def get_service_headers(service_name, service_uri):
"""
Utility for connecting to a service and retrieving the TCPROS
headers. Services currently do not declare their type with the
master, so instead we probe the service for its headers.
@param service_name: name of service
@type service_name: str
@param service_uri: ROSRPC URI of service
@type service_uri: str
@return: map of header fields
@rtype: dict
@raise ROSServiceException: if service has invalid information
@raise ROSServiceIOException: if unable to communicate with service
"""
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(service_uri)
except:
raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service_name, service_uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
try:
# connect to service and probe it to get the headers
s.settimeout(5.0)
s.connect((dest_addr, dest_port))
header = { 'probe':'1', 'md5sum':'*',
'callerid':'/rosservice', 'service':service_name}
rosgraph.network.write_ros_handshake_header(s, header)
return rosgraph.network.read_ros_handshake_header(s, StringIO(), 2048)
except socket.error:
raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service_name, service_uri))
finally:
if s is not None:
s.close()
def get_service_class(service_name):
master = roslib.scriptutil.get_master()
code, msg, service_uri = master.lookupService(CALLER_ID, service_name)
dest_addr, dest_port = rospy.parse_rosrpc_uri(service_uri)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
try:
# connect to service and probe it to get the headers
s.settimeout(5.0)
s.connect((dest_addr, dest_port))
header = {
'probe': '1',
'md5sum': '*',
'callerid': '/rosservice',
'service': service_name
}
roslib.network.write_ros_handshake_header(s, header)
return roslib.network.read_ros_handshake_header(
s, cStringIO.StringIO(), 2048).get('type', None)
except socket.error:
raise ROSServiceIOException(
"Unable to communicate with service [%s], address [%s]" %
(service_name, service_uri))
finally:
if s is not None:
s.close()
def _getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
This method blocks until the info is retrieved or socket timeout is reached (0.5 seconds).
:param service: the name of the service
:type service: str
:param uri: the uri of the service
:type uri: str
'''
for (service, uri) in services.items():
with self._lock:
if service in self.__cached_services:
if time.time() - self.__cached_services[service][2] < self.MAX_PING_SEC:
return
if uri is not None:
dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
continue
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = {'probe': '1', 'md5sum': '*',
'callerid': self.ros_node_name, 'service': service}
roslib.network.write_ros_handshake_header(s, header)
buf = io.StringIO() if sys.version_info < (3, 0) else io.BytesIO()
stype = roslib.network.read_ros_handshake_header(s, buf, 2048)
with self._lock:
self.__new_master_state.getService(service).type = stype['type']
self.__cached_services[service] = (uri, stype['type'], time.time())
except socket.error:
with self._lock:
try:
del self.__cached_services[service]
except:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
except:
with self._lock:
self._limited_log(service, "can't get service type: %s" % traceback.format_exc(), level=rospy.DEBUG)
with self._lock:
try:
del self.__cached_services[service]
except:
pass
pass
finally:
if s is not None:
s.close()
def _getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
This method blocks until the info is retrieved or socket timeout is reached (0.5 seconds).
