def _get_frame(self, sock):
hdr_bytes = _recvall(sock, Command.HDR_LEN)
hdr = Command.from_bytes(hdr_bytes)
body_bytes = _recvall(sock, hdr.get_arg(Command.HDR_ARG_BODYSZ))
if hdr.cmdtype == CommandType.heartbeat:
# ignore heartbeat responses and just get next frame
return self._get_frame(sock)
if hdr.cmdtype == CommandType.retreplayend:
return None
return body_bytes
def _send_cmd(self, cmd):
t = LWDrone._CONNECT_TIMEOUT
with socket.create_connection(self._cmd_addr, timeout=t) as sock:
cmd_bytes = cmd.to_bytes()
sock.sendall(cmd_bytes)
hdr_bytes = _recvall(sock, Command.HDR_LEN)
hdr = Command.from_bytes(hdr_bytes)
body_bytes = _recvall(sock, hdr.get_arg(Command.HDR_ARG_BODYSZ))
hdr.body = body_bytes
return hdr