def __call__(self, req):
serviceUrl = yield self._node_handle._master_proxy.lookupService(self._name)
protocol, rest = serviceUrl.split('://', 1)
host, port_str = rest.rsplit(':', 1)
port = int(port_str)
assert protocol == 'rosrpc'
conn = yield endpoints.TCP4ClientEndpoint(reactor, host, port).connect(
util.AutoServerFactory(lambda addr: tcpros.Protocol()))
try:
conn.sendString(tcpros.serialize_dict(dict(
callerid=self._node_handle._name,
service=self._name,
md5sum=self._type._md5sum,
type=self._type._type,
)))
tcpros.deserialize_dict((yield conn.receiveString()))
# request could be sent before header is received to reduce latency...
x = StringIO.StringIO()
self._type._request_class.serialize(req, x)
data = x.getvalue()
conn.sendString(data)
result = ord((yield conn.receiveByte()))
data = yield conn.receiveString()
if result: # success
defer.returnValue(self._type._response_class().deserialize(data))
else:
raise ServiceError(data)
finally:
conn.transport.loseConnection()
def __call__(self, req):
serviceUrl = yield self._node_handle._master_proxy.lookupService(self._name)
protocol, rest = serviceUrl.split('://', 1)
host, port_str = rest.rsplit(':', 1)
port = int(port_str)
assert protocol == 'rosrpc'
conn = yield endpoints.TCP4ClientEndpoint(reactor, host, port).connect(util.AutoServerFactory(lambda addr: tcpros.Protocol()))
try:
conn.sendString(tcpros.serialize_dict(dict(
callerid=self._node_handle._name,
service=self._name,
md5sum=self._type._md5sum,
type=self._type._type,
)))
header = tcpros.deserialize_dict((yield conn.receiveString()))
# XXX do something with header
# request could be sent before header is received to reduce latency...
x = StringIO.StringIO()
self._type._request_class.serialize(req, x)
data = x.getvalue()
conn.sendString(data)
result = ord((yield conn.receiveByte()))
data = yield conn.receiveString()
if result: # success
defer.returnValue(self._type._response_class().deserialize(data))
else:
raise ServiceError(data)
finally:
conn.transport.loseConnection()
def _publisher_thread(self, url):
while True:
try:
proxy = rosxmlrpc.Proxy(xmlrpc.Proxy(url),
self._node_handle._name)
value = yield proxy.requestTopic(self._name, [['TCPROS']])
protocol, host, port = value
conn = yield endpoints.TCP4ClientEndpoint(
reactor, host, port).connect(
util.AutoServerFactory(lambda addr: tcpros.Protocol()))
try:
conn.sendString(
tcpros.serialize_dict(
dict(
message_definition=self._type._full_text,
callerid=self._node_handle._name,
topic=self._name,
md5sum=self._type._md5sum,
type=self._type._type,
)))
header = tcpros.deserialize_dict((yield
conn.receiveString()))
self._connections[conn] = header.get('callerid', None)
try:
while True:
data = yield conn.receiveString()
msg = self._type().deserialize(data)
try:
self._callback(msg)
except:
traceback.print_exc()
self._last_message = msg
self._last_message_time = self._node_handle.get_time(
)
old, self._message_dfs = self._message_dfs, []
for df in old:
df.callback(msg)
finally:
del self._connections[conn]
finally:
conn.transport.loseConnection()
except (error.ConnectionDone, error.ConnectionLost,
error.ConnectionRefusedError):
pass
except Exception:
traceback.print_exc()
yield util.wall_sleep(
1
) # pause so that we don't repeatedly reconnect immediately on failure
def _handle_tcpros_conn(conn):
try:
header = tcpros.deserialize_dict((yield conn.receiveString()))
def default(header, conn):
conn.sendString(tcpros.serialize_dict(dict(error='unhandled connection')))
conn.transport.loseConnection()
if 'service' in header:
self._tcpros_handlers.get(('service', header['service']), default)(header, conn)
elif 'topic' in header:
self._tcpros_handlers.get(('topic', header['topic']), default)(header, conn)
else:
conn.sendString(tcpros.serialize_dict(dict(error='no topic or service name detected')))
conn.transport.loseConnection()
except:
conn.transport.loseConnection()
raise
def _handle_tcpros_conn(conn):
try:
header = tcpros.deserialize_dict((yield conn.receiveString()))
def default(header, conn):
conn.sendString(tcpros.serialize_dict(dict(error='unhandled connection')))
conn.transport.loseConnection()
if 'service' in header:
self._tcpros_handlers.get(('service', header['service']), default)(header, conn)
elif 'topic' in header:
self._tcpros_handlers.get(('topic', header['topic']), default)(header, conn)
else:
conn.sendString(tcpros.serialize_dict(dict(error='no topic or service name detected')))
conn.transport.loseConnection()
except:
conn.transport.loseConnection()
raise
def _publisher_thread(self, url):
while True:
try:
proxy = rosxmlrpc.Proxy(xmlrpc.Proxy(url), self._node_handle._name)
value = yield proxy.requestTopic(self._name, [['TCPROS']])
protocol, host, port = value
conn = yield endpoints.TCP4ClientEndpoint(reactor, host, port).connect(
util.AutoServerFactory(lambda addr: tcpros.Protocol()))
try:
conn.sendString(tcpros.serialize_dict(dict(
message_definition=self._type._full_text,
callerid=self._node_handle._name,
topic=self._name,
md5sum=self._type._md5sum,
type=self._type._type,
)))
header = tcpros.deserialize_dict((yield conn.receiveString()))
self._connections[conn] = header.get('callerid', None)
try:
while True:
data = yield conn.receiveString()
msg = self._type().deserialize(data)
try:
self._callback(msg)
except:
traceback.print_exc()
self._last_message = msg
self._last_message_time = self._node_handle.get_time()
old, self._message_dfs = self._message_dfs, []
for df in old:
df.callback(msg)
finally:
del self._connections[conn]
finally:
conn.transport.loseConnection()
except (error.ConnectionDone, error.ConnectionLost, error.ConnectionRefusedError):
pass
except Exception:
traceback.print_exc()
yield util.wall_sleep(1) # pause so that we don't repeatedly reconnect immediately on failure