def terminate(self):
""" Method should be called to destroy the client and will take
care of destroying the Environment as well as deleting all
circular references.
"""
if self._environment:
self._environment.remote_destroy()
assert self._environment is None
Endpoint.terminate(self)
def __init__(self, reactor, commPort):
""" Initialize the Environment Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param commPort: Port where the server for the cloud engine
internal communication will listen for incoming
connections.
@type commPort: int
"""
Endpoint.__init__(self, reactor, Loader(), commPort)
self._dbFile = '/opt/rce/data/rosenvbridge.db' # TODO: Hardcoded?
def __init__(self, reactor, commPort):
""" Initialize the Environment Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param commPort: Port where the server for the cloud engine
internal communication will listen for incoming
connections.
@type commPort: int
"""
Endpoint.__init__(self, reactor, Loader(), commPort)
self._dbFile = '/opt/rce/data/rosenvbridge.db' # TODO: Hardcoded?
def __init__(self, reactor, commPort):
""" Initialize the Environment Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param commPort: Port where the server for the cloud engine
internal communication will listen for incoming
connections.
@type commPort: int
"""
Endpoint.__init__(self, reactor, commPort)
self._environment = None
def __init__(self, reactor, masterIP, masterPort, commPort, extIP, extPort,
loader, converter):
""" Initialize the Robot Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param masterIP: IP address of the Master process.
@type masterIP: str
@param masterPort: Port which should be used to authenticate the
user with the Master process.
@type masterPort: int
@param commPort: Port where the server for the cloud engine
internal communication is listening for
incoming connections.
@type commPort: int
@param extIP: IP address of network interface used for the
external communication.
@type extIP: str
@param extPort: Port where the server for the external
communication is listening for WebSocket
connections.
@type extPort: int
@param loader: Object which is used to load Python modules
from ROS packages.
@type loader: rce.util.loader.Loader
@param converter: Converter which takes care of converting the
messages from JSON to ROS message and vice
versa.
@type converter: rce.util.converter.Converter
"""
Endpoint.__init__(self, reactor, loader, commPort)
self._masterIP = masterIP
self._masterPort = masterPort
self._extAddress = '{0}:{1}'.format(extIP, extPort)
self._loader = loader
self._converter = converter
self._connections = set()
self._deathCandidates = {}
def __init__(self, reactor, masterIP, masterPort, commPort, extIP, extPort,
loader, converter):
""" Initialize the Robot Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param masterIP: IP address of the Master process.
@type masterIP: str
@param masterPort: Port which should be used to authenticate the
user with the Master process.
@type masterPort: int
@param commPort: Port where the server for the cloud engine
internal communication is listening for
incoming connections.
@type commPort: int
@param extIP: IP address of network interface used for the
external communication.
@type extIP: str
@param extPort: Port where the server for the external
communication is listening for WebSocket
connections.
@type extPort: int
@param loader: Object which is used to load Python modules
from ROS packages.
@type loader: rce.util.loader.Loader
@param converter: Converter which takes care of converting the
messages from JSON to ROS message and vice
versa.
@type converter: rce.util.converter.Converter
"""
Endpoint.__init__(self, reactor, loader, commPort)
self._masterIP = masterIP
self._masterPort = masterPort
self._extAddress = '{0}:{1}'.format(extIP, extPort)
self._loader = loader
self._converter = converter
self._connections = set()
self._deathCandidates = {}
def terminate(self):
""" Method should be called to terminate the client before the reactor
is stopped.
@return: Deferred which fires as soon as the client is
ready to stop the reactor.
@rtype: twisted.internet.defer.Deferred
"""
for call in self._deathCandidates.itervalues():
call.cancel()
self._deathCandidates = {}
for connection in self._connections.copy():
connection.destroy()
assert len(self._connections) == 0
Endpoint.terminate(self)
def terminate(self):
""" Method should be called to terminate the client before the reactor
is stopped.
@return: Deferred which fires as soon as the client is
ready to stop the reactor.
@rtype: twisted.internet.defer.Deferred
"""
for call in self._deathCandidates.itervalues():
call.cancel()
self._deathCandidates = {}
for connection in self._connections.copy():
connection.destroy()
assert len(self._connections) == 0
Endpoint.terminate(self)
def terminate(self):
""" Method should be called to terminate the client before the reactor
is stopped.
@return: Deferred which fires as soon as the client is
ready to stop the reactor.
@rtype: twisted::Deferred
"""
self._pendingRobots = {}
for call in self._deathCandidates.itervalues():
call.cancel()
self._deathCandidates = {}
for robot in self._robots.copy():
robot.remote_destroy()
assert len(self._robots) == 0
Endpoint.terminate(self)
def __init__(self, reactor, commPort, extIF, extPort, loader, converter):
""" Initialize the Robot Client.
@param reactor: Reference to the twisted reactor used in this
robot process.
@type reactor: twisted::reactor
@param commPort: Port where the server for the cloud engine
internal communication is listening for
incoming connections.
@type commPort: int
@param extIF: Name of network interface used for the external
communication.
@type extIF: str
@param extPort: Port where the server for the external
communication is listening for websocket
connections.
@type extPort: int
@param loader: Object which is used to load python modules
from ROS packages.
@type loader: rce.util.loader.Loader
@param converter: Converter which takes care of converting the
messages from JSON to ROS message and vice
versa.
@type converter: rce.util.converter.Converter
"""
Endpoint.__init__(self, reactor, commPort)
self._extAddress = "{0}:{1}".format(getIP(extIF), extPort)
self._converter = converter
self._loader = loader
self._robots = set()
self._pendingRobots = {}
self._deathCandidates = {}
