def publishTopic(self, topic):
"establish connection with exactly one subscriber"
print "PUBLISH", topic, (self.callerId, topic, lookupTopicType(topic)[0], self.callerApi)
code, statusMessage, subscribers = self.master.registerPublisher(
self.callerId, topic, lookupTopicType(topic)[0], self.callerApi
)
print subscribers
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serverSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
serverSocket.bind((NODE_HOST, PUBLISH_PORT))
print "Waiting ..."
serverSocket.listen(1)
soc, addr = serverSocket.accept()
print "Connected by", addr
data = soc.recv(1024) # TODO properly load and parse/check
print data
print "LEN", len(data)
header = prefix4BytesLen(
prefix4BytesLen("callerid=" + self.callerId)
+ prefix4BytesLen("topic=" + topic)
+ prefix4BytesLen("type=" + lookupTopicType(topic)[0])
+ prefix4BytesLen("md5sum=" + lookupTopicType(topic)[1])
+ ""
)
soc.send(header)
return soc
def publishTopic(self, topic):
"establish connection with exactly one subscriber"
print "PUBLISH", topic, (self.callerId, topic,
lookupTopicType(topic)[0], self.callerApi)
code, statusMessage, subscribers = self.master.registerPublisher(
self.callerId, topic,
lookupTopicType(topic)[0], self.callerApi)
print subscribers
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serverSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
serverSocket.bind((NODE_HOST, PUBLISH_PORT))
print "Waiting ..."
serverSocket.listen(1)
soc, addr = serverSocket.accept()
print 'Connected by', addr
data = soc.recv(1024) # TODO properly load and parse/check
print data
print "LEN", len(data)
header = prefix4BytesLen(
prefix4BytesLen("callerid=" + self.callerId) +
prefix4BytesLen("topic=" + topic) +
prefix4BytesLen("type=" + lookupTopicType(topic)[0]) +
prefix4BytesLen("md5sum=" + lookupTopicType(topic)[1]) + "")
soc.send(header)
return soc
def requestTopic(self, topic):
code, statusMessage, publishers = self.master.registerSubscriber(
self.callerId, topic, lookupTopicType(topic)[0], self.callerApi
)
assert code == 1, (code, statusMessage)
assert len(publishers) == 1, (topic, publishers) # i.e. fails if publisher is not ready now
print publishers
publisher = ServerProxy(publishers[0])
code, statusMessage, protocolParams = publisher.requestTopic(self.callerId, topic, [["TCPROS"]])
assert code == 1, (code, statusMessage)
assert len(protocolParams) == 3, protocolParams
print code, statusMessage, protocolParams
hostPortPair = (protocolParams[1], protocolParams[2])
soc = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # TCP
soc.connect(hostPortPair)
soc.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
soc.setblocking(0)
soc.settimeout(SOCKET_TIMEOUT)
header = prefix4BytesLen(
prefix4BytesLen("callerid=" + self.callerId)
+ prefix4BytesLen("topic=" + topic)
+ prefix4BytesLen("type=" + lookupTopicType(topic)[0])
+ prefix4BytesLen("md5sum=" + lookupTopicType(topic)[1])
+ ""
)
soc.send(header)
return soc
def requestTopic(self, topic):
code, statusMessage, publishers = self.master.registerSubscriber(
self.callerId, topic,
lookupTopicType(topic)[0], self.callerApi)
assert code == 1, (code, statusMessage)
assert len(publishers) == 1, (
topic, publishers) # i.e. fails if publisher is not ready now
print publishers
publisher = ServerProxy(publishers[0])
code, statusMessage, protocolParams = publisher.requestTopic(
self.callerId, topic, [["TCPROS"]])
assert code == 1, (code, statusMessage)
assert len(protocolParams) == 3, protocolParams
print code, statusMessage, protocolParams
hostPortPair = (protocolParams[1], protocolParams[2])
soc = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # TCP
soc.connect(hostPortPair)
soc.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
soc.setblocking(0)
soc.settimeout(SOCKET_TIMEOUT)
header = prefix4BytesLen(
prefix4BytesLen("callerid=" + self.callerId) +
prefix4BytesLen("topic=" + topic) +
prefix4BytesLen("type=" + lookupTopicType(topic)[0]) +
prefix4BytesLen("md5sum=" + lookupTopicType(topic)[1]) + "")
soc.send(header)
return soc
