94 lines
3.5 KiB
Python
94 lines
3.5 KiB
Python
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import time
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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 RequestHeader_ as RequestHeader
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from ..idl.unitree_api.msg.dds_ import RequestLease_ as RequestLease
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from ..idl.unitree_api.msg.dds_ import RequestIdentity_ as RequestIdentity
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from ..idl.unitree_api.msg.dds_ import RequestPolicy_ as RequestPolicy
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from ..utils.future import FutureResult
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from .client_stub import ClientStub
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from .internal import *
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"""
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" class ClientBase
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"""
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class ClientBase:
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def __init__(self, serviceName: str):
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self.__timeout = 1.0
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self.__stub = ClientStub(serviceName)
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self.__stub.Init()
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def SetTimeout(self, timeout: float):
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self.__timeout = timeout
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def _CallBase(self, apiId: int, parameter: str, proirity: int = 0, leaseId: int = 0):
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# print("[CallBase] call apiId:", apiId, ", proirity:", proirity, ", leaseId:", leaseId)
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header = self.__SetHeader(apiId, leaseId, proirity, False)
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request = Request(header, parameter, [])
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future = self.__stub.SendRequest(request, self.__timeout)
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if future is None:
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return RPC_ERR_CLIENT_SEND, None
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result = future.GetResult(self.__timeout)
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if result.code != FutureResult.FUTURE_SUCC:
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self.__stub.RemoveFuture(request.header.identity.id)
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code = RPC_ERR_CLIENT_API_TIMEOUT if result.code == FutureResult.FUTUTE_ERR_TIMEOUT else RPC_ERR_UNKNOWN
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return code, None
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response = result.value
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if response.header.identity.api_id != apiId:
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return RPC_ERR_CLIENT_API_NOT_MATCH, None
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else:
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return response.header.status.code, response.data
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def _CallNoReplyBase(self, apiId: int, parameter: str, proirity: int, leaseId: int):
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header = self.__SetHeader(apiId, leaseId, proirity, True)
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request = Request(header, parameter, [])
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if self.__stub.Send(request, self.__timeout):
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return 0
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else:
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return RPC_ERR_CLIENT_SEND
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def _CallBinaryBase(self, apiId: int, parameter: list, proirity: int, leaseId: int):
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header = self.__SetHeader(apiId, leaseId, proirity, False)
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request = Request(header, "", parameter)
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future = self.__stub.SendRequest(request, self.__timeout)
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if future is None:
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return RPC_ERR_CLIENT_SEND, None
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result = future.GetResult(self.__timeout)
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if result.code != FutureResult.FUTURE_SUCC:
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self.__stub.RemoveFuture(request.header.identity.id)
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code = RPC_ERR_CLIENT_API_TIMEOUT if result.code == FutureResult.FUTUTE_ERR_TIMEOUT else RPC_ERR_UNKNOWN
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return code, None
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response = result.value
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if response.header.identity.api_id != apiId:
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return RPC_ERR_CLIENT_API_NOT_MATCH, None
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else:
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return response.header.status.code, response.binary
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def _CallBinaryNoReplyBase(self, apiId: int, parameter: list, proirity: int, leaseId: int):
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header = self.__SetHeader(apiId, leaseId, proirity, True)
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request = Request(header, "", parameter)
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if self.__stub.Send(request, self.__timeout):
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return 0
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else:
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return RPC_ERR_CLIENT_SEND
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def __SetHeader(self, apiId: int, leaseId: int, priority: int, noReply: bool):
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identity = RequestIdentity(time.monotonic_ns(), apiId)
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lease = RequestLease(leaseId)
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policy = RequestPolicy(priority, noReply)
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return RequestHeader(identity, lease, policy)
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