def __init__(self,
name,
service_class,
handler,
buff_size=DEFAULT_BUFF_SIZE):
"""
ctor.
@param name: service name
@type name: str
@param service_class: ServiceDefinition class
@type service_class: ServiceDefinition class
@param handler: callback function for processing service
request. Function takes in a ServiceRequest and returns a
ServiceResponse of the appropriate type. Function may also
return a list, tuple, or dictionary with arguments to initialize
a ServiceResponse instance of the correct type.
If handler cannot process request, it may either return None,
to indicate failure, or it may raise a rospy.ServiceException
to send a specific error message to the client. Returning None
is always considered a failure.
@type handler: fn(req)->resp
@param buff_size: size of buffer for reading incoming requests. Should be at least size of request message
@type buff_size: int
"""
super(Service, self).__init__(name, service_class, handler, buff_size)
#TODO: make service manager configurable
get_service_manager().register(self.resolved_name, self)
def __init__(self, name, service_class, handler, buff_size=DEFAULT_BUFF_SIZE):
"""
ctor.
@param name: service name, ``str``
@param service_class: Service definition class
@param handler: callback function for processing service
request. Function takes in a ServiceRequest and returns a
ServiceResponse of the appropriate type. Function may also
return a list, tuple, or dictionary with arguments to initialize
a ServiceResponse instance of the correct type.
If handler cannot process request, it may either return None,
to indicate failure, or it may raise a rospy.ServiceException
to send a specific error message to the client. Returning None
is always considered a failure.
@type handler: fn(req)->resp
@param buff_size: size of buffer for reading incoming requests. Should be at least size of request message
@type buff_size: int
"""
super(Service, self).__init__(name, service_class, handler, buff_size)
#TODO: make service manager configurable
get_service_manager().register(self.resolved_name, self)
def shutdown(self, reason=''):
"""
Stop this service
@param reason: human-readable shutdown reason
@type reason: str
"""
self.done = True
logdebug('[%s].shutdown: reason [%s]'%(self.resolved_name, reason))
try:
#TODO: make service manager configurable
get_service_manager().unregister(self.resolved_name, self)
except Exception as e:
logerr("Unable to unregister with master: "+traceback.format_exc())
raise ServiceException("Unable to connect to master: %s"%e)
def shutdown(self, reason=''):
"""
Stop this service
@param reason: human-readable shutdown reason
@type reason: str
"""
self.done = True
logdebug('[%s].shutdown: reason [%s]'%(self.resolved_name, reason))
try:
#TODO: make service manager configurable
get_service_manager().unregister(self.resolved_name, self)
except Exception as e:
logerr("Unable to unregister with master: "+traceback.format_exc())
raise ServiceException("Unable to connect to master: %s"%e)
def test_get_set_service_manager(self):
from rospy.impl.registration import get_service_manager, set_service_manager
# rospy initialization sets this, but it is out of scope of
# rospy.impl.registrations to test its value
try:
orig = get_service_manager()
self.assert_(orig is not None)
class ServiceManager(object): pass
x = ServiceManager()
# currently untyped
set_service_manager(x)
self.assertEquals(x, get_service_manager())
set_service_manager(None)
self.assert_(get_service_manager() is None)
finally:
set_service_manager(orig)
def service_connection_handler(sock, client_addr, header):
"""
Process incoming service connection. For use with
TCPROSServer. Reads in service name from handshake and creates the
appropriate service handler for the connection.
@param sock: socket connection
@type sock: socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str
"""
for required in ['service', 'md5sum', 'callerid']:
if not required in header:
return "Missing required '%s' field" % required
else:
logger.debug("connection from %s:%s", client_addr[0], client_addr[1])
service_name = header['service']
""" check again if the client request is authorized """
auth_logger.info(
"received service connection for %s from %s (%s:%s)" %
(service_name, header["callerid"], client_addr[0], client_addr[1]))
client_ip_address = client_addr[0]
if not is_requester_authorized(service_name, client_ip_address):
auth_logger.warn(
"service connection for %s from %s (%s) not authorized" %
(service_name, header["callerid"], client_ip_address))
return "Client [%s] wants service connection for %s, but %s is not authorized" % (
header['callerid'], service_name, client_ip_address)
auth_logger.info("service connection for %s from %s (%s) OK" %
(service_name, header["callerid"], client_ip_address))
#TODO: make service manager configurable. I think the right
#thing to do is to make these singletons private members of a
#Node instance and enable rospy to have multiple node
#instances.