:param service: the name of the service
:type service: str
:param uri: the uri of the service
:type uri: str
'''
for (service, uri) in services.items():
with self._lock:
if service in self.__cached_services:
if time.time() - self.__cached_services[service][2] < self.MAX_PING_SEC:
return
if uri is not None:
dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
continue
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = {'probe': '1', 'md5sum': '*',
'callerid': self.ros_node_name, 'service': service}
roslib.network.write_ros_handshake_header(s, header)
stype = roslib.network.read_ros_handshake_header(s, cStringIO.StringIO(), 2048)
with self._lock:
self.__new_master_state.getService(service).type = stype['type']
self.__cached_services[service] = (uri, stype['type'], time.time())
except socket.error:
with self._lock:
try:
del self.__cached_services[service]
except:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
except:
with self._lock:
self._limited_log(service, "can't get service type: %s" % traceback.format_exc(), level=rospy.DEBUG)
with self._lock:
try:
del self.__cached_services[service]
except:
pass
pass
finally:
if s is not None:
s.close()
def getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
@param service: the name of the service
@type service: C{str}
@param uri: the uri of the service
@type uri: C{str}
'''
for (service, uri) in services.items():
if not uri is None:
type = dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
# print "ERROR while get service info"
continue
# return
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = {
'probe': '1',
'md5sum': '*',
'callerid': rospy.get_name(),
'service': service
}
roslib.network.write_ros_handshake_header(s, header)
type = roslib.network.read_ros_handshake_header(
s, cStringIO.StringIO(), 2048)
except socket.error:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
except:
pass
finally:
if s is not None:
s.close()
self._lock.acquire(True)
try:
self.new_master_state.getService(service).type = type['type']
except:
pass
# print "ignored:"
# import traceback
# traceback.print_exc()
# print "type field in service header not available, type:", type
self._lock.release()
def getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
@param service: the name of the service
@type service: C{str}
@param uri: the uri of the service
@type uri: C{str}
'''
for (service, uri) in services.items():
if not uri is None:
type = dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
# print "ERROR while get service info"
continue
# return
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = { 'probe':'1', 'md5sum':'*',
'callerid':rospy.get_name(), 'service':service}
roslib.network.write_ros_handshake_header(s, header)
type = roslib.network.read_ros_handshake_header(s, cStringIO.StringIO(), 2048)
except socket.error:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
except:
pass
finally:
if s is not None:
s.close()
self._lock.acquire(True)
try:
self.new_master_state.getService(service).type = type['type']
except:
pass
# print "ignored:"
# import traceback
# traceback.print_exc()
# print "type field in service header not available, type:", type
self._lock.release()
def get_service_headers(service_name, service_uri):
"""
Utility for connecting to a service and retrieving the TCPROS
headers. Services currently do not declare their type with the
master, so instead we probe the service for its headers.
@param service_name: name of service
@type service_name: str
@param service_uri: ROSRPC URI of service
@type service_uri: str
@return: map of header fields
@rtype: dict
@raise ROSServiceException: if service has invalid information
@raise ROSServiceIOException: if unable to communicate with service
"""
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(service_uri)
except:
raise ROSServiceException("service [%s] has an invalid RPC URI [%s]" %
(service_name, service_uri))
if rosgraph.network.use_ipv6():
s = socket.socket(socket.AF_INET6, socket.SOCK_STREAM)
else:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
try:
# connect to service and probe it to get the headers
s.settimeout(5.0)
s.connect((dest_addr, dest_port))
header = {
'probe': '1',
'md5sum': '*',
'callerid': '/rosservice',
'service': service_name
}
rosgraph.network.write_ros_handshake_header(s, header)
return rosgraph.network.read_ros_handshake_header(
s, StringIO(), 2048)
except socket.error:
raise ROSServiceIOException(
"Unable to communicate with service [%s], address [%s]" %
(service_name, service_uri))
finally:
if s is not None:
s.close()
def test_parse_rosrpc_uri(self):
from rospy.core import parse_rosrpc_uri
valid = [('rosrpc://localhost:1234/', 'localhost', 1234),
('rosrpc://localhost2:1234', 'localhost2', 1234),
('rosrpc://third:1234/path/bar', 'third', 1234),
('rosrpc://foo.com:1/', 'foo.com', 1),
('rosrpc://foo.com:1/', 'foo.com', 1)]
for t, addr, port in valid:
paddr, pport = rospy.core.parse_rosrpc_uri(t)
self.assertEquals(addr, paddr)
self.assertEquals(port, pport)
# validate that it's a top-level API method
self.assertEquals(rospy.core.parse_rosrpc_uri(t), rospy.parse_rosrpc_uri(t))
invalid = ['rosrpc://:1234/', 'rosrpc://localhost', 'http://localhost:1234/']
for i in invalid:
try:
parse_rosrpc_uri(i)
