Source Code for Module rosmaster.util

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34   
35  """ 
36  Utility routines for rosmaster. 
37  """ 
38   
39  try: 
40      from urllib.parse import urlparse 
41  except ImportError: 
42      from urlparse import urlparse 
43  try: 
44      from xmlrpc.client import ServerProxy 
45  except ImportError: 
46      from xmlrpclib import ServerProxy 
47   
48  from defusedxml.xmlrpc import monkey_patch 
49  monkey_patch() 
50  del monkey_patch 
51   
52  import errno 
53  import socket 
54  import threading 
55   
56  _proxies = threading.local() #cache ServerProxys 
57 -def xmlrpcapi(uri): 
58      """ 
59      @return: instance for calling remote server or None if not a valid URI 
60      @rtype: xmlrpc.client.ServerProxy 
61      """ 
62      if uri is None: 
63          return None 
64      uriValidate = urlparse(uri) 
65      if not uriValidate[0] or not uriValidate[1]: 
66          return None 
67      if not uri in _proxies.__dict__: 
68          _proxies.__dict__[uri] = ServerProxy(uri) 
69      close_half_closed_sockets() 
70      return _proxies.__dict__[uri] 
71   
72   
73 -def close_half_closed_sockets(): 
74      if not hasattr(socket, 'TCP_INFO'): 
75          return 
76      for proxy in _proxies.__dict__.values(): 
77          transport = proxy("transport") 
78          if transport._connection and transport._connection[1] is not None and transport._connection[1].sock is not None: 
79              try: 
80                  state = transport._connection[1].sock.getsockopt(socket.SOL_TCP, socket.TCP_INFO) 
81              except socket.error as e: # catch [Errno 92] Protocol not available 
82                  if e.args[0] is errno.ENOPROTOOPT: 
83                      return 
84                  raise 
85              if state == 8:  # CLOSE_WAIT 
86                  transport.close() 
87   
88   
89 -def remove_server_proxy(uri): 
90      if uri in _proxies.__dict__: 
91          del _proxies.__dict__[uri] 
92