151 lines
4.1 KiB
Python
151 lines
4.1 KiB
Python
import time
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import json
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from threading import Lock
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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 ResponseHeader_ as ResponseHeader
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from ..idl.unitree_api.msg.dds_ import ResponseStatus_ as ResponseStatus
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from ..idl.unitree_api.msg.dds_ import Response_ as Response
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from .internal import *
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from .server_base import ServerBase
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"""
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" class LeaseCache
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"""
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class LeaseCache:
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def __init__(self):
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self.lastModified = 0
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self.id = 0
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self.name = None
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def Set(self, id: int, name: str, lastModified: int) :
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self.id = id
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self.name = name
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self.lastModified = lastModified
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def Renewal(self, lastModified: int):
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self.lastModified = lastModified
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def Clear(self):
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self.id = 0
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self.lastModified = 0
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self.name = None
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"""
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" class LeaseServer
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"""
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class LeaseServer(ServerBase):
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def __init__(self, name: str, term: float):
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self.__term = int(term * 1000000)
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self.__lock = Lock()
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self.__cache = LeaseCache()
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super().__init__(name + "_lease")
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def Init(self):
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pass
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def Start(self, enablePrioQueue: bool = False):
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super()._SetServerRequestHandler(self.__ServerRequestHandler)
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super()._Start(enablePrioQueue)
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def CheckRequestLeaseDenied(self, leaseId: int):
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with self.__lock:
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if self.__cache.id == 0:
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return self.__cache.id != leaseId
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now = self.__Now()
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if now > self.__cache.lastModified + self.__term:
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self.__cache.Clear()
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return False
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else:
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return self.__cache.id != leaseId
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def __Apply(self, parameter: str):
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name = ""
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data = ""
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try:
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p = json.loads(parameter)
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name = p.get("name")
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except:
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print("[LeaseServer] apply json loads error. parameter:", parameter)
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return RPC_ERR_SERVER_API_PARAMETER, data
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if not name:
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name = "anonymous"
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id = 0
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lastModified = 0
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setted = False
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now = self.__Now()
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with self.__lock:
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id = self.__cache.id
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lastModified = self.__cache.lastModified
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if id == 0 or now > lastModified + self.__term:
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if id != 0:
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print("[LeaseServer] id expired:", id, ", name:", self.__cache.name)
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id = self.__GenerateId()
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self.__cache.Set(id, name, now)
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setted = True
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print("[LeaseServer] id stored:", id, ", name:", name)
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if setted:
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d = {}
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d["id"] = id
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d["term"] = self.__term
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data = json.dumps(d)
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return 0, data
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else:
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return RPC_ERR_SERVER_LEASE_EXIST, data
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def __Renewal(self, id: int):
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now = self.__Now()
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with self.__lock:
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if self.__cache.id != id:
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return RPC_ERR_SERVER_LEASE_NOT_EXIST
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if now > self.__cache.lastModified + self.__term:
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self.__cache.Clear()
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return RPC_ERR_SERVER_LEASE_NOT_EXIST
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else:
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self.__cache.Renewal(now)
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return 0
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def __ServerRequestHandler(self, request: Request):
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identity = request.header.identity
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parameter = request.parameter
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apiId = identity.api_id
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code = RPC_ERR_SERVER_API_NOT_IMPL
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data = ""
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if apiId == RPC_API_ID_LEASE_APPLY:
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code, data = self.__Apply(parameter)
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elif apiId == RPC_API_ID_LEASE_RENEWAL:
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code = self.__Renewal(request.header.lease.id)
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else:
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print("[LeaseServer] api is not implemented. apiId", apiId)
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if request.header.policy.noreply:
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return
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status = ResponseStatus(code)
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response = Response(ResponseHeader(identity, status), data, [])
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self._SendResponse(response)
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def __GenerateId(self):
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return self.__Now()
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def __Now(self):
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return int(time.time_ns()/1000) |