self.fail("%s was an invalid rosrpc uri"%i)
except: pass
def test_parse_rosrpc_uri(self):
from rospy.core import parse_rosrpc_uri
valid = [('rosrpc://localhost:1234/', 'localhost', 1234),
('rosrpc://localhost2:1234', 'localhost2', 1234),
('rosrpc://third:1234/path/bar', 'third', 1234),
('rosrpc://foo.com:1/', 'foo.com', 1),
('rosrpc://foo.com:1/', 'foo.com', 1)]
for t, addr, port in valid:
paddr, pport = rospy.core.parse_rosrpc_uri(t)
self.assertEquals(addr, paddr)
self.assertEquals(port, pport)
# validate that it's a top-level API method
self.assertEquals(rospy.core.parse_rosrpc_uri(t), rospy.parse_rosrpc_uri(t))
invalid = ['rosrpc://:1234/', 'rosrpc://localhost', 'http://localhost:1234/']
for i in invalid:
try:
parse_rosrpc_uri(i)
self.fail("%s was an invalid rosrpc uri"%i)
except: pass
def getServiceType(serviceName, serviceUri):
dest_addr, dest_port = rospy.parse_rosrpc_uri(serviceUri)
if rosgraph.network.use_ipv6():
s = socket.socket(socket.AF_INET6, socket.SOCK_STREAM)
else:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
s.settimeout(5.0)
s.connect((dest_addr, dest_port))
header = {
'probe': '1',
'md5sum': '*',
'callerid': '/rosservice',
'service': serviceName
}
rosgraph.network.write_ros_handshake_header(s, header)
return rosgraph.network.read_ros_handshake_header(s, StringIO(),
2048).get(
'type', None)
finally:
if s is not None:
s.close()
def get_service_class(self, allow_get_type=False):
'''
Get the service class using the type of the service. NOTE: this
method is from `rosservice` and changed to avoid a probe call to the service.
:param allow_get_type: allow to connect to service and get the type if the type is not valid (in case of other host)
:type allow_get_type: bool
:return: service class
:rtype: ServiceDefinition: service class
:raise: ``ROSServiceException``, if service class cannot be retrieved
'''
if not self.__service_class is None:
return self.__service_class
type = self.type
# request the type if it is empty and allowed
if not type and allow_get_type and self.uri:
dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(self.uri)
except:
pass
else:
import socket
import cStringIO
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = { 'probe':'1', 'md5sum':'*',
'callerid':rospy.get_name(), 'service':self.name}
roslib.network.write_ros_handshake_header(s, header)
type = roslib.network.read_ros_handshake_header(s, cStringIO.StringIO(), 2048)
type = type['type']
except socket.error:
pass
except:
pass
finally:
if s is not None:
s.close()
import rosservice
if not type:
raise rosservice.ROSServiceException("Not valid type of service [%s]."%str(type))
# get the Service class so we can populate the request
service_class = roslib.message.get_service_class(type)
# #1083: roscpp services are currently returning the wrong type
if service_class and self.type.endswith('Request') and \
not hasattr(service_class, "_request_class"):
type = type[:-7]
service_class = roslib.message.get_service_class(type)
if service_class is None:
pkg = roslib.names.resource_name_package(self.type)
raise rosservice.ROSServiceException("Unable to load type [%s].\n"%self.type+
"Have you typed 'make' in [%s]?"%pkg)
self.__service_class = service_class
return service_class
def get_service_class(self, allow_get_type=False):
'''
Get the service class using the type of the service. NOTE: this
method is from `rosservice` and changed to avoid a probe call to the service.
:param allow_get_type: allow to connect to service and get the type if the type is not valid (in case of other host)
:type allow_get_type: bool
:return: service class
:rtype: ServiceDefinition: service class
:raise: ``ROSServiceException``, if service class cannot be retrieved
'''
if self.__service_class is not None:
return self.__service_class
srv_type = self.type
# request the type if it is empty and allowed
if not srv_type and allow_get_type and self.uri:
dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(self.uri)
except:
pass
else:
import socket
import cStringIO
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = {
'probe': '1',
'md5sum': '*',
'callerid': rospy.get_name(),
'service': self.name
}
roslib.network.write_ros_handshake_header(s, header)
srv_type = roslib.network.read_ros_handshake_header(
s, cStringIO.StringIO(), 2048)
srv_type = srv_type['type']
except socket.error:
pass
except:
pass
finally:
if s is not None:
s.close()
import rosservice
if not srv_type:
raise rosservice.ROSServiceException(
"Not valid type of service [%s]." % str(srv_type))
# get the Service class so we can populate the request
service_class = roslib.message.get_service_class(srv_type)
# #1083: roscpp services are currently returning the wrong type
if service_class and self.type.endswith('Request') and \
not hasattr(service_class, "_request_class"):
srv_type = srv_type[:-7]
service_class = roslib.message.get_service_class(srv_type)
if service_class is None:
pkg = roslib.names.resource_name_package(self.type)
raise rosservice.ROSServiceException(
"Unable to load type [%s].\n" % self.type +
"Have you typed 'make' in [%s]?" % pkg)
self.__service_class = service_class
return service_class
def _getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
This method blocks until the info is retrieved or socket timeout is reached (0.5 seconds).
