52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
import time
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import grpc
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from clients._path_setup import ensure_paths
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ensure_paths()
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from cmvr.api import dexhand_service_pb2_grpc
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from cmvr.api import arm_service_pb2_grpc
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class RobotClientBase:
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def __init__(self, address="192.168.0.222:50052", timeout=2, retries=1):
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self.address = address
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self.timeout = timeout
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self.retries = retries
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self.channel = None
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self.stub = None
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self.stub_hand = None
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print(f"Attempting to connect to gRPC server: {self.address}")
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self._connect_with_retry()
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def _init_stubs(self, channel):
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self.stub = arm_service_pb2_grpc.ArmServiceStub(channel)
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self.stub_hand = dexhand_service_pb2_grpc.DexHandServiceStub(channel)
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def _connect_with_retry(self):
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attempt = 0
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while attempt <= self.retries:
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print(f"Connecting... (Attempt {attempt + 1})")
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try:
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self.channel = grpc.insecure_channel(self.address)
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grpc.channel_ready_future(self.channel).result(timeout=self.timeout)
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self._init_stubs(self.channel)
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print(f"Successfully connected to gRPC server: {self.address}")
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return
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except grpc.FutureTimeoutError:
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attempt += 1
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print(f"Connection timed out, attempt {attempt} failed")
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if attempt > self.retries:
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raise ConnectionError(
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f"Failed to connect to gRPC server {self.address} after {self.retries} retries."
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)
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print(f"Waiting {self.timeout}s before retrying...")
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time.sleep(self.timeout)
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def close(self):
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if self.channel:
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self.channel.close()
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print(f"Closed connection to gRPC server {self.address}")
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