rosmaster leaves sockets in CLOSE_WAIT state #610 (#834)

clients/rospy/src/rospy/core.py

@@ -56,14 +56,10 @@
 except ImportError:
     import urlparse
 
-try:
-    import xmlrpc.client as xmlrpcclient #Python 3.x
-except ImportError:
-    import xmlrpclib as xmlrpcclient #Python 2.x
-
 import rospkg
 
 import rosgraph.roslogging
+import rosgraph.xmlrpc
 
 import rospy.exceptions
 import rospy.rostime
@@ -534,12 +530,12 @@ def validator(param_value, caller_id):
 def xmlrpcapi(uri):
     """
     @return: instance for calling remote server or None if not a valid URI
-    @rtype: xmlrpclib.ServerProxy
+    @rtype: rosgraph.xmlrpc.ServerProxy
     """
     if uri is None:
         return None
     uriValidate = urlparse.urlparse(uri)
     if not uriValidate[0] or not uriValidate[1]:
         return None
-    return xmlrpcclient.ServerProxy(uri)
+    return rosgraph.xmlrpc.ServerProxy(uri)
 

clients/rospy/src/rospy/impl/tcpros_pubsub.py

@@ -38,11 +38,7 @@
 import threading
 import time
 
-try:
-    from xmlrpc.client import ServerProxy  # Python 3.x
-except ImportError:
-    from xmlrpclib import ServerProxy  # Python 2.x
-
+from rosgraph.xmlrpc import ServerProxy
 from rospy.core import logwarn, logerr, logdebug, rospyerr
 import rospy.exceptions
 import rospy.names

test/test_rosmaster/test/client_verification/test_slave_api.py

@@ -41,12 +41,13 @@
 import time
 import unittest
 try:
-    from xmlrpc.client import Fault, ServerProxy
+    from xmlrpc.client import Fault
 except ImportError:
-    from xmlrpclib import Fault, ServerProxy
+    from xmlrpclib import Fault
 
 import rosunit
 import rosgraph
+from rosgraph.xmlrpc import ServerProxy
 
 TCPROS = 'TCPROS'
 

test/test_rosmaster/test/master.py

@@ -36,13 +36,10 @@
 import sys
 import string
 import time
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rospy
 import rosgraph
+from rosgraph.xmlrpc import ServerProxy
 
 from rosclient import *
 

test/test_rosmaster/test/node.py

@@ -36,13 +36,10 @@
 import sys
 import string
 import time
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rospy
 import rosgraph
+from rosgraph.xmlrpc import ServerProxy
 
 from rosclient import *
 

test/test_rosmaster/test/rosclient.py

@@ -34,12 +34,10 @@
 # Revision $Id: test_embed_msg.py 1986 2008-08-26 23:57:56Z sfkwc $
 
 import unittest
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rosgraph
+from rosgraph.xmlrpc import ServerProxy
+
 
 class TestRosClient(unittest.TestCase):
 

test/test_rosmaster/test/testMaster.py

@@ -40,11 +40,12 @@
 import os, sys, getopt, traceback, logging, socket
 import datetime, math, random
 try:
-    from xmlrpc.client import DateTime, ServerProxy
+    from xmlrpc.client import DateTime
 except ImportError:
-    from xmlrpclib import DateTime, ServerProxy
+    from xmlrpclib import DateTime
 import unittest
 import rospy
+from rosgraph.xmlrpc import ServerProxy
 from rostest import *
 from testSlave import msMain
 

test/test_rosmaster/test/testSlave.py

@@ -35,12 +35,9 @@
 import os
 import sys
 import string
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rospy
+from rosgraph.xmlrpc import ServerProxy
 from rostest import *
 
 singletest = None

test/test_rospy/test/rostest/test_deregister.py

@@ -46,6 +46,7 @@
 
 import rospy
 import rostest
+from rosgraph.xmlrpc import ServerProxy
 from std_msgs.msg import String
 from test_rospy.srv import EmptySrv
 
@@ -61,10 +62,6 @@ def callback(data):
     print("message received", data.data)
     _last_callback = data
 
