Class: ROS::SlaveProxy

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

Overview

you can access to ROS Slave nodes.

See Also:

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(caller_id, slave_uri) ⇒ SlaveProxy

Returns a new instance of SlaveProxy.

Parameters:

  • caller_id (String) —

    caller id of this node

  • slave_uri (String) —

    URI to connect



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# File 'lib/ros/slave_proxy.rb', line 23

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

Instance Attribute Details

#caller_id ⇒ String

Returns caller_id of this caller.

Returns:

  • (String) —

    caller_id of this caller



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

def caller_id
  @caller_id
end

#slave_uri ⇒ String

Returns URI of target.

Returns:

  • (String) —

    URI of target



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# File 'lib/ros/slave_proxy.rb', line 148

def slave_uri
  @slave_uri
end

Instance Method Details

#get_bus_info ⇒ Array

Returns bus information.

Returns:

  • (Array) —

    bus information

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 42

def get_bus_info
  code, message, info = @proxy.getBusInfo(@caller_id)
  if code == 1
    return info
  else
    raise message
  end
end

#get_bus_stats ⇒ Array

Returns stats.

Returns:

  • (Array) —

    stats

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 31

def get_bus_stats
  code, message, stats = @proxy.getBusStats(@caller_id)
  if code == 1
    return stats
  else
    raise message
  end
end

#get_master_uri ⇒ String

Returns URI of master.

Returns:

  • (String) —

    URI of master

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 53

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

#get_pid ⇒ Integer

Returns pid of the slave process.

Returns:

  • (Integer) —

    pid of the slave process

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 77

def get_pid
  code, message, pid = @proxy.getPid(@caller_id)
  if code == 1
    return pid
  else
    raise message
  end
end

#get_publications ⇒ Array

Returns publications.

Returns:

  • (Array) —

    publications

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 99

def get_publications
  code, message, topic = @proxy.getPublications(@caller_id)
  if code == 1
    return topic
  else
    raise message
  end
end

#get_subscriptions ⇒ Array

Returns topiccs.

Returns:

  • (Array) —

    topiccs

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 88

def get_subscriptions
  code, message, topic = @proxy.getSubscriptions(@caller_id)
  if code == 1
    return topic
  else
    raise message
  end
end

#param_update(param_key, param_value) ⇒ Boolean

Returns true.

Parameters:

  • param_key (String) —

    key for param

  • param_value (String, Integer, Float, Boolean, Array) —

    new value for key

Returns:

  • (Boolean) —

    true

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 112

def param_update(param_key, param_value)
  code, message, val = @proxy.paramUpdate(@caller_id, param_key, param_value)
  if code == 1
    return true
  else
    raise message
  end
end

#publisher_update(topic, publishers) ⇒ Boolean

Returns true.

Parameters:

  • topic (String) —

    name of topic

  • publishers (Array) —

    array of publisher uri

Returns:

  • (Boolean) —

    true

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 125

def publisher_update(topic, publishers)
  code, message, val = @proxy.publisherUpdate(@caller_id, topic, publishers)
  if code == 1
    return true
  else
    raise message
  end
end

#request_topic(topic, protocols) ⇒ Object

Parameters:

  • topic (String) —

    name of topic



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# File 'lib/ros/slave_proxy.rb', line 136

def request_topic(topic, protocols)
  code, message, protocol = @proxy.requestTopic(@caller_id,
                                                topic,
                                                protocols)
  if code == 1
    return protocol
  else
    raise message
  end
end

#shutdown(msg = '') ⇒ Object

Parameters:

  • msg (String) (defaults to: '') —

    message to slave (reason of shutdown request)

Raises:

  • (RuntimeError) —

    if fail



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# File 'lib/ros/slave_proxy.rb', line 64

def shutdown(msg='')
  code, message, val = @proxy.shutdown(@caller_id, msg)
  if code == 1
    return true
  elsif code == 0
    return false
  else
    raise message
  end
end