73 lines
2.5 KiB
Python
73 lines
2.5 KiB
Python
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import grpc
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from typing import Dict
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from .enums import CMVRErrorCode
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from .biohead_client import BioHeadClient
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class CMVRGrpcClient:
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"""CMVR gRPC 主客户端"""
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def __init__(self, server_address: str):
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self.server_address = server_address
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self.connected = False
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# 创建 gRPC 通道
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self.channel = grpc.insecure_channel(server_address)
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# 初始化各服务的存根
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self.generated = None # 推迟导入
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self.biohead_stub = None
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self.biohead_map: Dict[str, BioHeadClient] = {}
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# 检查连接状态
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try:
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grpc.channel_ready_future(self.channel).result(timeout=5)
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self.connected = True
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self._import_generated() # 在连接成功后才导入 generated
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self.biohead_stub = self.generated.biohead_service_pb2_grpc.BioHeadServiceStub(self.channel)
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except grpc.FutureTimeoutError:
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print(f"连接服务器超时: {server_address}")
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self.connected = False
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def _import_generated(self):
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"""推迟导入 generated"""
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if self.generated is None:
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try:
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# 从正确的路径导入生成的模块
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from generated.cmvr.api import biohead_service_pb2_grpc
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from generated.cmvr.api import common_pb2, biohead_command_pb2
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self.generated = type('GeneratedModules', (), {
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'biohead_service_pb2_grpc': biohead_service_pb2_grpc,
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'common_pb2': common_pb2,
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'biohead_command_pb2': biohead_command_pb2
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})
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except ImportError as e:
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print(f"导入生成的模块失败: {e}")
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print("请确保已生成 protobuf 代码")
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raise
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return self.generated
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def is_connected(self) -> bool:
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"""检查连接状态"""
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return self.connected
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def get_biohead(self, device_id: str) -> BioHeadClient:
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"""获取仿生头客户端"""
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if device_id not in self.biohead_map:
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self.biohead_map[device_id] = BioHeadClient(device_id, self.biohead_stub)
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return self.biohead_map[device_id]
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def close(self):
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"""关闭所有连接"""
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# 关闭所有流式连接
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for biohead in self.biohead_map.values():
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biohead.close()
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# 关闭 gRPC 通道
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self.channel.close()
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# 清空所有映射
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self.biohead_map.clear()
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self.connected = False
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