70 lines
2.3 KiB
Python
70 lines
2.3 KiB
Python
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import time
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from enum import Enum
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from threading import Thread, Condition
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from ..idl.unitree_api.msg.dds_ import Request_ as Request
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from ..idl.unitree_api.msg.dds_ import Response_ as Response
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from ..core.channel import ChannelFactory
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from ..core.channel_name import ChannelType, GetClientChannelName
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from .request_future import RequestFuture, RequestFutureQueue
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"""
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" class ClientStub
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"""
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class ClientStub:
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def __init__(self, serviceName: str):
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self.__serviceName = serviceName
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self.__futureQueue = None
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self.__sendChannel = None
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self.__recvChannel = None
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def Init(self):
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factory = ChannelFactory()
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self.__futureQueue = RequestFutureQueue()
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# create channel
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self.__sendChannel = factory.CreateSendChannel(GetClientChannelName(self.__serviceName, ChannelType.SEND), Request)
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self.__recvChannel = factory.CreateRecvChannel(GetClientChannelName(self.__serviceName, ChannelType.RECV), Response,
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self.__ResponseHandler,10)
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time.sleep(0.5)
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def Send(self, request: Request, timeout: float):
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if self.__sendChannel.Write(request, timeout):
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return True
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else:
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print("[ClientStub] send error. id:", request.header.identity.id)
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return False
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def SendRequest(self, request: Request, timeout: float):
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id = request.header.identity.id
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future = RequestFuture()
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future.SetRequestId(id)
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self.__futureQueue.Set(id, future)
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if self.__sendChannel.Write(request, timeout):
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return future
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else:
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print("[ClientStub] send request error. id:", request.header.identity.id)
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self.__futureQueue.Remove(id)
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return None
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def RemoveFuture(self, requestId: int):
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self.__futureQueue.Remove(requestId)
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def __ResponseHandler(self, response: Response):
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id = response.header.identity.id
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# apiId = response.header.identity.api_id
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# print("[ClientStub] responseHandler recv response id:", id, ", apiId:", apiId)
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future = self.__futureQueue.Get(id)
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if future is None:
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# print("[ClientStub] get future from queue error. id:", id)
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pass
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elif not future.Ready(response):
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print("[ClientStub] set future ready error.")
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