Fix for ros#610: Added python-requests which provides a clean http li…

…brary for HTTP/1.1 requests

clients/rospy/src/rospy/core.py

@@ -51,14 +51,10 @@
 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
@@ -468,12 +464,12 @@ 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

tools/rosgraph/package.xml

@@ -16,6 +16,7 @@
 
   <run_depend>python-netifaces</run_depend>
   <run_depend>python-rospkg</run_depend>
+  <run_depend>python-requests</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
+import rosgraph.xmlrpc
 
 logger = logging.getLogger('rosgraph.graph')
 
@@ -368,7 +365,7 @@ 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
@@ -452,7 +449,7 @@ def _node_refresh(self, node, bad_node=False):
         uri = self._node_uri_refresh(node)
         try:
             if uri:
-                api = ServerProxy(uri)
+                api = rosgraph.xmlrpc.ServerProxy(uri)
                 updated = self._node_refresh_businfo(node, api, bad_node)
         except KeyError as e:
             logger.warn('cannot contact node [%s] as it is not in the lookup table'%node)

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 +1,47 @@
+# -*- coding: utf-8 -*-
+"""A replacement transport for Python xmlrpc library."""
+
+try:
+    import xmlrpc.client as xmlrpc
+except ImportError:
+    import xmlrpclib as xmlrpc
+
+import requests
+
+
+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, headers=headers)
+        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
@@ -82,6 +92,17 @@ 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/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
+import rosgraph.xmlrpc
 
 from xml.sax.saxutils import escape 
 try:
@@ -288,9 +289,9 @@ 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)
+        return rosgraph.xmlrpc.ServerProxy(self.uri)
 
     def get_multi(self):
         """

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
+import rosgraph.xmlrpc
 
 _ID = '/roslaunch_netapi'
 def get_roslaunch_uris():
@@ -83,7 +79,7 @@ def list_processes(roslaunch_uris=None):
     procs = []
     for uri in roslaunch_uris:
         try:
-            r = ServerProxy(uri)
+            r = rosgraph.xmlrpc.ServerProxy(uri)
             code, msg, val = r.list_processes()
             if code == 1:
                 active, dead = val

tools/roslaunch/src/roslaunch/remoteprocess.py

@@ -39,12 +39,9 @@
 import os
 import socket
 import traceback
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rosgraph
+import rosgraph.xmlrpc
 from roslaunch.core import printlog, printerrlog
 import roslaunch.pmon
 import roslaunch.server
@@ -240,10 +237,11 @@ def start(self):
 
     def getapi(self):
         """
-        :returns: ServerProxy to remote client XMLRPC server, `ServerProxy`
+        :returns: rosgraph.xmlrpc.ServerProxy to remote client XMLRPC server,
+                  `rosgraph.xmlrpc.ServerProxy`
         """
         if self.uri:
-            return ServerProxy(self.uri)
+            return rosgraph.xmlrpc.ServerProxy(self.uri)
         else:
             return None
 

tools/roslaunch/src/roslaunch/server.py

@@ -58,10 +58,6 @@
     from urllib.parse import urlparse
 except ImportError:
     from urlparse import urlparse
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 import rosgraph.network as network
 import rosgraph.xmlrpc as xmlrpc
@@ -263,7 +259,7 @@ def __init__(self, run_id, name, server_uri, pm):
         self.name = name
         self.pm = pm
         self.server_uri = server_uri
-        self.server = ServerProxy(server_uri)
+        self.server = xmlrpc.ServerProxy(server_uri)
 
     def _shutdown(self, reason):
         """
@@ -373,7 +369,7 @@ def start(self):
         server_up = False
         while not server_up and time.time() < timeout_t:
             try:
-                code, msg, val = ServerProxy(self.uri).get_pid()
+                code, msg, val = xmlrpc.ServerProxy(self.uri).get_pid()
                 if val != os.getpid():
                     raise RLException("Server at [%s] did not respond with correct PID. There appears to be something wrong with the networking configuration"%self.uri)
                 server_up = True
@@ -502,7 +498,7 @@ def _register_with_server(self):
         name = self.name
         self.logger.info("attempting to register with roslaunch parent [%s]"%self.server_uri)
         try:
-            server = ServerProxy(self.server_uri)
+            server = xmlrpc.ServerProxy(self.server_uri)
             code, msg, _ = server.register(name, self.uri)
             if code != 1:
                 raise RLException("unable to register with roslaunch server: %s"%msg)

tools/rosmaster/src/rosmaster/util.py

@@ -41,23 +41,25 @@
 except ImportError:
     from urlparse import urlparse
 try:
-    from xmlrpc.client import ServerProxy
+    from urllib.parse import splittype
 except ImportError:
-    from xmlrpclib import ServerProxy
+    from urllib import splittype
+
+import rosgraph.xmlrpc
 
 _proxies = {} #cache ServerProxys
 def xmlrpcapi(uri):
     """
     @return: instance for calling remote server or None if not a valid URI
-    @rtype: xmlrpc.client.ServerProxy
+    @rtype: rosgraph.xmlrpc.ServerProxy
     """
     if uri is None:
         return None
     uriValidate = urlparse(uri)
     if not uriValidate[0] or not uriValidate[1]:
         return None
     if not uri in _proxies:
-        _proxies[uri] = ServerProxy(uri)
+        _proxies[uri] = rosgraph.xmlrpc.ServerProxy(uri)
     return _proxies[uri]
 
 

tools/rosnode/src/rosnode/__init__.py

@@ -45,17 +45,14 @@
 import sys
 import socket
 import time
-try:
-    from xmlrpc.client import ServerProxy
-except ImportError:
-    from xmlrpclib import ServerProxy
 
 try: #py3k
     import urllib.parse as urlparse
 except ImportError:
     import urlparse
 
 from optparse import OptionParser
+from rosgraph.xmlrpc import ServerProxy
 import rosgraph
 import rosgraph.names
 import rostopic
@@ -402,7 +399,7 @@ def cleanup_master_blacklist(master, blacklist):
     """
     Remove registrations from ROS Master that do not match blacklist.    
     @param master: XMLRPC handle to ROS Master
-    @type  master: xmlrpclib.ServerProxy
+    @type  master: rosgraph.xmlrpc.ServerProxy
     @param blacklist: list of nodes to scrub
     @type  blacklist: [str]
     """
@@ -428,7 +425,7 @@ def cleanup_master_whitelist(master, whitelist):
     """
     Remove registrations from ROS Master that do not match whitelist.
     @param master: XMLRPC handle to ROS Master
-    @type  master: xmlrpclib.ServerProxy
+    @type  master: nosgraph.xmlrpc.ServerProxy
     @param whitelist: list of nodes to keep
     @type  whitelist: list of nodes to keep
    """

tools/rostest/src/rostest/__init__.py

@@ -58,12 +58,9 @@ def get_master():
     @return: XML-RPC proxy to ROS master
     @rtype: xmlrpclib.ServerProxy
     """
-    try:
-        import xmlrpc.client as xmlrpcclient  #Python 3.x
-    except ImportError:
-        import xmlrpclib as xmlrpcclient #Python 2.x
+    from rosgraph.xmlrpc import ServerProxy
     uri = rosgraph.get_master_uri()
-    return xmlrpcclient.ServerProxy(uri)
+    return ServerProxy(uri)
 
 def is_subscriber(topic, subscriber_id):
     """