def register(self,
name,
service_type,
authority,
host_ip,
port,
user_token_required=True,
application_token_required=False,
liveness_timeout_secs=0,
**kwargs):
"""Register a service routing with the robot.
If service name already registered, no change will be applied and will raise ServiceAlreadyExistsError.
Every request received by the robot will serve as a heartbeat and update the service last_update field.
Args:
name: The name of the service. Must be unique.
service_type: The GRPC service definition defining the calls to/from this service.
(authority, service_type) must be unique in the directory.
authority: The authority used to direct calls to this service.
(authority, service_type) must be unique in the directory.
host_ip: The ip address of the system that the service is being hosted on.
port: The port number the service can be accessed through on the host system.
user_token_required: If a user token should be verified to access the service.
application_token_required: Deprecated - Do not use.
liveness_timeout_secs: Number of seconds without directory heartbeat before timeout fault.
Raises:
RpcError: Problem communicating with the robot.
ServiceAlreadyExistsError: The service already exists.
DirectoryRegistrationResponseError: Something went wrong during the directory registration.
"""
if (application_token_required):
_LOGGER.warning(
'The application_token_required parameter has been deprecated and will have no effect.'
)
service_entry = directory_pb2.ServiceEntry(
name=name,
type=service_type,
authority=authority,
user_token_required=user_token_required,
liveness_timeout_secs=liveness_timeout_secs)
endpoint = directory_pb2.Endpoint(host_ip=host_ip, port=port)
req = directory_registration_pb2.RegisterServiceRequest(
service_entry=service_entry, endpoint=endpoint)
return self.call(self._stub.RegisterService,
req,
error_from_response=_directory_register_error,
**kwargs)
def update(self,
name,
service_type,
authority,
host_ip,
port,
user_token_required=True,
application_token_required=False,
**kwargs):
"""Update a service definition of an existing service that matches the service name.
If service name is not registered, will raise ServiceDoesNotExistError.
Args:
name: The name of the service to be updated.
service_type: The GRPC service definition defining the calls to/from this service.
(authority, service_type) must be unique in the directory.
authority: The authority used to direct calls to this service.
(authority, service_type) must be unique in the directory.
host_ip: The ip address of the system that the service is being hosted on.
port: The port number the service can be accessed through on the host system.
user_token_required: If a user token should be verified to access the service.
application_token_required Deprecated - Do not use.
Raises:
RpcError: Problem communicating with the robot.
ServiceDoesNotExistError: The service does not exist.
DirectoryRegistrationResponseError: Something went wrong during the directory registration.
"""
if (application_token_required):
LOGGER.warning(
'The application_token_required parameter has been deprecated and will have no effect.'
)
service_entry = directory_pb2.ServiceEntry(
name=name,
type=service_type,
authority=authority,
user_token_required=user_token_required)
endpoint = directory_pb2.Endpoint(host_ip=host_ip, port=port)
req = directory_registration_pb2.UpdateServiceRequest(
service_entry=service_entry, endpoint=endpoint)
return self.call(self._stub.UpdateService,
req,
error_from_response=_directory_update_error,
**kwargs)
service.service_entries.append(_SERVICE_ENTRIES[i])
service.endpoints.append(_ENDPOINTS[i])
_SERVICE_ENTRIES = [
directory_proto.ServiceEntry(name='foo',
type='bosdyn.api.FooService',
authority='foo.spot.robot',
user_token_required=True),
directory_proto.ServiceEntry(name='bar',
type='bosdyn.api.BarService',
authority='bar.spot.robot'),
]
_ENDPOINTS = [
directory_proto.Endpoint(host_ip='1.2.3.4', port=52134),
directory_proto.Endpoint(host_ip='6.7.8.9', port=52789),
]
def test_list_empty():
client, service, server = _setup()
directory_list = client.list()
assert 0 == len(directory_list)
def _has_service_name(name, directory_list):
return name in [s.name for s in directory_list]
def _has_service_pair(name, ip, pair_list):
def default_service_endpoint():
return directory_protos.Endpoint(host_ip='0.0.0.0', port=0)
