Source code for bosdyn.bddf.grpc_service_writer

# Copyright (c) 2023 Boston Dynamics, Inc.  All rights reserved.
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

"""GrpcSeriesWriter is a class for registering a series which stores GRPC request/response pairs."""

from bosdyn.util import timestamp_to_nsec

from .bosdyn import GrpcRequests, GrpcResponses
from .common import PROTOBUF_CONTENT_TYPE

[docs]class GrpcServiceWriter: # pylint: disable=too-many-instance-attributes """A class for logging GRPC request and response messages.""" def __init__(self, data_writer, service_name): self._data_writer = data_writer self._service_name = service_name self._request_types = {} self._response_types = {}
[docs] def log_request(self, protobuf): """Store request protobuf in the file. Args protobuf: a protobuf request message, not serialized. """ series_index = self._get_series_index(protobuf, is_request=True) self._data_writer.write_data( series_index, # clock correction??? -- what does C++ do? timestamp_to_nsec(protobuf.header.request_timestamp), protobuf.SerializeToString())
[docs] def log_response(self, protobuf): """Store response protobuf in the file. Args protobuf: a protobuf response message, not serialized. """ series_index = self._get_series_index(protobuf, is_request=False) self._data_writer.write_data(series_index, timestamp_to_nsec(protobuf.header.response_timestamp), protobuf.SerializeToString())
def _get_series_index(self, protobuf, is_request): message_name = protobuf.DESCRIPTOR.full_name # pylint: disable=no-member if is_request: name_to_index = self._request_types series_type = GrpcRequests else: name_to_index = self._response_types series_type = GrpcResponses try: return name_to_index[message_name] except KeyError: pass series_spec = { series_type.SERVICE_NAME: self._service_name, series_type.MESSAGE_TYPE: message_name } series_index = self._data_writer.add_message_series(series_type.SERIES_TYPE, series_spec, content_type=PROTOBUF_CONTENT_TYPE, type_name=message_name) name_to_index[message_name] = series_index return series_index