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#! /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()
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