def __init__(self, host=None, rpc_port=8000, verbose=True):
"""M3RtProxy is the client interface to the M3RtServer.
It manages the state of the server using XML_RPC methods.
It can query the server state,
start/stop the run-time system, create a DataService connection,
and publish/subscribe desired components to the DataService.
The DataService uses a faster TCP/IP socket on port 10000"""
self.stopped = False
self.host = host
self.verbose = verbose
if host is None:
self.host = m3t.get_config_hostname()
if self.host is None:
self.host = m3t.get_local_hostname()
self.rpc_port = rpc_port
self.data_port = 10000 #Currently hardcoded in M3
self.proxy = None
self.data_socket = None
self.subscribed = {}
self.published_param = {}
self.published_command = {}
self.available_components = []
self.available_component_types = []
self.log_comps = {}
self.log_names = []
self.logname = None
self.status_raw = mbs.M3StatusAll()
self.command_raw = mbs.M3CommandAll()
self.ns = 0
self.nsl = 0
self.data_svc = None
self.ros_svc = None
self.use_timeout = True
self.is_server_started = False
try:
if self.verbose:
print 'Starting M3 RPC Client at ', self.host, 'on Port ', self.rpc_port, '...'
self.proxy = xmlrpclib.ServerProxy('http://' + self.host + ':' +
str(self.rpc_port))
if self.verbose:
print 'M3 RPC Client started at ', self.host, 'on Port ', self.rpc_port
#Check that connection made
try:
self.proxy.system.listMethods()
except xmlrpclib.Error, v:
self.proxy = None
raise m3t.M3Exception(
'Error: ' + v +
'Make sure that the M3 RPC Server is running')
except socket.error, msg:
self.proxy = None
raise m3t.M3Exception(
'Check that server is started. Socket Error: ' + str(msg))
def stop(self, force_safeop=True):
"""Stop the RtSystem and any running data service on the server.
This should be called at client process shutdown
Will automatically move all components to SAFEOP by default (for safety)"""
try:
if self.is_server_started:
for comp_name in self.command_raw.name_cmd:
try:
try: #if bot
bot_comp = self.published_command[comp_name][
'component']
for c in bot_comp.get_available_chains():
bot_comp.set_mode_off(c)
except:
pass
# or just hand, arm etc
self.published_command[comp_name][
'component'].set_mode_off()
except:
pass
self.step()
self.make_safe_operational(comp_name)
if self.data_svc is not None:
self.__stop_data_service()
if self.ros_svc is not None:
self.__stop_ros_service()
if self.proxy is not None:
#if not self.proxy.IsDataServiceRunning():
self.proxy.RemoveRtSystem()
self.proxy = None
self.subscribed = {}
self.published_param = {}
self.published_command = {}
self.available_components = []
self.available_component_types = []
self.status_raw = mbs.M3StatusAll()
self.command_raw = mbs.M3CommandAll()
except socket.error:
pass #Ok because shutting down
self.stopped = True
self.is_server_started = False