Method: Roby::Distributed::Peer#initialize

Defined in:
lib/roby/distributed/peer.rb

#initialize(connection_space, socket, remote_name, remote_id, remote_state, &block) ⇒ Peer

Creates a Peer object for the peer connected at socket. This peer is to be managed by connection_space If a block is given, it is called in the control thread when the connection is finalized



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# File 'lib/roby/distributed/peer.rb', line 282

def initialize(connection_space, socket, remote_name, remote_id, remote_state, &block)
    # Initialize the remote name with the socket parameters. It will be set to 
    # the real name during the connection process
    @remote_name = remote_name
    @remote_id   = remote_id
    @peer_info   = socket.peer_info

    super() if defined? super

    @connection_space = connection_space
    @local_server = PeerServer.new(self)
    @proxies    = Hash.new
    @removing_proxies = Hash.new { |h, k| h[k] = Array.new }
    @mutex    = Mutex.new
    @triggers     = Hash.new
    @socket       = socket
    @stats        = ComStats.new 0, 0
    @dead   = false
    @disabled_rx  = 0
    @disabled_tx  = 0
    connection_space.pending_sockets << [socket, self]

    @connection_state = :connected
    @send_queue       = Queue.new
    @completion_queue = Queue.new
    @current_cycle    = Array.new

    Roby::Distributed.peers[remote_id]   = self
    local_server.state_update remote_state

    @task = ConnectionTask.new :peer => self
    Roby::Control.once do
  connection_space.plan.permanent(task)
  task.start!
  task.emit(:ready)
    end

    @send_thread      = Thread.new(&method(:communication_loop))
end