/usr/lib/python2.7/dist-packages/rospy/impl/transport.py is in python-rospy 1.13.5+ds1-3.
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# Revision $Id$
"""
Base classes for rospy transports
These are the base underlying transport implementations, i.e.
TCP/IP connections, etc...
For topic implementations, see L{topics}
"""
import threading
# we need ids for the transports so we can send the IDs instead of
# full connection details
_transport_id = 0
_id_lock = threading.Lock()
def _nextId():
global _transport_id
try:
_id_lock.acquire()
_transport_id += 1
return _transport_id
finally:
_id_lock.release()
INBOUND = 'i'
OUTBOUND = 'o'
BIDIRECTIONAL = 'b'
## Base API of Transport implementations
class Transport(object):
transport_type = 'UNKNOWN'
## @param self
## @param direction str: INBOUND | OUTBOUND | BIDIRECTIONAL
## @param name str
def __init__(self, direction, name='unnamed'):
self.name = name
self.direction = direction
self.done = False
self.cleanup_cb = None
self.endpoint_id = ''
#STATS
self.id = _nextId()
self.stat_bytes = 0
# Number of messages that have passed through this transport
self.stat_num_msg = 0
# Endpoint Details (IP, Port)
self.local_endpoint = (0, 0)
self.remote_endpoint = (0, 0)
def fileno(self):
"""
Get a file descriptor for select() if available
"""
return None
## callback function to invoke when this connection is
## closed. Function will be passed this transport as an argument.
## @param self
## @param cleanup_callback fn(Transport): callback for when connection is closed
def set_cleanup_callback(self, cleanup_callback):
self.cleanup_cb = cleanup_callback
## terminate i/o. Leaf subclasses should override and call this implementation
## @param self
def close(self):
self.done = True
if self.cleanup_cb:
self.cleanup_cb(self)
## Write raw data to transport
## @throws TransportInitialiationError could not be initialized
## @throws TransportTerminated no longer open for publishing
def write_data(self, data):
raise Exception("not implemented")
## Implements the getTransportInfo() from roscpp
## Similar to getTransportInfo() in 'libros/transport/transport_tcp.cpp'
def get_transport_info(self):
raise NotImplementedError
## Shell class to hold stats about transport that is being killed off.
## This allows the information to stick around but the original Tranport to be gc'd
class DeadTransport(Transport):
## @param self
## @param transport str: transport name
def __init__(self, transport):
super(DeadTransport, self).__init__(
transport.direction, transport.name)
self.transport_type = transport.transport_type #class property
self.id = transport.id
self.stat_bytes = transport.stat_bytes
self.stat_num_msg = transport.stat_num_msg
self.done = True
self.endpoint_id = transport.endpoint_id
self.local_endpoint = transport.local_endpoint
self.remote_endpoint = transport.remote_endpoint
## @param self
def get_transport_info(self):
return "Closed %s connection on port %s to [%s:%s]" % (self.transport_type, self.local_endpoint[1], self.remote_endpoint[0], self.remote_endpoint[1])
## ProtocolHandler interface: implements topic communication for a
## particular protocol(s). In order to understand the methods of this
## API, it is important to understand how topic communication is
## established:
##
## When a subscriber is notified of a new topic publisher, it contacts
## the publisher to establish a connection. The subscriber gathers a
## list of supported protocols (e.g. [['TCPROS'], ['MEMMAP']]) from
## its protocol handlers (L{get_supported}) and then passes these to
## the publisher. Each of these protocols is actual a list,
## e.g. ['MPI', LaneWidth, BusSpeed], since a protocol may have
## associated parameters. This is considered the start of the
## 'negotiation phase'.
##
## subscriber -> pub.requestTopic(protocols)
##
## The Publisher selects a protocol from the lists and tells the
## appropriate protocol handler to prepare the outbound connection:
##
## pub.requestTopic() -> pub.protocol_handler.init_publisher(selected_protocol)
##
## The protocol handler will return a new set of parameters
## representing connection parameters, e.g. [TCPROS, address,
## port]. These new parameters are passed back to the subscriber,
## which tells its protocol handler to establish the connection.
##
## subscriber -> subscriber.protocol_handler.create_transport(protocolParams)
class ProtocolHandler(object): #interface
## shutdown any resources associated with handling this protocol
## @param self
def shutdown(self):
pass
## Create a new Transport using the specified \a protocol_params
## returned from the Publisher \a pub_uri.
## @param self
## @param protocol_params [[str, val*]]: parameter list from Publisher. Actual
## contents are protocol-specified.
## @param pub_uri str: publisher API URI
## @param topic str: topic name
## @return int, str, int: code, message, debug
def create_transport(self, topic, pub_uri, protocol_params):
raise Exception("interface impl")
## @param self
## @param protocol str: protocol name. Must match string identifier used in
## negotiation.
## @return bool: True if this handler supports the specified protocol"""
def supports(self, protocol):
return False
## This method is called on subscribers and returns the protocol list
## @param self
## @return [[str, val*]]: list of supported protocol params. Each set of protocol params is a
## list where the first element is the string identifier for the protocol.
def get_supported(self):
return []
## Prepare a transport based on one of the supported protocols
## declared by a Subscriber. Subscribers supply a list of
## supported protocols, of which one is selected by the Publisher
## and passed to init_publisher(). init_publisher is responsible
## for initializing the publisher based on the selection.
## @param self
## @param topic str: name of topic
## @param protocol: selected protocol parameters from the Subscriber.
## @return (int, str, list): (code, statusMessage, params). params
## is protocol specific. These params will be sent to the Subscriber
## so that it can create_transport().
def init_publisher(self, topic, protocol):
raise Exception("interface impl")
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