122 lines
4.0 KiB
Python
122 lines
4.0 KiB
Python
|
import time
|
||
|
|
|
||
|
|
from typing import Callable, Any
|
||
|
|
|
||
|
|
from ..idl.unitree_api.msg.dds_ import Request_ as Request
|
||
|
|
from ..idl.unitree_api.msg.dds_ import ResponseStatus_ as ResponseStatus
|
||
|
|
from ..idl.unitree_api.msg.dds_ import ResponseHeader_ as ResponseHeader
|
||
|
|
from ..idl.unitree_api.msg.dds_ import Response_ as Response
|
||
|
|
|
||
|
|
from .server_base import ServerBase
|
||
|
|
from .lease_server import LeaseServer
|
||
|
|
from .internal import *
|
||
|
|
|
||
|
|
"""
|
||
|
|
" class Server
|
||
|
|
"""
|
||
|
|
class Server(ServerBase):
|
||
|
|
def __init__(self, name: str):
|
||
|
|
self.__apiVersion = ""
|
||
|
|
self.__apiHandlerMapping = {}
|
||
|
|
self.__apiBinaryHandlerMapping = {}
|
||
|
|
self.__apiBinarySet = {}
|
||
|
|
self.__enableLease = False
|
||
|
|
self.__leaseServer = None
|
||
|
|
super().__init__(name)
|
||
|
|
|
||
|
|
def Init(self):
|
||
|
|
pass
|
||
|
|
|
||
|
|
def StartLease(self, term: float = 1.0):
|
||
|
|
self.__enableLease = True
|
||
|
|
self.__leaseServer = LeaseServer(self.GetName(), term)
|
||
|
|
self.__leaseServer.Init()
|
||
|
|
self.__leaseServer.Start(False)
|
||
|
|
|
||
|
|
def Start(self, enablePrioQueue: bool = False):
|
||
|
|
super()._SetServerRequestHandler(self.__ServerRequestHandler)
|
||
|
|
super()._Start(enablePrioQueue)
|
||
|
|
|
||
|
|
def GetApiVersion(self):
|
||
|
|
return self.__apiVersion
|
||
|
|
|
||
|
|
def _SetApiVersion(self, apiVersion: str):
|
||
|
|
self.__apiVersion = apiVersion
|
||
|
|
print("[Server] set api version:", self.__apiVersion)
|
||
|
|
|
||
|
|
def _RegistHandler(self, apiId: int, handler: Callable, checkLease: bool):
|
||
|
|
self.__apiHandlerMapping[apiId] = (handler, checkLease)
|
||
|
|
|
||
|
|
def _RegistBinaryHandler(self, apiId: int, handler: Callable, checkLease: bool):
|
||
|
|
self.__apiBinaryHandlerMapping[apiId] = (handler, checkLease)
|
||
|
|
self.__apiBinarySet.add(apiId)
|
||
|
|
|
||
|
|
def __GetHandler(self, apiId: int):
|
||
|
|
if apiId in self.__apiHandlerMapping:
|
||
|
|
return self.__apiHandlerMapping.get(apiId)
|
||
|
|
else:
|
||
|
|
return None, False
|
||
|
|
|
||
|
|
def __GetBinaryHandler(self, apiId: int):
|
||
|
|
if apiId in self.__apiBinaryHandlerMapping:
|
||
|
|
return self.__apiBinaryHandlerMapping.get(apiId)
|
||
|
|
else:
|
||
|
|
return None, False
|
||
|
|
|
||
|
|
def __IsBinary(self, apiId):
|
||
|
|
return apiId in self.__apiBinarySet
|
||
|
|
|
||
|
|
def __CheckLeaseDenied(self, leaseId: int):
|
||
|
|
if (self.__enableLease):
|
||
|
|
return self.__leaseServer.CheckRequestLeaseDenied(leaseId)
|
||
|
|
else:
|
||
|
|
return False
|
||
|
|
|
||
|
|
def __ServerRequestHandler(self, request: Request):
|
||
|
|
parameter = request.parameter
|
||
|
|
parameterBinary = request.binary
|
||
|
|
|
||
|
|
identity = request.header.identity
|
||
|
|
leaseId = request.header.lease.id
|
||
|
|
apiId = identity.api_id
|
||
|
|
|
||
|
|
code = 0
|
||
|
|
data = ""
|
||
|
|
dataBinary = []
|
||
|
|
|
||
|
|
if apiId == RPC_API_ID_INTERNAL_API_VERSION:
|
||
|
|
data = self.__apiVersion
|
||
|
|
else:
|
||
|
|
requestHandler = None
|
||
|
|
binaryRequestHandler = None
|
||
|
|
checkLease = False
|
||
|
|
|
||
|
|
if self.__IsBinary(apiId):
|
||
|
|
binaryRequestHandler, checkLease = self.__GetBinaryHandler(apiId)
|
||
|
|
else:
|
||
|
|
requestHandler, checkLease = self.__GetHandler(apiId)
|
||
|
|
|
||
|
|
if requestHandler is None and binaryRequestHandler is None:
|
||
|
|
code = RPC_ERR_SERVER_API_NOT_IMPL
|
||
|
|
elif checkLease and self.__CheckLeaseDenied(leaseId):
|
||
|
|
code = RPC_ERR_SERVER_LEASE_DENIED
|
||
|
|
else:
|
||
|
|
try:
|
||
|
|
if binaryRequestHandler is None:
|
||
|
|
code, data = requestHandler(parameter)
|
||
|
|
if code != 0:
|
||
|
|
data = ""
|
||
|
|
else:
|
||
|
|
code, dataBinary = binaryRequestHandler(parameterBinary)
|
||
|
|
if code != 0:
|
||
|
|
dataBinary = []
|
||
|
|
except:
|
||
|
|
code = RPC_ERR_SERVER_INTERNAL
|
||
|
|
|
||
|
|
if request.header.policy.noreply:
|
||
|
|
return
|
||
|
|
|
||
|
|
status = ResponseStatus(code)
|
||
|
|
response = Response(ResponseHeader(identity, status), data, dataBinary)
|
||
|
|
|
||
|
|
self._SendResponse(response)
|