Module roslua.slave_api
Slave API implementation. This module provides the slave API to be called by other nodes. It uses the Xavante HTTP server with the WSAPI interface to process XML-RPC requests. The server is bound to a random port on startup.
Copyright© Tim Niemueller, Carnegie Mellon University, Intel Research Pittsburgh
Release: Released under BSD license
Functions
| init () | Init slave API. |
| slave_uri () | Get slave URI. |
| spin () | Process requests. |
| wsapi_handler (wsapi_env) | XML-RPC WSAPI handler |
| xmlrpc_exports.getBusInfo (caller_id) | Get bus info. |
| xmlrpc_exports.getBusStats (caller_id) | Get bus stats. |
| xmlrpc_exports.getMasterUri (caller_id) | Get master URI. |
| xmlrpc_exports.getPid (caller_id) | Get process ID of node. |
| xmlrpc_exports.getPublications (caller_id) | Get publications of node. |
| xmlrpc_exports.getSubscriptions (caller_id) | Get subscriptions of node. |
| xmlrpc_exports.paramUpdate (caller_id, param_key, param_value) | Parameter update notification. |
| xmlrpc_exports.publisherUpdate (caller_id, topic, publishers) | Publisher update. |
| xmlrpc_exports.requestTopic (caller_id, topic, protocols) | Topic connection request. |
| xmlrpc_exports.shutdown (caller_id, msg) | Shutdown this node |
| xmlrpc_exports.system.listMethods () | List available methods. |
Functions
- init ()
- Init slave API. This configures and starts the HTTP server and XML-RPC API.
- slave_uri ()
-
Get slave URI.
Return value:
URI for this slave - spin ()
- Process requests. This processes XML-RPC API calls.
- wsapi_handler (wsapi_env)
-
XML-RPC WSAPI handler
Parameters
- wsapi_env: WSAPI environment
- xmlrpc_exports.getBusInfo (caller_id)
-
Get bus info.
Parameters
- caller_id: ID of the calling node
Return value:
bus info - xmlrpc_exports.getBusStats (caller_id)
-
Get bus stats.
Parameters
- caller_id: ID of the calling node
Return value:
bus stats - xmlrpc_exports.getMasterUri (caller_id)
-
Get master URI.
Parameters
- caller_id: ID of the calling node
Return value:
Master URI this node is connected to - xmlrpc_exports.getPid (caller_id)
-
Get process ID of node.
Parameters
- caller_id: ID of the calling node
Return value:
PID - xmlrpc_exports.getPublications (caller_id)
-
Get publications of node.
Parameters
- caller_id: ID of the calling node
Return value:
list of publications - xmlrpc_exports.getSubscriptions (caller_id)
-
Get subscriptions of node.
Parameters
- caller_id: ID of the calling node
Return value:
list of subscriptions - xmlrpc_exports.paramUpdate (caller_id, param_key, param_value)
-
Parameter update notification. Called by the parameter server if a subscribed value has changed.
Parameters
- caller_id: ID of the calling node
- param_key: key of parameter
- param_value: value of parameter
- xmlrpc_exports.publisherUpdate (caller_id, topic, publishers)
-
Publisher update. Called when the list of available publishers for a topic changes.
Parameters
- caller_id: ID of the calling node
- topic: topic for which the list changed
- publishers: array of currently available slave URIs
- xmlrpc_exports.requestTopic (caller_id, topic, protocols)
-
Topic connection request.
Parameters
- caller_id: ID of the calling node
- topic: requested topic
- protocols: list of supported protocols
Return value:
TCPROS connection configuration if topic is published - xmlrpc_exports.shutdown (caller_id, msg)
-
Shutdown this node
Parameters
- caller_id: ID of the calling node
- msg: shutdown message
Return value:
bus stats - xmlrpc_exports.system.listMethods ()
-
List available methods.
Return value:
list of available methods