def create_transport(self, topic_name, pub_uri, protocol_params):
"""
Connect to topic resolved_name on Publisher pub_uri using UDPROS.
@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)
"""
#Validate protocol params = [UDPROS, address, port, headers]
if type(protocol_params) != list or len(protocol_params) != 4:
return 0, "ERROR: invalid UDPROS parameters", 0
if protocol_params[0] != UDPROS:
return 0, "INTERNAL ERROR: protocol id is not UDPROS: %s" % id, 0
#TODO: get connection_id and buffer size from params
id, dest_addr, dest_port, headers = protocol_params
self.init_server()
#TODO: parse/validate headers
sub = rospy.registration.get_topic_manager().get_subscriber_impl(
topic_name)
# Create Transport
# TODO: create just a single 'connection' instance to represent
# all UDP connections. 'connection' can take care of unifying
# publication if addresses are the same
transport = UDPTransport(protocol, topic_name, sub.receive_callback)
# Attach connection to _SubscriberImpl
if sub.add_connection(transport): #pass udp connection to handler
return 1, "Connected topic[%s]. Transport impl[%s]" % (
topic_name, transport.__class__.__name__), dest_port
else:
transport.close()
return 0, "ERROR: Race condition failure: duplicate topic subscriber [%s] was created" % (
topic_name), 0
def create_transport(self, topic_name, pub_uri, protocol_params):
"""
Connect to topic resolved_name on Publisher pub_uri using UDPROS.
@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)
"""
#Validate protocol params = [UDPROS, address, port, headers]
if type(protocol_params) != list or len(protocol_params) != 4:
return 0, "ERROR: invalid UDPROS parameters", 0
if protocol_params[0] != UDPROS:
return 0, "INTERNAL ERROR: protocol id is not UDPROS: %s"%id, 0
#TODO: get connection_id and buffer size from params
id, dest_addr, dest_port, headers = protocol_params
self.init_server()
#TODO: parse/validate headers
sub = rospy.registration.get_topic_manager().get_subscriber_impl(topic_name)
# Create Transport
# TODO: create just a single 'connection' instance to represent
# all UDP connections. 'connection' can take care of unifying
# publication if addresses are the same
transport = UDPTransport(protocol, topic_name, sub.receive_callback)
# Attach connection to _SubscriberImpl
if sub.add_connection(transport): #pass udp connection to handler
return 1, "Connected topic[%s]. Transport impl[%s]"%(topic_name, transport.__class__.__name__), dest_port
else:
transport.close()
return 0, "ERROR: Race condition failure: duplicate topic subscriber [%s] was created"%(topic_name), 0