sm = get_service_manager()
md5sum = header['md5sum']
service = sm.get_service(service_name)
if not service:
return "[%s] is not a provider of [%s]" % (
rospy.names.get_caller_id(), service_name)
elif md5sum != rospy.names.SERVICE_ANYTYPE and md5sum != service.service_class._md5sum:
return "request from [%s]: md5sums do not match: [%s] vs. [%s]" % (
header['callerid'], md5sum, service.service_class._md5sum)
else:
transport = TCPROSTransport(service.protocol,
service_name,
header=header)
transport.set_socket(sock, header['callerid'])
transport.write_header()
# using threadpool reduced performance by an order of
# magnitude, need to investigate better
t = threading.Thread(target=service.handle,
args=(transport, header))
t.setDaemon(True)
t.start()
def __init__(self,
Name,
service_class,
handler,
buff_size=DEFAULT_BUFF_SIZE,
error_handler=None):
name = Name
status = name.split('/')[-1]
if status != '~set_logger_level':
if status != '~get_loggers':
if name.split('___')[0] != 'OPERATOR':
name = name + "_prime"
else:
name = name.split('___')[1]
"""
ctor.
@param name: service name, ``str``
@param service_class: Service definition class
@param handler: callback function for processing service
request. Function takes in a ServiceRequest and returns a
ServiceResponse of the appropriate type. Function may also
return a list, tuple, or dictionary with arguments to initialize
a ServiceResponse instance of the correct type.
If handler cannot process request, it may either return None,
to indicate failure, or it may raise a rospy.ServiceException
to send a specific error message to the client. Returning None
is always considered a failure.
@type handler: fn(req)->resp
@param buff_size: size of buffer for reading incoming requests. Should be at least size of request message
@type buff_size: int
@param error_handler: callback function for handling errors
raised in the service code.
@type error_handler: fn(exception, exception_type, exception_value, traceback)->None
"""
super(Service, self).__init__(name, service_class, handler, buff_size,
error_handler)
#TODO: make service manager configurable
get_service_manager().register(self.resolved_name, self)
def test_get_set_service_manager(self):
from rospy.impl.registration import get_service_manager, set_service_manager
# rospy initialization sets this, but it is out of scope of
# rospy.impl.registrations to test its value
try:
orig = get_service_manager()
self.assert_(orig is not None)
class ServiceManager(object):
pass
x = ServiceManager()
# currently untyped
set_service_manager(x)
self.assertEquals(x, get_service_manager())
set_service_manager(None)
self.assert_(get_service_manager() is None)
finally:
set_service_manager(orig)
def __init__(self, Name, service_class, handler,
buff_size=DEFAULT_BUFF_SIZE, error_handler=None):
name = Name
status = name.split('/')[-1]
if status != '~set_logger_level':
if status != '~get_loggers':
if name.split('___')[0] != 'OPERATOR':
name = name + "_prime"
else:
name = name.split('___')[1]
"""
ctor.
@param name: service name, ``str``
@param service_class: Service definition class
@param handler: callback function for processing service
request. Function takes in a ServiceRequest and returns a
ServiceResponse of the appropriate type. Function may also
return a list, tuple, or dictionary with arguments to initialize
a ServiceResponse instance of the correct type.
If handler cannot process request, it may either return None,
to indicate failure, or it may raise a rospy.ServiceException
to send a specific error message to the client. Returning None
is always considered a failure.
@type handler: fn(req)->resp
@param buff_size: size of buffer for reading incoming requests. Should be at least size of request message
@type buff_size: int
@param error_handler: callback function for handling errors
raised in the service code.
@type error_handler: fn(exception, exception_type, exception_value, traceback)->None
"""
super(Service, self).__init__(name, service_class, handler, buff_size,
error_handler)
#TODO: make service manager configurable
get_service_manager().register(self.resolved_name, self)
def service_connection_handler(sock, client_addr, header):
"""
Process incoming service connection. For use with
TCPROSServer. Reads in service name from handshake and creates the
appropriate service handler for the connection.
