Client

ClientThread

Bases: Thread

Thread class to read all data from a connection and pass along the data to the desired source.

__init__(conn, tcp_server, incoming_ip, incoming_port)

Set class variables Args: conn: tcp_server: server object incoming_ip: connected from this IP address incoming_port: connected from this port

read_int32(conn) staticmethod

Reads four bytes from socket connection and unpacks them to an int

Returns: int

read_message(conn)

Decode destination and full message size from socket connection. Grab bytes in chunks until full message has been read.

read_string()

Reads int32 from socket connection to determine how many bytes to read to get the string that follows. Read that number of bytes and decode to utf-8 string.

Returns: string

recvall(conn, size, flags=0) staticmethod

Receive exactly bufsize bytes from the socket.

run()

Receive a message from Unity and determine where to send it based on the publishers table and topic string. Then send the read message.

If there is a response after sending the serialized data, assume it is a ROS service response.

Message format is expected to arrive as int: length of destination bytes str: destination. Publisher topic, Subscriber topic, Service name, etc int: size of full message msg: the ROS msg type as bytes

serialize_message(destination, message) staticmethod

Serialize a destination and message class.

Parameters:

Name	Type	Description	Default
destination		name of destination	required
message		message class to serialize	required

Returns:

Type	Description
	serialized destination and message as a list of bytes