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#!/usr/bin/lua
--[[
Syntax
# lua bobot-server.lua [DEBUG] [connection]*
Parameters:
DEBUG enables debug printing in bobot
connection a list of connection services to attempt. Supported
values in bobot (for now) are usb, serial and chotox
If no connection services are provided, defaults to usb and serial.
Examples:
Start with debug disabled and the dummy chotox service, only:
# lua bobot-server.lua chotox
Start with debug enabled and the serial services only:
# lua bobot-server.lua DEBUG serial
Start with debug disabled and the usb and serial services (same as default):
# lua bobot-server.lua usb serial
--]]
--package.path=package.path..";./bobot_server/?.lua"
local my_path = debug.getinfo(1, "S").source:match[[^@?(.*[\/])[^\/]-$]] or "./"
package.path=package.path..";"..my_path.."bobot_server/?.lua;"
..my_path.."lib/?.lua;"..my_path.."?.lua"
--tcp listening address
local N_PROTOCOLS = 2
local ADDRESS = "*"
local PORT_B = 2009 --B is for bobot
local PORT_H = 2010 --H is for http
local TIMEOUT_REFRESH = 3
local socket = require("socket")
local process = require("bobot-server-process").process
local http_serve = require("bobot-server-http").serve
local bobot = require("bobot")
local set_debug
for i, v in ipairs(arg) do
if v=="DEBUG" then
set_debug=true
table.remove(arg, i)
break
end
end
if set_debug then
bobot.debugprint = print
bobot.debugprint("Debugging messages enabled")
else
bobot.debugprint = function() end
end
local server_b = assert(socket.bind(ADDRESS, PORT_B))
local server_h = assert(socket.bind(ADDRESS, PORT_H))
local recvt={[1]=server_b, [2]=server_h}
devices = {}
local function get_device_name(d)
--print("DEVICENAME", d.module, d.hotplug, d.handler)
local board_id, port_id = '', ''
if #bobot.baseboards>1 then
board_id='@'..d.baseboard.idBoard
end
if d.hotplug then
port_id = ':'..d.handler
end
local n=d.module..board_id..port_id
if not devices[n] then
return n
end
local i=2
local nn=n.."#"..i
while devices[nn] do
i=i+1
nn=n.."#"..i
end
return nn
end
local function read_devices_list()
bobot.debugprint("=Listing Devices")
local bfound
devices={}
for _, bb in ipairs(bobot.baseboards) do
bobot.debugprint("===board ", bb.idBoard)
for _,d in ipairs(bb.devices) do
local regname = get_device_name(d)
devices[regname]=d
devices[#devices+1]=d
d.name=regname
bobot.debugprint("=====module ",d.module," name",regname)
end
bfound = true
end
if not bfound then bobot.debugprint("ls:WARN: No Baseboard found.") end
end
local function split_words(s)
local words={}
for p in string.gmatch(s, "%S+") do
words[#words+1]=p
end
return words
end
local socket_handlers = {}
setmetatable(socket_handlers, { __mode = 'k' })
socket_handlers[server_b]=function()
local client, err=server_b:accept()
if not client then return end
bobot.debugprint ("bs:New bobot client", client, client:getpeername())
table.insert(recvt,client)
socket_handlers[client] = function ()
local line,err = client:receive()
if err=='closed' then
bobot.debugprint ("bs:Closing bobot client", client)
for k, v in ipairs(recvt) do
if client==v then
table.remove(recvt,k)
return
end
end
end
if line then
local words=split_words(line)
local command=words[1]
if not command then
bobot.debugprint("bs:Error parsing line:", line, command)
else
if not process[command] then
bobot.debugprint("bs:Command not supported:", command)
else
if command=="QUIT" and #recvt>N_PROTOCOLS+1 then
client:send("server in use\n")
return
end
local ret = process[command](words) or ""
client:send(ret .. "\n")
end
end
end
end
end
socket_handlers[server_h]=function()
local client, err=server_h:accept()
if not client then return end
bobot.debugprint ("bs:New http client", client, client:getpeername())
client:setoption ("tcp-nodelay", true)
--client:settimeout(5)
table.insert(recvt,client)
socket_handlers[client] = function ()
local ret,err=http_serve(client)
if err=='closed' then
bobot.debugprint ("bs:Closing http client", client)
for k, v in ipairs(recvt) do
if client==v then
table.remove(recvt,k)
return
end
end
end
if ret then
client:send(ret)
end
end
end
function server_refresh ()
local refreshed
for i, bb in ipairs(bobot.baseboards) do
--if bb.refresh and not (bb.comms.type=='serial' and bb.devices) then
if bb.refresh and bb.hotplug then
if not bb:refresh() then
bobot.baseboards[i]=nil
end
refreshed=true
end
end
if refreshed then read_devices_list() end
end
function server_init ()
bobot.init(arg)
read_devices_list()
end
server_init()
bobot.debugprint("Listening...")
-- loop forever waiting for clients
while 1 do
local recvt_ready, _, err=socket.select(recvt, nil, TIMEOUT_REFRESH)
if err=='timeout' then
if #bobot.baseboards==0 then
server_init ()
else
server_refresh ()
end
else
local skt=recvt_ready[1]
socket_handlers[skt]()
end
end
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