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Diffstat (limited to 'pybot/pybot_server.py')
| -rwxr-xr-x | pybot/pybot_server.py | 146 |
1 files changed, 146 insertions, 0 deletions
diff --git a/pybot/pybot_server.py b/pybot/pybot_server.py new file mode 100755 index 0000000..0b6000d --- /dev/null +++ b/pybot/pybot_server.py @@ -0,0 +1,146 @@ +#! /usr/bin/env python +# -*- coding: utf-8 -*- +# +# Pybot server +# +# 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 +# Facultad de Ingeniería - Universidad de la República - Uruguay +# +# 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 sys +import select +import socket +import usb4butia + +argv = sys.argv[:] + +PYBOT_HOST = 'localhost' +PYBOT_PORT = 2009 +BUFSIZ = 1024 +MAX_CLIENTS = 4 + + +class Server(): + + def __init__(self, debug=False): + self.debug = debug + 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.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 + else: + par = [] + for e in params: + par.append(int(e)) + return self.robot.callModule(modulename, board_number, number, function, par) + + def init_server(self): + + inputs = [self.socket] + + run = True + while run: + + try: + inputready,outputready,exceptready = select.select(inputs, [], []) + except Exception, err: + print 'Error in select', err + break + + for s in inputready: + if s == self.socket: + client, addr = self.socket.accept() + print 'New client: ', str(addr) + inputs.append(client) + self.clients[client] = addr + else: + 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) + + result = str(result) + try: + s.send(result + '\n') + except: + print 'Send fails' + + else: + s.close() + inputs.remove(s) + self.clients.pop(s) + + print 'Closing server' + self.socket.close() + self.robot.close() + + +if __name__ == "__main__": + if 'DEBUG' in argv: + s = Server(True) + else: + s = Server() + s.init_server() + |