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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# 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
# 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 imp
import select
import socket
import usb4butia
import com_chotox
argv = sys.argv[:]
PYBOT_PORT = 2009
BUFSIZ = 1024
MAX_CLIENTS = 4
class Server():
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_PORT))
self.socket.listen(MAX_CLIENTS)
self.clients = {}
self.chotox_mode = chotox
if self.chotox_mode:
self.robot = com_chotox.Chotox(debug=self.debug)
else:
self.robot = usb4butia.USB4Butia(debug=self.debug)
def init_server(self):
inputs = [self.socket]
while self.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 = ''
r = data.replace('\r', '')
r = r.replace('\n', '')
r = r.split(' ')
if len(r) > 0:
com = r[0]
if hasattr(self.comms, com):
f = getattr(self.comms, com)
result = f(self, r)
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__":
chotox = 'chotox' in argv
debug = 'DEBUG' in argv
s = Server(debug, chotox)
s.init_server()
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