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 class TestDeregister(unittest.TestCase):
 

test/test_rospy/test/rostest/test_sub_to_multiple_pubs.py

@@ -43,12 +43,9 @@
 import sys
 import time
 import unittest
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rosgraph
+from rosgraph.xmlrpc import ServerProxy
 import rospy
 import rostest
 

test/test_rospy/test/unit/test_rospy_core.py

@@ -219,10 +219,7 @@ def test_xmlrpcapi(self):
         self.assert_(rospy.core.xmlrpcapi('http://') is None)
         api = rospy.core.xmlrpcapi('http://localhost:1234')
         self.assert_(api is not None)
-        try:
-            from xmlrpc.client import ServerProxy
-        except ImportError:
-            from xmlrpclib import ServerProxy
+        from rosgraph.xmlrpc import ServerProxy
         self.assert_(isinstance(api, ServerProxy))
 
 called = None

tools/rosgraph/package.xml

@@ -15,6 +15,7 @@
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 
   <run_depend>python-netifaces</run_depend>
+  <run_depend>python-requests</run_depend>
   <run_depend>python-rospkg</run_depend>
 
   <test_depend>python-mock</test_depend>

tools/rosgraph/src/rosgraph/impl/graph.py

@@ -44,13 +44,10 @@
 import random
 import logging
 import traceback
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 import socket
 
 import rosgraph.masterapi
+from rosgraph.xmlrpc import ServerProxy
 
 logger = logging.getLogger('rosgraph.graph')
 
@@ -371,7 +368,7 @@ def _node_refresh_businfo(self, node, api, bad_node=False):
         @param node: node name
         @type  node: str
         @param api: XML-RPC proxy
-        @type  api: ServerProxy
+        @type  api: rosgraph.xmlrpc.ServerProxy
         @param bad_node: If True, node has connectivity issues and
         should be treated differently
         @type  bad_node: bool

tools/rosgraph/src/rosgraph/masterapi.py

@@ -37,14 +37,10 @@
 the Master API is changed.
 """
 
-try:
-    from xmlrpc.client import ServerProxy  # Python 3.x
-except ImportError:
-    from xmlrpclib import ServerProxy  # Python 2.x
-
 from . names import make_caller_id
 from . rosenv import get_master_uri
 from . network import parse_http_host_and_port
+from . xmlrpc import ServerProxy
 
 class MasterException(Exception):
     """

tools/rosgraph/src/rosgraph/transport.py

@@ -0,0 +1,63 @@
+"""A replacement transport for Python xmlrpc library."""
+
+try:
+    import xmlrpc.client as xmlrpc
+except ImportError:
+    import xmlrpclib as xmlrpc
+
+import socket
+import requests
+import urllib3.exceptions
+
+
+class RequestsTransport(xmlrpc.Transport):
+    """Drop in Transport for xmlrpclib that uses Requests instead of httplib"""
+
+    user_agent = "Python XMLRPC with Requests (python-requests.org)"
+
+    def __init__(self, scheme, use_datetime=0):
+        xmlrpc.Transport.__init__(self, use_datetime)
+        self._scheme = scheme
+
+    def request(self, host, handler, request_body, verbose=0):
+        """Make a xmlrpc request."""
+        headers = {'User-Agent': self.user_agent, 'Content-Type': 'text/xml'}
+        url = '{scheme}://{host}{handler}'.format(scheme=self._scheme,
+                                                   host=host,
+                                                   handler=handler)
+        try:
+            resp = requests.post(url, data=request_body.encode('utf-8'),
+                                 headers=headers)
+        except requests.exceptions.Timeout:
+            raise socket.timeout('timed out')
+        except requests.RequestException as exc:
+            if isinstance(exc.args[0], urllib3.exceptions.HTTPError):
+                # Rethrow urllib3 exception.reason. That are e.g. socket.error
+                # Or other exceptions that the default xmlrpclib implementation
+                # would throw.
+                raise exc.args[0].reason
+            else:
+                # otherwise, rethrow the exc
+                # We could add more exception mappings here:
+                #  - requests.exceptions.InvalidURL    -> socket.gaierror?
+                #  - requests.exceptions.InvalidSchema -> socket.gaierror?
+                raise exc
+        except (ValueError, Exception):
+            raise
+        else:
+            try:
+                resp.raise_for_status()
+            except requests.RequestException as exc:
+                raise xmlrpc.ProtocolError(url, resp.status_code,
+                                           str(exc), resp.headers)
+            else:
+                return self.parse_response(resp)
+
+    def parse_response(self, resp):
+        """
+        Parse the xmlrpc response.
+        """
+        p, u = self.getparser()
+        p.feed(resp.text)
+        p.close()
+        return u.close()

tools/rosgraph/src/rosgraph/xmlrpc.py

@@ -59,12 +59,22 @@
     from SimpleXMLRPCServer import SimpleXMLRPCServer #Python 2.x
     from SimpleXMLRPCServer import SimpleXMLRPCRequestHandler #Python 2.x
 
