Class: Orocos::ROS::ROS_XMLRPC

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

Overview

Common handling for the ROS master/slave API

Direct Known Subclasses

ROSMaster, ROSSlave

Defined Under Namespace

Classes: CallFailed

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(uri, caller_id) ⇒ ROS_XMLRPC

Returns a new instance of ROS_XMLRPC



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# File 'lib/orocos/ros/rpc.rb', line 46

def initialize(uri, caller_id)
    @server = XMLRPC::Client.new2(uri)
    @caller_id = caller_id
end

Instance Attribute Details

#caller_id ⇒ Object (readonly)

String

the caller ID for this process



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# File 'lib/orocos/ros/rpc.rb', line 44

def caller_id
  @caller_id
end

#server ⇒ Object (readonly)

XMLRPC::Client

The remote server



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# File 'lib/orocos/ros/rpc.rb', line 42

def server
  @server
end

Instance Method Details

#call(method_name, *args) ⇒ Object 



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# File 'lib/orocos/ros/rpc.rb', line 51

def call(method_name, *args)
    code, status_msg, result = server.call(method_name, *args)
    if code == -1
        raise ArgumentError, status_msg
    elsif code == 0
        raise CallFailed, status_msg
    else
        result
    end
rescue Errno::ECONNREFUSED, Errno::EPIPE, Errno::ECONNRESET => e
    raise ComError, e.message, e.backtrace
end