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Diffstat (limited to 'pybot/pybot_client.py')
| -rwxr-xr-x | pybot/pybot_client.py | 195 |
1 files changed, 195 insertions, 0 deletions
diff --git a/pybot/pybot_client.py b/pybot/pybot_client.py new file mode 100755 index 0000000..4e53f1e --- /dev/null +++ b/pybot/pybot_client.py @@ -0,0 +1,195 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Client for pybot_server +# +# Copyright (c) 2012-2013 Alan Aguiar alanjas@hotmail.com +# Copyright (c) 2009-2013 Butiá Team butia@fing.edu.uy +# Butia is a free and open robotic platform +# www.fing.edu.uy/inco/proyectos/butia +# Facultad de Ingeniería - Universidad de la República - Uruguay +# +# Implements abstractions for the comunications with the bobot-server +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 2 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with this program; if not, write to the Free Software +# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + +import socket +import threading +import errno +from functions import ButiaFunctions + +ERROR = -1 + +PYBOT_HOST = 'localhost' +PYBOT_PORT = 2009 + +class robot(ButiaFunctions): + + def __init__(self, host=PYBOT_HOST, port=PYBOT_PORT, auto_connect=True): + """ + init the robot class + """ + self._lock = threading.Lock() + self._host = host + self._port = port + self._client = None + if auto_connect: + self.reconnect() + + def _doCommand(self, msg, ret_type = str): + """ + Executes a command in butia. + @param msg message to be executed + """ + msg = msg + '\n' + ret = ERROR + self._lock.acquire() + try: + self._client.send(msg) + ret = self._client.recv(1024) + ret = ret[:-1] + except Exception, e: + if hasattr(e, 'errno'): + if e.errno == errno.EPIPE: + self.reconnect() + self._lock.release() + return ERROR + try: + ret = ret_type(ret) + except: + ret = ERROR + self._lock.release() + return ret + + def reconnect(self): + """ + connect o reconnect the bobot + """ + self.close() + try: + self._client = socket.socket() + self._client.connect((self._host, self._port)) + except: + return ERROR + return 0 + + def refresh(self): + """ + ask bobot for refresh is state of devices connected + """ + self._doCommand('REFRESH') + + def close(self): + """ + close the comunication with pybot + """ + try: + self._client.close() + self._client = None + except: + return ERROR + return 0 + + def callModule(self, modulename, board_number, number, function, params = [], ret_type = int): + """ + call the module 'modulename' + """ + msg = 'CALL ' + modulename + '@' + str(board_number) + ':' + str(number) + ' ' + function + if not(params == []): + msg = msg + ' ' + ' '.join(params) + return self._doCommand(msg, ret_type) + + def closeService(self): + """ + Close bobot service + """ + return self._doCommand('QUIT') + + def getButiaCount(self): + """ + Gets the number of boards detected + """ + return self._doCommand('BUTIA_COUNT', int) + + def getModulesList(self): + """ + returns a list of modules + """ + ret = self._doCommand('LIST') + if (ret == ERROR) or (ret == ''): + return [] + else: + return ret.split(',') + + def getListi(self, board_number=0): + """ + returns a list of instanciables modules + """ + ret = self._doCommand('LISTI ' + str(board_number)) + if (ret == ERROR) or (ret == ''): + return [] + else: + return ret.split(',') + + def _split_module(self, mbn): + """ + Split a modulename: module@board:port to (number, modulename, board) + """ + board = '0' + number = '0' + if mbn.count('@') > 0: + modulename, bn = mbn.split('@') + if bn.count(':') > 0: + board, number = bn.split(':') + else: + board = bn + else: + if mbn.count(':') > 0: + modulename, number = mbn.split(':') + else: + modulename = mbn + return (number, modulename, board) + + def describe(self, mod): + """ + Describe the functions of a modulename + """ + split = self._split_module(mod) + mod = split[1] + ret = self._doCommand('DESCRIBE ' + mod) + return ret + + def moduleOpen(self, mod): + """ + Open the module mod + """ + return self._doCommand('OPEN ' + mod, int) + + def moduleClose(self, mod): + """ + Close the module mod + """ + return self._doCommand('CLOSE ' + mod, int) + +if __name__ == "__main__": + c = robot() + run = True + while run: + m = raw_input("> ") + ret = c._doCommand(m) + print ret + if m == "QUIT": + run = False + c.close() + |