diff options
Diffstat (limited to 'pybot/pybot_server.py')
| -rwxr-xr-x | pybot/pybot_server.py | 78 |
1 files changed, 20 insertions, 58 deletions
diff --git a/pybot/pybot_server.py b/pybot/pybot_server.py index 0b6000d..1c13d06 100755 --- a/pybot/pybot_server.py +++ b/pybot/pybot_server.py @@ -3,6 +3,7 @@ # # Pybot server # +# Copyright (c) 2012-2013 Alan Aguiar alanjas@hotmail.com # Copyright (c) 2012-2013 Butiá Team butia@fing.edu.uy # Butia is a free and open robotic platform # www.fing.edu.uy/inco/proyectos/butia @@ -22,44 +23,40 @@ # Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA import sys +import imp import select import socket import usb4butia +import com_chotox argv = sys.argv[:] -PYBOT_HOST = 'localhost' PYBOT_PORT = 2009 BUFSIZ = 1024 MAX_CLIENTS = 4 - class Server(): - def __init__(self, debug=False): + def __init__(self, debug=False, chotox=False): self.debug = debug + self.run = True + self.comms = imp.load_source('server_functions', 'server_functions.py') self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) self.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) - self.socket.bind((PYBOT_HOST, PYBOT_PORT)) + self.socket.bind(("", PYBOT_PORT)) self.socket.listen(MAX_CLIENTS) self.clients = {} - self.robot = usb4butia.USB4Butia(self.debug) - - def call_aux(self, modulename, board_number, number, function, params): - if modulename == 'lback': - par = params + self.chotox_mode = chotox + if self.chotox_mode: + self.robot = com_chotox.Chotox(debug=self.debug) else: - par = [] - for e in params: - par.append(int(e)) - return self.robot.callModule(modulename, board_number, number, function, par) + self.robot = usb4butia.USB4Butia(debug=self.debug) def init_server(self): inputs = [self.socket] - run = True - while run: + while self.run: try: inputready,outputready,exceptready = select.select(inputs, [], []) @@ -77,49 +74,16 @@ class Server(): data = s.recv(BUFSIZ) if data: result = '' - # remove end line characters if become from telnet + r = data.replace('\r', '') r = r.replace('\n', '') r = r.split(' ') - #print 'split', r - if len(r) > 0: - if r[0] == 'QUIT': - result = 'BYE' - run = False - elif r[0] == 'CLIENTS': - first = True - for c in self.clients: - addr = self.clients[c] - if first: - result = result + str(addr[0]) + ', ' + str(addr[1]) - first = False - else: - result = result + '\n' + str(addr[0]) + ', ' + str(addr[1]) - elif r[0] == 'LIST': - l = self.robot.get_modules_list() - result = ','.join(l) - elif r[0] == 'REFRESH': - self.robot.refresh() - elif r[0] == 'BUTIA_COUNT': - result = self.robot.get_butia_count() - elif r[0] == 'CALL': - if len(r) >= 3: - board = 0 - number = 0 - mbn = r[1] - if mbn.count('@') > 0: - modulename, bn = mbn.split('@') - board, number = bn.split(':') - else: - if mbn.count(':') > 0: - modulename, number = mbn.split(':') - else: - modulename = mbn - function = r[2] - par = r[3:] - result = self.call_aux(modulename, int(board), int(number), function, par) + com = r[0] + if hasattr(self.comms, com): + f = getattr(self.comms, com) + result = f(self, r) result = str(result) try: @@ -136,11 +100,9 @@ class Server(): self.socket.close() self.robot.close() - if __name__ == "__main__": - if 'DEBUG' in argv: - s = Server(True) - else: - s = Server() + chotox = 'chotox' in argv + debug = 'DEBUG' in argv + s = Server(debug, chotox) s.init_server() |