ros_sugar.robot.transports.sdk

Vendor-SDK callback transport for robot plugins.

Module Contents

Classes

SdkCallbackTransport

Generic shim around a vendor SDK’s listener/sender API.

API

class ros_sugar.robot.transports.sdk.SdkCallbackTransport(name: str, *, register_fn: Optional[Callable[[Callable[[Any], None]], Any]] = None, unregister_fn: Optional[Callable[[Any], None]] = None, send_fn: Optional[Callable[[Any], Any]] = None, **kwargs)

Bases: ros_sugar.robot.transports.Transport

Generic shim around a vendor SDK’s listener/sender API.

The plugin author passes the SDK’s “register a listener” function, its matching “unregister” function, and a “send” function. The transport wires the SDK’s inbound callback to _dispatch so feedback decoders see each SDK object.

Parameters:

  • name (str) – Unique transport name.

  • register_fn (Optional[Callable[[Callable[[Any], None]], Any]]) – register_fn(callback) — hands the SDK a callable it invokes with each inbound message; may return a handle.

  • unregister_fn (Optional[Callable[[Any], None]]) – unregister_fn(handle) — undoes register_fn.

  • send_fn (Optional[Callable[[Any], Any]]) – send_fn(payload) — sends a command through the SDK.

open() → None

Register the inbound callback with the SDK.

open_egress() → None

Sending only needs send_fn; nothing to register.

close() → None

Unregister the inbound callback.

send(payload: Any) → bool

Send payload through the SDK’s send function.

is_open() → bool
subscribe(on_msg: Callable[[Any], None]) → ros_sugar.robot.transports.SubscriptionHandle
property kind: str