Class: ROS::MasterProxy

Inherits:
Object
  • Object
show all
Defined in:
lib/ros/master_proxy.rb

Overview

ROS Master Proxy

access to ROS Master. But there are not documented API.

See Also:

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(caller_id, master_uri, slave_uri) ⇒ MasterProxy

Returns a new instance of MasterProxy.

Parameters:

  • caller_id (String) —

    caller_id of this node

  • master_uri (String) —

    URI of ROS Master

  • slave_uri (String) —

    slave URI of this node



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# File 'lib/ros/master_proxy.rb', line 28

def initialize(caller_id, master_uri, slave_uri)
  @caller_id = caller_id
  @master_uri = master_uri
  @slave_uri = slave_uri
  @proxy = XMLRPC::Client.new2(@master_uri).proxy
end

Instance Attribute Details

#caller_id ⇒ String

caller id of this node

Returns:

  • (String) 


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# File 'lib/ros/master_proxy.rb', line 254

def caller_id
  @caller_id
end

#master_uri ⇒ String

Master URI

Returns:

  • (String) 


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# File 'lib/ros/master_proxy.rb', line 237

def master_uri
  @master_uri
end

#slave_uri ⇒ String

Slave URI

Returns:

  • (String) 


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# File 'lib/ros/master_proxy.rb', line 250

def slave_uri
  @slave_uri
end

Instance Method Details

#get_published_topics(subgraph = '') ⇒ Array

get the all published topics

Parameters:

  • subgraph (String) (defaults to: '') —

    namespace for check

Returns:

  • (Array) —

    topic names.

Raises:



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# File 'lib/ros/master_proxy.rb', line 191

def get_published_topics(subgraph='')
  code, message, topics = @proxy.getPublishedTopics(@caller_id, subgraph)
  if code == 1
    return topics
  elsif
    raise message
  end
end

#get_system_state ⇒ Array

get system state

Returns:

  • (Array) —

    state



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# File 'lib/ros/master_proxy.rb', line 202

def get_system_state
  code, message, state = @proxy.getSystemState(@caller_id)
  if code == 1
    return state
  else
    raise message
  end
end

#get_uri ⇒ String

get the master URI

Returns:

  • (String) —

    uri

Raises:



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# File 'lib/ros/master_proxy.rb', line 214

def get_uri
  code, message, uri = @proxy.getUri(@caller_id)
  if code == 1
    return uri
  else
    raise message
  end
end

#lookup_node(node_name) ⇒ String?

lookup a node by name.

Parameters:

  • node_name (String)

Returns:

  • (String, nil) —

    URI of the node if it is found. nil not found.



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# File 'lib/ros/master_proxy.rb', line 178

def lookup_node(node_name)
  code, message, uri = @proxy.lookupNode(@caller_id, node_name)
  if code == 1
    uri
  else
    nil
  end
end

#lookup_service(service) ⇒ String?

look up a service by name

Parameters:

  • service (String) —

    name of service

Returns:

  • (String, nil) —

    URI of service if found, nil not found.



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# File 'lib/ros/master_proxy.rb', line 226

def lookup_service(service)
  code, message, uri = @proxy.lookupService(@caller_id, service)
  if code == 1
    uri
  else
    false
  end
end

#register_publisher(topic, topic_type) ⇒ Array

register a publisher

Parameters:

  • topic (String) —

    topic name of topic

  • topic_type (String) —

    type of topic

Returns:

  • (Array) —

    URI of current subscribers

Raises:

  • RuntimeError



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# File 'lib/ros/master_proxy.rb', line 114

def register_publisher(topic, topic_type)
  code, message, uris = @proxy.registerPublisher(@caller_id,
                                                 topic,
                                                 topic_type,
                                                 @slave_uri)
  if code == 1
    uris
  else
    raise message
  end
end

#register_service(service, service_api) ⇒ Boolean

register a service

Parameters:

  • service (String) —

    name of service

  • service_api (String) —

    service api uri

Returns:

  • (Boolean) —

    true success

Raises:

  • RuntimeError



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# File 'lib/ros/master_proxy.rb', line 40

def register_service(service, service_api)
  code, message, val = @proxy.registerService(@caller_id,
                                              service,
                                              service_api,
                                              @slave_uri)
  if code == 1
    return true
  else
    raise message
  end
end

#register_subscriber(topic, topic_type) ⇒ Array

register a subscriber

Parameters:

  • topic (String) —

    topic name

  • topic_type (String) —

    topic type

Returns:

  • (Array) —

    URI of current publishers

Raises:

  • (RuntimeError) —

    if error



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# File 'lib/ros/master_proxy.rb', line 76

def register_subscriber(topic, topic_type)
  code, message,val = @proxy.registerSubscriber(@caller_id,
                                                topic,
                                                topic_type,
                                                @slave_uri)
  if code == 1
    val
  elsif code == 0
    puts message
    val
  else
    raise message
  end
end

#subscribe_param(key) ⇒ Boolean

this method is not described in the wiki. subscribe to the parameter key.

Parameters:

  • key (String) —

    name of parameter

Returns:

  • (Boolean) —

    true

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/master_proxy.rb', line 151

def subscribe_param(key)
  code, message, uri = @proxy.subscribeParam(@caller_id, @slave_uri, key)
  if code == 1
    return true
  else
    raise message
  end
end

#unregister_publisher(topic) ⇒ Boolean

unregister a publisher

Parameters:

  • topic (String) —

    name of topic

Returns:

  • (Boolean) —

    true

Raises:

  • RuntimeError



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# File 'lib/ros/master_proxy.rb', line 130

def unregister_publisher(topic)
  code, message, val = @proxy.unregisterPublisher(@caller_id,
                                                  topic,
                                                  @slave_uri)
  if code == 1
    return val
  elsif code == 0
    puts message
    return true
  else
    raise message
  end
  return false
end

#unregister_service(service, service_api) ⇒ Boolean

unregister a service

Parameters:

  • service (String) —

    name of service

  • service_api (String) —

    service api uri

Returns:

  • (Boolean) —

    true success

Raises:

  • RuntimeError



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# File 'lib/ros/master_proxy.rb', line 57

def unregister_service(service, service_api)
  code, message, val = @proxy.unregisterService(@caller_id,
                                                service,
                                                service_api)
  if code == 1
    return true
  elsif code == 0
    puts message
    return true
  else
    raise message
  end
end

#unregister_subscriber(topic) ⇒ Boolean

unregister a subscriber

Parameters:

  • topic (String) —

    name of topic to unregister

Returns:

  • (Boolean) —

    true

Raises:

  • RuntimeError



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# File 'lib/ros/master_proxy.rb', line 95

def unregister_subscriber(topic)
  code, message,val = @proxy.unregisterSubscriber(@caller_id,
                                                  topic,
                                                  @slave_uri)
  if code == 1
    return true
  elsif code == 0
    puts message
    return true
  else
    raise message
  end
end

#unsubscribe_param(key) ⇒ Boolean

unsubscribe to the parameter key. this method is not described in the wiki.

Parameters:

  • key (String) —

    name of parameter key

Returns:

  • (Boolean) —

    true

Raises:

  • (RuntimeError) —

    if failt



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# File 'lib/ros/master_proxy.rb', line 166

def unsubscribe_param(key)
  code, message, uri = @proxy.unsubscribeParam(@caller_id, @slave_uri, key)
  if code == 1
    return true
  else
    raise message
  end
end