-rospy 1.13.5+ds1-3.
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"""
TCPROS connection protocol.
Implements: U{http://ros.org/wiki/ROS/TCPROS}
The rospy tcpros implementation is split into three areas:
- L{rospy.tcpros_base}: common TCPROS routines, including header and connection processing
- L{rospy.tcpros_pubsub}: Topic-specific capabilities for publishing and subscribing
- L{rospy.tcpros_service}: Service-specific capabilities
"""
import rospy.impl.tcpros_service
from rospy.impl.tcpros_base import init_tcpros_server, DEFAULT_BUFF_SIZE
from rospy.impl.tcpros_pubsub import TCPROSHandler
_handler = TCPROSHandler()
def init_tcpros(port=0):
"""
@param tcpros_port: override the port of the TCP server
@type tcpros_port: int
"""
server = init_tcpros_server(port)
server.topic_connection_handler = _handler.topic_connection_handler
server.service_connection_handler = rospy.impl.tcpros_service.service_connection_handler
def get_tcpros_handler():
return _handler
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