Merge dev into main - Version 0.2.0 (#39)

* Add logging dependency (#32)
* Changing yamato host flavor to large (#33)

Co-authored-by: Philipp Rothenhäusler <phirot@kth.se>
Co-authored-by: Devin Miller (Unity) <mrpropellers@users.noreply.github.com>
Co-authored-by: Amanda <31416491+at669@users.noreply.github.com>

Author: 4 people

.yamato/yamato-config.yml

@@ -2,7 +2,7 @@ name: Endpoint Unit Tests
 agent:
     type: Unity::VM
     image: robotics/ci-ubuntu20:latest
-    flavor: i1.medium
+    flavor: i1.large
 commands:
     - source /opt/ros/noetic/setup.bash && echo "ROS_DISTRO == $ROS_DISTRO" &&
         cd .. && mkdir -p catkin_ws/src && cp -r ./ROS-TCP-Endpoint catkin_ws/src &&

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>ros_tcp_endpoint</name>
-  <version>0.1.2</version>
+  <version>0.2.0</version>
   <description>Acts as the bridge between Unity messages sent via Websocket and ROS messages.</description>
 
   <maintainer email="unity-robotics@unity3d.com">Unity Robotics</maintainer>

src/ros_tcp_endpoint/server.py

@@ -12,10 +12,11 @@
 #  See the License for the specific language governing permissions and
 #  limitations under the License.
 
+import sys
+import json
 import rospy
 import socket
-import json
-import sys
+import logging
 import threading
 import importlib
 
@@ -30,7 +31,7 @@ class TcpServer:
     Initializes ROS node and TCP server.
     """
 
-    def __init__(self, node_name, buffer_size=1024, connections=10, tcp_ip="", tcp_port=-1):
+    def __init__(self, node_name, buffer_size=1024, connections=10, tcp_ip="", tcp_port=-1, timeout=10):
         """
         Initializes ROS node and class variables.
 
@@ -43,15 +44,15 @@ def __init__(self, node_name, buffer_size=1024, connections=10, tcp_ip="", tcp_p
             self.tcp_ip = tcp_ip
         else:
             self.tcp_ip = rospy.get_param("/ROS_IP")
-            
+
         if tcp_port != -1:
             self.tcp_port = tcp_port
         else:
             self.tcp_port = rospy.get_param("/ROS_TCP_PORT", 10000)
 
         unity_machine_ip = rospy.get_param("/UNITY_IP", '')
         unity_machine_port = rospy.get_param("/UNITY_SERVER_PORT", 5005)
-        self.unity_tcp_sender = UnityTcpSender(unity_machine_ip, unity_machine_port)
+        self.unity_tcp_sender = UnityTcpSender(unity_machine_ip, unity_machine_port, timeout)
 
         self.node_name = node_name
         self.source_destination_dict = {}
@@ -66,7 +67,7 @@ def start(self, source_destination_dict=None):
         # Exit the server thread when the main thread terminates
         server_thread.daemon = True
         server_thread.start()
-        
+
     def listen_loop(self):
         """
             Creates and binds sockets using TCP variables then listens for incoming connections.
@@ -122,7 +123,7 @@ def subscribe(self, topic, message_name):
             return
 
         rospy.loginfo("RegisterSubscriber({}, {}) OK".format(topic, message_class))
-        
+
         if topic in self.tcp_server.source_destination_dict:
             self.tcp_server.source_destination_dict[topic].unregister()
 
@@ -140,10 +141,10 @@ def publish(self, topic, message_name):
             return
 
         rospy.loginfo("RegisterPublisher({}, {}) OK".format(topic, message_class))
-        
+
         if topic in self.tcp_server.source_destination_dict:
             self.tcp_server.source_destination_dict[topic].unregister()
-        
+
         self.tcp_server.source_destination_dict[topic] = RosPublisher(topic, message_class, queue_size=10)
 
 

src/ros_tcp_endpoint/tcp_sender.py

@@ -23,11 +23,12 @@ class UnityTcpSender:
     """
     Connects and sends messages to the server on the Unity side.
     """
-    def __init__(self, unity_ip, unity_port):
+    def __init__(self, unity_ip, unity_port, timeout):
         self.unity_ip = unity_ip
         self.unity_port = unity_port
         # if we have a valid IP at this point, it was overridden locally so always use that
         self.ip_is_overridden = (self.unity_ip != '')
+        self.timeout = timeout
 
     def handshake(self, incoming_ip, data):
         message = UnityHandshake._request_class().deserialize(data)
@@ -55,10 +56,10 @@ def send_unity_message(self, topic, message):
 
         try:
             s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            s.settimeout(2)
+            s.settimeout(self.timeout)
             s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
             s.connect((self.unity_ip, self.unity_port))
-            s.send(serialized_message)
+            s.sendall(serialized_message)
             s.close()
         except Exception as e:
             rospy.loginfo("Exception {}".format(e))
@@ -72,10 +73,10 @@ def send_unity_service(self, topic, service_class, request):
 
         try:
             s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-            s.settimeout(2)
+            s.settimeout(self.timeout)
             s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
             s.connect((self.unity_ip, self.unity_port))
-            s.send(serialized_message)
+            s.sendall(serialized_message)
 
             destination, data = ClientThread.read_message(s)
 
@@ -85,3 +86,4 @@ def send_unity_service(self, topic, service_class, request):
             return response
         except Exception as e:
             rospy.loginfo("Exception {}".format(e))
+