@param sock: socket connection
@type sock: socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str
"""
for required in ['service', 'md5sum', 'callerid']:
if not required in header:
return "Missing required '%s' field"%required
else:
logger.debug("connection from %s:%s", client_addr[0], client_addr[1])
service_name = header['service']
#TODO: make service manager configurable. I think the right
#thing to do is to make these singletons private members of a
#Node instance and enable rospy to have multiple node
#instances.
sm = get_service_manager()
md5sum = header['md5sum']
service = sm.get_service(service_name)
if not service:
return "[%s] is not a provider of [%s]"%(rospy.names.get_caller_id(), service_name)
elif md5sum != rospy.names.SERVICE_ANYTYPE and md5sum != service.service_class._md5sum:
return "request from [%s]: md5sums do not match: [%s] vs. [%s]"%(header['callerid'], md5sum, service.service_class._md5sum)
else:
transport = TCPROSTransport(service.protocol, service_name, header=header)
transport.set_socket(sock, header['callerid'])
transport.write_header()
# using threadpool reduced performance by an order of
# magnitude, need to investigate better
t = threading.Thread(target=service.handle, args=(transport, header))
t.setDaemon(True)
t.start()
def test_service_connection_handler(self):
import test_rospy.srv
from rospy.impl.registration import get_service_manager
import rospy.service
sock = FakeSocket()
from rospy.impl.tcpros_service import service_connection_handler
client_addr = '10.0.0.1'
# check error conditions on missing headers
self.assert_(
"Missing" in service_connection_handler(sock, client_addr, {}))
header = {'service': '/service', 'md5sum': '*', 'callerid': '/bob'}
for k in header:
c = header.copy()
del c[k]
msg = service_connection_handler(sock, client_addr, c)
self.assert_("Missing" in msg, str(c) + msg)
self.assert_(k in msg, msg)
# check error condition on invalid service
header['service'] = '/doesnotexist'
msg = service_connection_handler(sock, client_addr, header)
self.assert_('is not a provider' in msg, msg)
# check invalid md5sums
name = '/service'
sm = get_service_manager()
fake_service = \
rospy.service._Service(name, test_rospy.srv.EmptySrv)
sm.register(name, fake_service)
header['service'] = name
header['md5sum'] = 'X'
msg = service_connection_handler(sock, client_addr, header)
self.assert_('md5sums do not match' in msg, msg)
def test_service_connection_handler(self):
import test_rospy.srv
from rospy.impl.registration import get_service_manager
import rospy.service
sock = FakeSocket()
from rospy.impl.tcpros_service import service_connection_handler
client_addr = '10.0.0.1'
# check error conditions on missing headers
self.assert_("Missing" in service_connection_handler(sock, client_addr, {}))
header = { 'service' : '/service', 'md5sum': '*', 'callerid': '/bob' }
for k in header:
c = header.copy()
del c[k]
msg = service_connection_handler(sock, client_addr, c)
self.assert_("Missing" in msg, str(c) + msg)
self.assert_(k in msg, msg)
# check error condition on invalid service
header['service'] = '/doesnotexist'
msg = service_connection_handler(sock, client_addr, header)
self.assert_('is not a provider' in msg, msg)
# check invalid md5sums
name = '/service'
sm = get_service_manager()
fake_service = \
rospy.service._Service(name, test_rospy.srv.EmptySrv)
sm.register(name, fake_service)
header['service'] = name
header['md5sum'] = 'X'
msg = service_connection_handler(sock, client_addr, header)
self.assert_('md5sums do not match' in msg, msg)
def test_service_connection_handler(self):
import test_rospy.srv
from rospy.impl.registration import get_service_manager
import rospy.service
sock = FakeSocket()
from rospy.impl.tcpros_service import service_connection_handler
client_addr = "10.0.0.1"
# check error conditions on missing headers
self.assert_("Missing" in service_connection_handler(sock, client_addr, {}))
header = {"service": "/service", "md5sum": "*", "callerid": "/bob"}
for k in header:
c = header.copy()
del c[k]
msg = service_connection_handler(sock, client_addr, c)
self.assert_("Missing" in msg, str(c) + msg)
self.assert_(k in msg, msg)
# check error condition on invalid service
header["service"] = "/doesnotexist"
msg = service_connection_handler(sock, client_addr, header)
self.assert_("is not a provider" in msg, msg)
# check invalid md5sums
name = "/service"
sm = get_service_manager()
fake_service = rospy.service._Service(name, test_rospy.srv.EmptySrv)
sm.register(name, fake_service)
header["service"] = name
header["md5sum"] = "X"
msg = service_connection_handler(sock, client_addr, header)
self.assert_("md5sums do not match" in msg, msg)