def lookupService(self, caller_id, service):
"""
Lookup all provider of a particular service in following rules:
1. Local/Auto/Unlabeled
1. Use local services if possible.
2. Otherwise, use remote services.
2. Remote
1. If average time cost belows the balance-curve, use remote services.
2. Otherwise, use remote services if possible.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: fully-qualified name of service to lookup.
@type: service: str
@return: (code, message, serviceUrl). service URL is provider's
ROSRPC URI with address and port. Fails if there is no provider.
@rtype: (int, str, str)
"""
uri = None
cfg = swcfg.services.get_config(service)
def skeleton(x, y):
fallback_p = const(bool(cfg.fallback))
# TODO: support fallback list
return on_fallback(x, y, fallback_p, success_uri)
# local?
if swcfg.localtype == cfg.priority:
fn = skeleton(self._lookup_local_service, self._lookup_remote_service)
else:
fn = skeleton(self._lookup_remote_service, self._lookup_local_service)
uri = fn(service)
if success_uri(uri):
return ResponseFactory.uri_found(service, uri).pack()
else:
return ResponseFactory.unknown_service(service).pack()
def lookupService(self, caller_id, service):
"""
Forked from ROSMasterHandler
Lookup all provider of a particular service.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: fully-qualified name of service to lookup.
@type: service: str
@return: (code, message, serviceUrl). service URL is provider's
ROSRPC URI with address and port. Fails if there is no provider.
@rtype: (int, str, str)
"""
# try to find a clint-registered service
code, msg, value = super(IlluminantHandler, self).lookupService(caller_id, service)
if code == 1: # if got a client-registered service, return it.
return code, msg, value
else: # otherwise, use a cell if possible
uri = self._lookup_cell(service)
if uri is None:
return ResponseFactory.unknown_service(service).pack()
else:
uri = uri[1]
with self.trans_lock:
code, msg, parsed = self.trans.parse(uri)
if not parsed:
return ResponseFactory.unknown_service(service).pack()
else:
return ResponseFactory.uri_found(service, parsed).pack()
def registerService(self, caller_id, service, service_api, caller_api):
"""
Forked from ROSMasterHandler.
Register the caller as a provider of the specified service.
0. If service is `remote-only`, register with ROS Master
1. If Service is `local-only`, register with current shadow instance.
2. Otherwise, register with both sides.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: Fully-qualified name of service
@type service: str
@param service_api: Service URI
@type service_api: str
@param caller_api: XML-RPC URI of caller node
@type caller_api: str
@return: (code, message, ignore)
@rtype: (int, str, int)
"""
cfg = swcfg.services.get_config(service)
if not cfg.is_local_only():
self._reg_remote_service(caller_id, service, service_api,
caller_api)
if not cfg.is_remote_only():
self._reg_local_service(caller_id, service, service_api,
caller_api)
return ResponseFactory.service_reg(caller_id, service).pack()
def lookupService(self, caller_id, service):
"""
Lookup all provider of a particular service in following rules:
1. Local/Auto/Unlabeled
1. Use local services if possible.
2. Otherwise, use remote services.
2. Remote
1. If average time cost belows the balance-curve, use remote services.
2. Otherwise, use remote services if possible.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: fully-qualified name of service to lookup.
@type: service: str
@return: (code, message, serviceUrl). service URL is provider's
ROSRPC URI with address and port. Fails if there is no provider.
@rtype: (int, str, str)
"""
uri = None
cfg = swcfg.services.get_config(service)
def skeleton(x, y):
fallback_p = const(bool(cfg.fallback))
# TODO: support fallback list
return on_fallback(x, y, fallback_p, success_uri)
# local?
if swcfg.localtype == cfg.priority:
fn = skeleton(self._lookup_local_service,
self._lookup_remote_service)
else:
fn = skeleton(self._lookup_remote_service,
self._lookup_local_service)
uri = fn(service)
if success_uri(uri):
return ResponseFactory.uri_found(service, uri).pack()
else:
return ResponseFactory.unknown_service(service).pack()
def unregisterService(self, caller_id, service, service_api):
"""
Forked from ROSMasterHandler.
Unregister the caller as a provider of the specified service.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: Fully-qualified name of service
@type service: str
@param service_api: API URI of service to unregister. Unregistration will only occur if current
registration matches.
@type service_api: str
@return: (code, message, numUnregistered). Number of unregistrations (either 0 or 1).
If this is zero it means that the caller was not registered as a service provider.
The call still succeeds as the intended final state is reached.
@rtype: (int, str, int)
"""
cfg = swcfg.services.get_config(service)
if not cfg.is_local_only():
self._unreg_remote_service(caller_id, service, service_api)
if not cfg.is_remote_only():
self._unreg_local_service(caller_id, service, service_api)
return ResponseFactory.service_unreg(caller_id, service).pack()
def unregisterService(self, caller_id, service, service_api):
"""
Forked from ROSMasterHandler.
Unregister the caller as a provider of the specified service.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: Fully-qualified name of service
@type service: str
@param service_api: API URI of service to unregister. Unregistration will only occur if current
registration matches.
@type service_api: str
@return: (code, message, numUnregistered). Number of unregistrations (either 0 or 1).
If this is zero it means that the caller was not registered as a service provider.
The call still succeeds as the intended final state is reached.
@rtype: (int, str, int)
"""
cfg = swcfg.services.get_config(service)
if not cfg.is_local_only():
self._unreg_remote_service(caller_id, service, service_api)
if not cfg.is_remote_only():
self._unreg_local_service(caller_id, service, service_api)
return ResponseFactory.service_unreg(caller_id, service).pack()
def registerService(self, caller_id, service, service_api, caller_api):
"""
Forked from ROSMasterHandler.
Register the caller as a provider of the specified service.
0. If service is `remote-only`, register with ROS Master
1. If Service is `local-only`, register with current shadow instance.
2. Otherwise, register with both sides.
@param caller_id str: ROS caller id
@type caller_id: str
@param service: Fully-qualified name of service
@type service: str
@param service_api: Service URI
@type service_api: str
@param caller_api: XML-RPC URI of caller node
@type caller_api: str
@return: (code, message, ignore)
@rtype: (int, str, int)
"""
cfg = swcfg.services.get_config(service)
if not cfg.is_local_only():
self._reg_remote_service(caller_id, service, service_api, caller_api)
if not cfg.is_remote_only():
self._reg_local_service(caller_id, service, service_api, caller_api)
return ResponseFactory.service_reg(caller_id, service).pack()
def unregCell(self, service, service_uri, daemon_uri):
with self.record_lock:
self.records[service].remove(service_uri, daemon_uri)
return ResponseFactory.service_unreg(daemon_uri, service).pack()
