def create_transport(self, resolved_name, pub_uri, protocol_params):
"""
Connect to topic resolved_name on Publisher pub_uri using TCPROS.
@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 = [TCPROS, address, port]
if type(protocol_params) != list or len(protocol_params) != 3:
return 0, "ERROR: invalid TCPROS parameters", 0
if protocol_params[0] != TCPROS:
return 0, "INTERNAL ERROR: protocol id is not TCPROS: %s" % protocol_params[
0], 0
id, dest_addr, dest_port = protocol_params
sub = rospy.impl.registration.get_topic_manager().get_subscriber_impl(
resolved_name)
#Create connection
protocol = TCPROSSub(resolved_name, sub.data_class, \
queue_size=sub.queue_size, buff_size=sub.buff_size,
tcp_nodelay=sub.tcp_nodelay)
conn = TCPROSTransport(protocol, resolved_name)
conn.set_endpoint_id(pub_uri)
t = threading.Thread(name=resolved_name,
target=robust_connect_subscriber,
args=(conn, dest_addr, dest_port, pub_uri,
sub.receive_callback, resolved_name))
# don't enable this just yet, need to work on this logic
#rospy.core._add_shutdown_thread(t)
# Attach connection to _SubscriberImpl
if sub.add_connection(conn): #pass tcp connection to handler
# since the thread might cause the connection to close
# it should only be started after the connection has been added to the subscriber
# https://github.com/ros/ros_comm/issues/544
t.start()
return 1, "Connected topic[%s]. Transport impl[%s]" % (
resolved_name, conn.__class__.__name__), dest_port
else:
# _SubscriberImpl already closed or duplicate subscriber created
conn.close()
return 0, "ERROR: Race condition failure creating topic subscriber [%s]" % (
resolved_name), 0
def create_transport(self, resolved_name, pub_uri, protocol_params):
"""
Connect to topic resolved_name on Publisher pub_uri using TCPROS.
@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 = [TCPROS, address, port]
if type(protocol_params) != list or len(protocol_params) != 3:
return 0, "ERROR: invalid TCPROS parameters", 0
if protocol_params[0] != TCPROS:
return 0, "INTERNAL ERROR: protocol id is not TCPROS: %s"%id, 0
id, dest_addr, dest_port = protocol_params
sub = rospy.impl.registration.get_topic_manager().get_subscriber_impl(resolved_name)
#Create connection
protocol = TCPROSSub(resolved_name, sub.data_class, \
queue_size=sub.queue_size, buff_size=sub.buff_size,
tcp_nodelay=sub.tcp_nodelay)
conn = TCPROSTransport(protocol, resolved_name)
conn.set_endpoint_id(pub_uri);
t = threading.Thread(name=resolved_name, target=robust_connect_subscriber, args=(conn, dest_addr, dest_port, pub_uri, sub.receive_callback,resolved_name))
# don't enable this just yet, need to work on this logic
#rospy.core._add_shutdown_thread(t)
# Attach connection to _SubscriberImpl
if sub.add_connection(conn): #pass tcp connection to handler
# since the thread might cause the connection to close
# it should only be started after the connection has been added to the subscriber
# https://github.com/ros/ros_comm/issues/544
t.start()
return 1, "Connected topic[%s]. Transport impl[%s]"%(resolved_name, conn.__class__.__name__), dest_port
else:
# _SubscriberImpl already closed or duplicate subscriber created
conn.close()
return 0, "ERROR: Race condition failure creating topic subscriber [%s]"%(resolved_name), 0
