Client.java

/*
 * Copyright (C) 2011 Google Inc.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.internal.node.client;

import org.apache.xmlrpc.client.XmlRpcClient;
import org.apache.xmlrpc.client.XmlRpcClientConfigImpl;
import org.apache.xmlrpc.client.XmlRpcCommonsTransportFactory;
import org.ros.exception.RosRuntimeException;
import org.ros.internal.node.server.XmlRpcServer;
import org.ros.internal.node.xmlrpc.XmlRpcClientFactory;
import org.ros.internal.node.xmlrpc.XmlRpcEndpoint;

import java.net.MalformedURLException;
import java.net.URI;

/**
 * Base class for XML-RPC clients (e.g. MasterClient and SlaveClient).
 *
 * @author damonkohler@google.com (Damon Kohler)
 *
 * @param <T>
 *          the XML-RPC interface this {@link Client} connects to
 */
abstract class Client<T extends XmlRpcEndpoint> {

  // TODO(damonkohler): This should be pulled out into a user configurable
  // strategy.
  private static final int CONNECTION_TIMEOUT = 60 * 1000; // 60 seconds
  private static final int REPLY_TIMEOUT = 60 * 1000; // 60 seconds
  private static final int XMLRPC_TIMEOUT = 10 * 1000; // 10 seconds

  private final URI uri;

  protected final T xmlRpcEndpoint;

  /**
   * @param uri
   *          the {@link URI} to connect to
   * @param interfaceClass
   *          the class literal for the XML-RPC interface
   */
  public Client(URI uri, Class<T> interfaceClass) {
    this.uri = uri;
    XmlRpcClientConfigImpl config = new XmlRpcClientConfigImpl();
    try {
      config.setServerURL(uri.toURL());
    } catch (MalformedURLException e) {
      throw new RosRuntimeException(e);
    }
    config.setConnectionTimeout(CONNECTION_TIMEOUT);
    config.setReplyTimeout(REPLY_TIMEOUT);

    XmlRpcClient client = new XmlRpcClient();
    client.setTransportFactory(new XmlRpcCommonsTransportFactory(client));
    client.setConfig(config);

    XmlRpcClientFactory<T> factory = new XmlRpcClientFactory<T>(client);
    xmlRpcEndpoint =
        interfaceClass.cast(factory.newInstance(getClass().getClassLoader(), interfaceClass, "",
            XMLRPC_TIMEOUT));

  }

  /**
   * @return the {@link URI} of the remote {@link XmlRpcServer}
   */
  public URI getRemoteUri() {
    return uri;
  }
}