def write_data(self, data):
"""
Write raw data to transport
@raise TransportInitialiationError: could not be initialized
@raise TransportTerminated: no longer open for publishing
"""
if not self.socket:
raise TransportInitError(
"TCPROS transport was not successfully initialized")
if self.done:
raise TransportTerminated("connection closed")
try:
#TODO: get rid of sendalls and replace with async-style publishing
self.socket.sendall(data.encode())
self.stat_bytes += len(data)
self.stat_num_msg += 1
except IOError as xxx_todo_changeme:
#for now, just document common errno's in code
(errno, msg) = xxx_todo_changeme.args
#for now, just document common errno's in code
if errno == 32: #broken pipe
logdebug("ERROR: Broken Pipe")
self.close()
raise TransportTerminated(str(errno) + msg)
raise #re-raise
except socket.error as xxx_todo_changeme1:
#for now, just document common errno's in code
(errno, msg) = xxx_todo_changeme1.args
#for now, just document common errno's in code
if errno == 32: #broken pipe
logdebug("[%s]: Closing connection [%s] due to broken pipe",
self.name, self.endpoint_id)
self.close()
raise TransportTerminated(msg)
elif errno == 104: #connection reset by peer
logdebug("[%s]: Peer [%s] has closed connection", self.name,
self.endpoint_id)
self.close()
raise TransportTerminated(msg)
else:
rospydebug("unknown socket error writing data: %s",
traceback.format_exc())
logdebug(
"[%s]: closing connection [%s] due to unknown socket error: %s",
self.name, self.endpoint_id, msg)
self.close()
raise TransportTerminated(str(errno) + ' ' + msg)
#except:
#TODO: try to figure out common errors here
#raise
return True
def write_data(self, data):
"""
Write raw data to transport
@raise TransportInitialiationError: could not be initialized
@raise TransportTerminated: no longer open for publishing
"""
if not self.socket:
raise TransportInitError(
"TCPROS transport was not successfully initialized")
if self.done:
raise TransportTerminated("connection closed")
try:
#TODO: get rid of sendalls and replace with async-style publishing
self.socket.sendall(data)
self.stat_bytes += len(data)
self.stat_num_msg += 1
except IOError, (errno, msg):
#for now, just document common errno's in code
if errno == 32: #broken pipe
logdebug("ERROR: Broken Pipe")
self.close()
raise TransportTerminated(str(errno) + msg)
raise #re-raise
def recv_buff(sock, b, buff_size):
"""
Read data from socket into buffer.
@param sock: socket to read from
@type sock: socket.socket
@param b: buffer to receive into
@type b: StringIO
@param buff_size: recv read size
@type buff_size: int
@return: number of bytes read
@rtype: int
"""
try:
d = sock.recv(buff_size)
if d:
b.write(d)
return len(d)
else: #bomb out
raise TransportTerminated("unable to receive data from sender, check sender's logs for details")
except socket.error as ex:
if ex.errno not in (EAGAIN, EWOULDBLOCK):
raise TransportTerminated("unable to receive data from sender, check sender's logs for details")
else:
return 0
self.stat_bytes += len(data)
self.stat_num_msg += 1
except IOError, (errno, msg):
#for now, just document common errno's in code
if errno == 32: #broken pipe
logdebug("ERROR: Broken Pipe")
self.close()
raise TransportTerminated(str(errno) + msg)
raise #re-raise
except socket.error, (errno, msg):
#for now, just document common errno's in code
if errno == 32: #broken pipe
logdebug("[%s]: Closing connection [%s] due to broken pipe",
self.name, self.endpoint_id)
self.close()
raise TransportTerminated(msg)
elif errno == 104: #connection reset by peer
logdebug("[%s]: Peer [%s] has closed connection", self.name,
self.endpoint_id)
self.close()
raise TransportTerminated(msg)
else:
rospydebug("unknown socket error writing data: %s",
traceback.format_exc())
logdebug(
"[%s]: closing connection [%s] due to unknown socket error: %s",
self.name, self.endpoint_id, msg)
self.close()
raise TransportTerminated(str(errno) + ' ' + msg)
except:
#TODO: try to figure out common errors here