Class: ROS::TCPROS::Client

Inherits:

Object

• Object
• ROS::TCPROS::Client

show all

Includes:

Message

Defined in:

lib/ros/tcpros/client.rb

Overview

Instance Attribute Summary (collapse)

• - (Integer) byte_received readonly

  Received byte.

• - (String) host readonly

  Host name.

• - (String) id

  Id for slave API.

• - (Queue) msg_queue readonly

  Message queue.

• - (Integer) port readonly

  Port number of this client.

• - (String) target_uri readonly

  URI of connection target.

Instance Method Summary (collapse)

• - (TCPROS::Header) build_header

  build header data for subscription.

• - (Client) initialize(host, port, caller_id, topic_name, topic_type, target_uri, tcp_no_delay) constructor

  A new instance of Client.

• - (Object) shutdown

  close the connection.

• - (Object) start

  start recieving data.

Methods included from Message

#protocol, #read_all, #read_header, #write_header, #write_msg

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# File 'lib/ros/tcpros/client.rb', line 29

def initialize(host, port,
               caller_id, topic_name, topic_type, target_uri,
               tcp_no_delay)
  @caller_id = caller_id
  @topic_name = topic_name
  @topic_type = topic_type
  @port = port
  @host = host
  @target_uri = target_uri
  @msg_queue = Queue.new
  @socket = TCPSocket.open(@host, @port)
  @tcp_no_delay = tcp_no_delay
  if tcp_no_delay
    @socket.setsockopt(Socket::IPPROTO_TCP, Socket::TCP_NODELAY, 1)
  end
  @byte_received = 0
  @is_running = true
end

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# File 'lib/ros/tcpros/client.rb', line 102

def byte_received
  @byte_received
end

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# File 'lib/ros/tcpros/client.rb', line 98

def host
  @host
end

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# File 'lib/ros/tcpros/client.rb', line 106

def id
  @id
end

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# File 'lib/ros/tcpros/client.rb', line 100

def msg_queue
  @msg_queue
end

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# File 'lib/ros/tcpros/client.rb', line 96

def port
  @port
end

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# File 'lib/ros/tcpros/client.rb', line 104

def target_uri
  @target_uri
end

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# File 'lib/ros/tcpros/client.rb', line 51

def build_header
  header = Header.new
  header.push_data("callerid", @caller_id)
  header.push_data("topic", @topic_name)
  header.push_data("md5sum", @topic_type.md5sum)
  header.push_data("type", @topic_type.type)
  if @tcp_no_delay
    header.push_data("tcp_nodelay", '1')
  else
    header.push_data("tcp_nodelay", '0')
  end
  header
end

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# File 'lib/ros/tcpros/client.rb', line 85

def shutdown
  @is_running = false
  if not @thread.join(0.1)
    Thread::kill(@thread)
  end
  if not @socket.closed?
    @socket.close
  end
end

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# File 'lib/ros/tcpros/client.rb', line 68

def start
  write_header(@socket, build_header)
  read_header(@socket)
  @thread = Thread.start do
    while @is_running
      data = read_all(@socket)
      msg = @topic_type.new
      msg.deserialize(data)
      @byte_received += data.length
      @msg_queue.push(msg)
    end
  end
end