Module roslua.service
Service provider. This module contains the Service class to provide services to other ROS nodes. It is created using the function roslua.service().
The service needs a handler to which incoming requests are dispatched. A handler is either a function or a class instance with a service_call() method. On a connection, the request message is called with the fields of the message passed as positional arguments. Sub-messages (i.e. non-builtin complex types) are themselves passed as arrays with the entries being the sub-message fields. This is done recursively for larger hierarchies of parameters.
Copyright© Tim Niemueller, Carnegie Mellon University, Intel Research Pittsburgh
Release: Released under BSD license
Functions
| Service:dispatch (client) | Dispatch incoming service requests from client. |
| Service:finalize () | Finalize instance. |
| Service:get_stats () | Get stats. |
| Service:new (service, srvtype, handler, type) | Constructor. |
| Service:spin () | Spin service provider. |
| Service:start_server () | Start the internal TCP server to accept ROS RPC connections. |
| Service:uri () | Get the URI for this service. |
Functions
- Service:dispatch (client)
-
Dispatch incoming service requests from client.
Parameters
- client: client whose requests to process
- Service:finalize ()
- Finalize instance.
- Service:get_stats ()
-
Get stats.
Return value:
currently empty array until this is fixed in the XML-RPC specification. - Service:new (service, srvtype, handler, type)
-
Constructor. Create a new service provider instance.
Parameters
- service: name of the provided service
- srvtype:
- handler: handler function or class instance
- type: type of the service
- Service:spin ()
- Spin service provider. This will accept new connections to the service and dispatch incoming service requests.
- Service:start_server ()
- Start the internal TCP server to accept ROS RPC connections.
- Service:uri ()
-
Get the URI for this service.
Return value:
rosrpc URI