73 lines
2.0 KiB
Python
73 lines
2.0 KiB
Python
import dataclasses
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import socket
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import flask
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import werkzeug.serving
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@dataclasses.dataclass
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class HttpHost():
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"""
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HTTP主机信息
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"""
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hostname: str
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port: int
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def __post_init__(self):
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if not self.hostname:
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raise ValueError("Hostname cannot be empty")
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if not (0 <= self.port <= 65535):
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raise ValueError(f"Invalid port: {self.port}")
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class HttpRPCServer():
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"""
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来自ability-sdk-python的http服务器。
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HTTP RPC服务端实现。
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使用add_route方法添加路由，重写类以实现自定义功能。
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"""
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def __init__(self):
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self._server = None
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self._app = flask.Flask(__name__)
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def add_route(self, uri: str, handler, methods: list):
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"""
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添加HTTP路由，handler应符合Flask视图函数的规范。
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"""
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if not callable(handler):
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raise ValueError("Handler must be a callable function")
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self._app.add_url_rule(uri, view_func=handler, methods=methods)
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def start(self, hostname: str = "0.0.0.0", port: int = None):
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"""
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启动并以阻塞方式提供服务。
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"""
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if self._server:
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raise RuntimeError("Server is already running")
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self.host = HttpHost(
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hostname=hostname, port=port if port else self.find_free_port())
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self._server = werkzeug.serving.make_server(
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self.host.hostname, self.host.port, self._app, threaded=True)
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self._server.serve_forever()
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def stop(self):
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"""
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停止服务。
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"""
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if self._server:
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self._server.shutdown()
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self._server.server_close()
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self._server = None
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def find_free_port(self):
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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s.bind(("127.0.0.1", 0))
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return s.getsockname()[1]
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class GazeboSimHttpServer(HttpRPCServer):
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"""
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Gazebo仿真环境的HTTP服务器。
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"""
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def __init__(self):
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super().__init__() |