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#! /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()
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