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