services.navigation.zeromq_navigation_command_server.ZeroMqNavigationCommandServer Class Reference

Serve navigation commands over a small JSON REQ/REP protocol. More...

Public Member Functions
str	endpoint (self)
	Return the endpoint bound by this server.
bool	is_running (self)
	Return whether the command loop has created and bound its socket.
None	run (self)
	Serve requests until close() is called.
None	close (self)
	Request command-loop shutdown.

Detailed Description

Serve navigation commands over a small JSON REQ/REP protocol.

Member Function Documentation

close()

None services.navigation.zeromq_navigation_command_server.ZeroMqNavigationCommandServer.close

(

self

)

Request command-loop shutdown.

The server thread observes this event through the short receive timeout and releases its own ZeroMQ resources. This avoids cross-thread socket destruction, which can abort libzmq on some platforms.

run()

None services.navigation.zeromq_navigation_command_server.ZeroMqNavigationCommandServer.run

(

self

)

Serve requests until close() is called.

ZeroMQ sockets are thread-affine. Create, use, and close the REP socket entirely inside the server thread rather than closing it concurrently from the caller thread.

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The documentation for this class was generated from the following file:

• services/navigation/zeromq_navigation_command_server.py