def __init__(self, name, service_class, handler, buff_size=DEFAULT_BUFF_SIZE):
super(ServiceImpl, self).__init__(name, service_class)
if not name or not isstring(name):
raise ValueError("service name is not a non-empty string")
# #2202
if not rosgraph.names.is_legal_name(name):
import warnings
warnings.warn("'%s' is not a legal ROS graph resource name. This may cause problems with other ROS tools"%name, stacklevel=2)
self.handler = handler
self.registered = False
self.seq = 0
self.done = False
self.buff_size=buff_size
start_tcpros_server() #lazy-init the tcprosserver
host, port = get_tcpros_server_address()
self.uri = '%s%s:%s'%(rospy.core.ROSRPC, host, port)
logdebug("... service URL is %s"%self.uri)
self.protocol = TCPService(self.resolved_name, service_class, self.buff_size)
logdebug("[%s]: new Service instance"%self.resolved_name)
def __init__(self,
name,
service_class,
handler,
buff_size=DEFAULT_BUFF_SIZE,
error_handler=None):
super(ServiceImpl, self).__init__(name, service_class)
if not name or not isstring(name):
raise ValueError("service name is not a non-empty string")
# #2202
if not rosgraph.names.is_legal_name(name):
import warnings
warnings.warn(
"'%s' is not a legal ROS graph resource name. This may cause problems with other ROS tools"
% name,
stacklevel=2)
self.handler = handler
if error_handler is not None:
self.error_handler = error_handler
self.registered = False
self.seq = 0
self.done = False
self.buff_size = buff_size
start_tcpros_server() #lazy-init the tcprosserver
host, port = get_tcpros_server_address()
self.uri = '%s%s:%s' % (rospy.core.ROSRPC, host, port)
logdebug("... service URL is %s" % self.uri)
self.protocol = TCPService(self.resolved_name, service_class,
self.buff_size)
logdebug("[%s]: new Service instance" % self.resolved_name)
def init_publisher(self, resolved_name, protocol):
"""
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)
"""
if protocol[0] != TCPROS:
return 0, "Internal error: protocol does not match TCPROS: %s"%protocol, []
start_tcpros_server()
addr, port = get_tcpros_server_address()
return 1, "ready on %s:%s" % (addr, port), [TCPROS, addr, port]
def init_publisher(self, resolved_name, protocol):
"""
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)
"""
if protocol[0] != TCPROS:
return 0, "Internal error: protocol does not match TCPROS: %s"%protocol, []
start_tcpros_server()
addr, port = get_tcpros_server_address()
return 1, "ready on %s:%s"%(addr, port), [TCPROS, addr, port]