File size: 991 Bytes
d1e2d14 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | import time
from typing import Callable, Any
from ..idl.unitree_api.msg.dds_ import Request_ as Request
from ..idl.unitree_api.msg.dds_ import Response_ as Response
from .server_stub import ServerStub
"""
" class ServerBase
"""
class ServerBase:
def __init__(self, name: str):
self.__name = name
self.__serverRequestHandler = None
self.__serverStub = ServerStub(self.__name)
def GetName(self):
return self.__name
def _Start(self, enablePrioQueue: bool = False):
self.__serverStub.Init(self.__serverRequestHandler, enablePrioQueue)
print("[ServerBase] server started. name:", self.__name, ", enable proirity queue:", enablePrioQueue)
def _SetServerRequestHandler(self, serverRequestHandler: Callable):
self.__serverRequestHandler = serverRequestHandler
def _SendResponse(self, response: Response):
if not self.__serverStub.Send(response, 1.0):
print("[ServerBase] send response error.")
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