+try:
+    from xmlrpc.client import ServerProxy as _ServerProxy
+except ImportError:
+    from xmlrpclib import ServerProxy as _ServerProxy
+try:
+    from urllib.parse import splittype
+except ImportError:
+    from urllib import splittype
+
 try:
     import socketserver
 except ImportError:
     import SocketServer as socketserver
 
 import rosgraph.network
+from rosgraph.transport import RequestsTransport
 
 def isstring(s):
     """Small helper version to check an object is a string in a way that works
@@ -76,10 +86,23 @@ def isstring(s):
         return isinstance(s, str)
 
 class SilenceableXMLRPCRequestHandler(SimpleXMLRPCRequestHandler):
+    protocol_version = 'HTTP/1.1'
+
     def log_message(self, format, *args):
         if 0:
             SimpleXMLRPCRequestHandler.log_message(self, format, *args)
 
+class ServerProxy(_ServerProxy):
+    def __init__(self, uri, transport=None, encoding=None, verbose=0,
+                 allow_none=0, use_datetime=0):
+        if transport is None:
+            scheme, _ = splittype(uri)
+            transport = RequestsTransport(scheme)
+
+        _ServerProxy.__init__(self, uri, transport=transport, encoding=encoding,
+                              verbose=verbose, allow_none=allow_none,
+                              use_datetime=use_datetime)
+
 class ThreadingXMLRPCServer(socketserver.ThreadingMixIn, SimpleXMLRPCServer):
     """
     Adds ThreadingMixin to SimpleXMLRPCServer to support multiple concurrent

tools/roslaunch/package.xml

@@ -24,6 +24,7 @@
   <run_depend version_gte="1.0.37">python-rospkg</run_depend>
   <run_depend>python-yaml</run_depend>
   <run_depend>rosclean</run_depend>
+  <run_depend>rosgraph</run_depend>
   <run_depend>rosgraph_msgs</run_depend>
   <run_depend>roslib</run_depend>
   <run_depend version_gte="1.11.16">rosmaster</run_depend>

tools/roslaunch/src/roslaunch/core.py

@@ -42,15 +42,16 @@
 import socket
 import sys
 try:
-    from xmlrpc.client import MultiCall, ServerProxy
+    from xmlrpc.client import MultiCall
 except ImportError:
-    from xmlrpclib import MultiCall, ServerProxy
+    from xmlrpclib import MultiCall
 
 import rospkg
 
 import rosgraph
 import rosgraph.names 
 import rosgraph.network
+from rosgraph.xmlrpc import ServerProxy
 
 from xml.sax.saxutils import escape 
 try:
@@ -288,7 +289,7 @@ def __eq__(self, m2):
 
     def get(self):
         """
-        :returns:: XMLRPC proxy for communicating with master, ``xmlrpc.client.ServerProxy``
+        :returns:: XMLRPC proxy for communicating with master, ``rosgraph.xmlrpc.ServerProxy``
         """
         return ServerProxy(self.uri)
 

tools/roslaunch/src/roslaunch/launch.py

@@ -433,7 +433,7 @@ def _check_and_set_run_id(self, param_server, run_id):
         @param default_run_id: run_id to use if value is not set
         @type  default_run_id: str
         @param param_server: parameter server proxy
-        @type  param_server: xmlrpclib.ServerProxy
+        @type  param_server: rosgraph.xmlrpc.ServerProxy
         """
         code, _, val = param_server.hasParam(_ID, '/run_id')
         if code == 1 and not val:

tools/roslaunch/src/roslaunch/netapi.py

@@ -36,13 +36,9 @@
 Convience methods for manipulating XML-RPC APIs
 """
 
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
-
 import rosgraph
 import rosgraph.network
+from rosgraph.xmlrpc import ServerProxy
 
 _ID = '/roslaunch_netapi'
 def get_roslaunch_uris():