:param service: the name of the service
:type service: str
:param uri: the uri of the service
:type uri: str
'''
for (service, uri) in services.items():
with self._lock:
if self.__cached_services.has_key(service):
if time.time(
) - self.__cached_services[service][2] < self.MAX_PING_SEC:
return
if not uri is None:
type = dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
# print "ERROR while get service info"
continue
# return
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = {
'probe': '1',
'md5sum': '*',
'callerid': self.ros_node_name,
'service': service
}
roslib.network.write_ros_handshake_header(s, header)
stype = roslib.network.read_ros_handshake_header(
s, cStringIO.StringIO(), 2048)
# print "_getServiceInfo _lock try..", threading.current_thread()
with self._lock:
# print "get info about service", service, uri
self.__new_master_state.getService(
service).type = stype['type']
self.__cached_services[service] = (uri, stype['type'],
time.time())
# print "_getServiceInfo _lock RET", threading.current_thread()
except socket.error:
# print "_getServiceInfo _lock try..", threading.current_thread()
with self._lock:
try:
# print "delete socket service", service, uri
del self.__cached_services[service]
except:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
# print "_getServiceInfo _lock RET", threading.current_thread()
except:
import traceback
with self._lock:
self._limited_log(
service, "can't get service type: %s" %
traceback.format_exc())
# print traceback.format_exc()
# print "_getServiceInfo _lock try..", threading.current_thread()
with self._lock:
try:
# print "delete service", service, uri
del self.__cached_services[service]
except:
pass
# print "_getServiceInfo _lock RET", threading.current_thread()
pass
finally:
if s is not None:
s.close()
def _getServiceInfo(self, services):
'''
Gets service info through the RPC interface of the service.
This method blocks until the info is retrieved or socket timeout is reached (0.5 seconds).
:param service: the name of the service
:type service: str
:param uri: the uri of the service
:type uri: str
'''
for (service, uri) in services.items():
with self._lock:
if self.__cached_services.has_key(service):
if time.time() - self.__cached_services[service][2] < self.MAX_PING_SEC:
return
if not uri is None:
type = dest_addr = dest_port = None
try:
dest_addr, dest_port = rospy.parse_rosrpc_uri(uri)
except:
# print "ERROR while get service info"
continue
# return
# raise ROSServiceException("service [%s] has an invalid RPC URI [%s]"%(service, uri))
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
try:
# connect to service and probe it to get the headers
s.settimeout(0.5)
s.connect((dest_addr, dest_port))
header = { 'probe':'1', 'md5sum':'*',
'callerid':self.ros_node_name, 'service':service}
roslib.network.write_ros_handshake_header(s, header)
type = roslib.network.read_ros_handshake_header(s, cStringIO.StringIO(), 2048)
# print "_getServiceInfo _lock try..", threading.current_thread()
with self._lock:
# print "get info about service", service, uri
self.__new_master_state.getService(service).type = type['type']
self.__cached_services[service] = (uri, type['type'], time.time())
# print "_getServiceInfo _lock RET", threading.current_thread()
except socket.error:
# print "_getServiceInfo _lock try..", threading.current_thread()
with self._lock:
try:
# print "delete socket service", service, uri
del self.__cached_services[service]
except:
pass
# raise ROSServiceIOException("Unable to communicate with service [%s], address [%s]"%(service, uri))
# print "_getServiceInfo _lock RET", threading.current_thread()
except:
# import traceback
# print traceback.format_exc()
# print "_getServiceInfo _lock try..", threading.current_thread()
with self._lock:
try:
# print "delete service", service, uri
del self.__cached_services[service]
except:
pass
# print "_getServiceInfo _lock RET", threading.current_thread()
pass
finally:
if s is not None:
s.close()
