def _connect(self, timeout: float, request_control: bool) -> None:
"""The function that runs on the connection thread. This will connect to Vector,
and establish the BehaviorControl stream.
"""
try:
if threading.main_thread() is threading.current_thread():
raise Exception("\n\nConnection._connect must be run outside of the main thread.")
self._loop = asyncio.new_event_loop()
asyncio.set_event_loop(self._loop)
self._done_signal = asyncio.Event()
self._control_events = _ControlEventManager(self._loop)
trusted_certs = None
with open(self.cert_file, 'rb') as cert:
trusted_certs = cert.read()
# Pin the robot certificate for opening the channel
channel_credentials = aiogrpc.ssl_channel_credentials(root_certificates=trusted_certs)
# Add authorization header for all the calls
call_credentials = aiogrpc.access_token_call_credentials(self._guid)
credentials = aiogrpc.composite_channel_credentials(channel_credentials, call_credentials)
self._logger.info(f"Connecting to {self.host} for {self.name} using {self.cert_file}")
self._channel = aiogrpc.secure_channel(self.host, credentials,
options=(("grpc.ssl_target_name_override", self.name,),))
# Verify the connection to Vector is able to be established (client-side)
try:
# Explicitly grab _channel._channel to test the underlying grpc channel directly
grpc.channel_ready_future(self._channel._channel).result(timeout=timeout) # pylint: disable=protected-access
except grpc.FutureTimeoutError as e:
raise exceptions.VectorNotFoundException() from e
self._interface = client.ExternalInterfaceStub(self._channel)
# Verify Vector and the SDK have compatible protocol versions
version = protocol.ProtocolVersionRequest(client_version=0, min_host_version=0)
protocol_version = self._loop.run_until_complete(self._interface.ProtocolVersion(version))
if protocol_version.result != protocol.ProtocolVersionResponse.SUCCESS: # pylint: disable=no-member
raise exceptions.VectorInvalidVersionException(version, protocol_version)
self._control_stream_task = self._loop.create_task(self._open_connections())
# WV -->--
if (request_control): self._loop.run_until_complete(self._request_control(timeout=timeout))
# WV --<--
except Exception as e: # pylint: disable=broad-except
# Propagate the errors to the calling thread
setattr(self._ready_signal, "exception", e)
return
finally:
self._ready_signal.set()
async def wait_until_done():
return await self._done_signal.wait()
self._loop.run_until_complete(wait_until_done())
def _connect(self, timeout: float) -> None:
"""The function that runs on the connection thread. This will connect to Vector,
and establish the BehaviorControl stream.
"""
try:
if threading.main_thread() is threading.current_thread():
raise Exception(
"\n\nConnection._connect must be run outside of the main thread."
)
self._loop = asyncio.new_event_loop()
asyncio.set_event_loop(self._loop)
self._done_signal = asyncio.Event()
if not self._requires_behavior_control:
self._control_events = _ControlEventManager(self._loop)
else:
self._control_events = _ControlEventManager(
self._loop,
priority=CONTROL_PRIORITY_LEVEL.TOP_PRIORITY_AI)
trusted_certs = None
with open(self.cert_file, 'rb') as cert:
trusted_certs = cert.read()
# Pin the robot certificate for opening the channel
channel_credentials = aiogrpc.ssl_channel_credentials(
root_certificates=trusted_certs)
# Add authorization header for all the calls
call_credentials = aiogrpc.access_token_call_credentials(
self._guid)
credentials = aiogrpc.composite_channel_credentials(
channel_credentials, call_credentials)
self._logger.info(
f"Connecting to {self.host} for {self.name} using {self.cert_file}"
)
self._channel = aiogrpc.secure_channel(
self.host,
credentials,
options=((
"grpc.ssl_target_name_override",
self.name,
), ))
# Verify the connection to Vector is able to be established (client-side)
try:
# Explicitly grab _channel._channel to test the underlying grpc channel directly
grpc.channel_ready_future(self._channel._channel).result(
timeout=timeout) # pylint: disable=protected-access
except grpc.FutureTimeoutError as e:
raise VectorNotFoundException() from e
self._interface = client.ExternalInterfaceStub(self._channel)
# Verify Vector and the SDK have compatible protocol versions
version = protocol.ProtocolVersionRequest(
client_version=CLIENT_VERSION,
min_host_version=MIN_HOST_VERSION)
protocol_version = self._loop.run_until_complete(
self._interface.ProtocolVersion(version))
if protocol_version.result != protocol.ProtocolVersionResponse.SUCCESS or MIN_HOST_VERSION > protocol_version.host_version: # pylint: disable=no-member
raise VectorInvalidVersionException(version, protocol_version)
self._control_stream_task = self._loop.create_task(
self._open_connections())
# Initialze SDK
sdk_module_version = __version__
python_version = platform.python_version()
python_implementation = platform.python_implementation()
os_version = platform.platform()
cpu_version = platform.machine()
initialize = protocol.SDKInitializationRequest(
sdk_module_version=sdk_module_version,
python_version=python_version,
python_implementation=python_implementation,
os_version=os_version,
cpu_version=cpu_version)
self._loop.run_until_complete(
self._interface.SDKInitialization(initialize))
if self._requires_behavior_control:
self._loop.run_until_complete(
self._request_control(timeout=timeout))
except Exception as e: # pylint: disable=broad-except
# Propagate the errors to the calling thread
setattr(self._ready_signal, "exception", e)
self._loop.close()
return
finally:
self._ready_signal.set()
try:
async def wait_until_done():
return await self._done_signal.wait()
self._loop.run_until_complete(wait_until_done())
finally:
self._loop.close()
