mirror of
https://github.com/osrf/gazebo_models.git
synced 2025-09-15 12:58:56 +08:00
64 lines
1.4 KiB
Python
Executable File
64 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python
|
|
|
|
import socket
|
|
import struct
|
|
from sys import *
|
|
from xml.dom import minidom
|
|
|
|
import request_pb2
|
|
|
|
TCP_IP = '127.0.0.1'
|
|
TCP_PORT = 50199
|
|
BUFFER_SIZE = 1024
|
|
|
|
models = []
|
|
|
|
#################################################
|
|
# Read the main manifest file
|
|
def read_manifest():
|
|
xmldoc = minidom.parse('manifest.xml')
|
|
model_list = xmldoc.getElementsByTagName("model")
|
|
|
|
for model in model_list:
|
|
model_name = model.childNodes[0].data
|
|
models.append(model_name)
|
|
|
|
|
|
|
|
read_manifest()
|
|
|
|
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
|
|
s.bind((TCP_IP, TCP_PORT))
|
|
s.listen(1)
|
|
|
|
conn, addr = s.accept()
|
|
print 'Connection address:', addr
|
|
while 1:
|
|
request = request_pb2.Request()
|
|
data = conn.recv(BUFFER_SIZE)
|
|
if not data:
|
|
break
|
|
|
|
request.ParseFromString(data)
|
|
|
|
print "Request: ", request.request
|
|
|
|
response = request_pb2.Response()
|
|
response.id = request.id
|
|
response.request = request.request
|
|
|
|
if request.request == "models":
|
|
response.response = "success"
|
|
|
|
model_list_msg = request_pb2.ModelList()
|
|
response.type = model_list_msg.DESCRIPTOR.full_name
|
|
for m in models:
|
|
model_list_msg.model.append(m)
|
|
response.data = model_list_msg.SerializeToString()
|
|
|
|
print "Response Size:", len(response.SerializeToString())
|
|
hex_size = hex(len(response.SerializeToString()))
|
|
conn.send(hex_size.rjust(8))
|
|
conn.send(response.SerializeToString()) # echo
|
|
conn.close()
|