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ajout de commentaire dans monitor-python.py
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vezde
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1 changed files with 79 additions and 33 deletions
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@ -11,11 +11,14 @@ import time
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import sys
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class GlobVar:
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connectedToPi = False
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port = 5544
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timeout=1000
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address = "10.105.1.13"
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port = 5544 # default server port
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timeout=1.0 # default waiting time for an answer. May be increased for debugging purpose
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address = "localhost" # default server address. Use this with 'nc -l <port>' for testing on your machine
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getBatteryLevelPeriod=-1 # periodic delay for requesting battery level. If value is 0 or below, not battery check is done
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# do not modify value below this line
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connectedToPi = False
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connectedToDumber = False
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dumberStarted = False
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@ -28,11 +31,17 @@ class GlobVar:
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exceptionmsg= ""
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# Network event from socket.
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# Event are 'Connected to server' or 'disconnected from server'
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class NetworkEvents:
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EVENT_CONNECTED=1
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EVENT_CONNECTION_LOST=0
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UNKNOWN_EVENT=-1
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# Network managment class
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# Contain a thread for conenction to server and data reception
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# Contains functions for sending message to server
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# Contains functions for answer decoding
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class Network():
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receiveCallback=None
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eventCallback=None
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@ -41,12 +50,19 @@ class Network():
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receiveEvent = None
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receivedAnswer = ""
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# List of possible answers from server
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ANSWER_ACK = "AACK"
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ANSWER_NACK = "ANAK"
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ANSWER_COM_ERROR = "ACER"
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ANSWER_TIMEOUT = "ATIM"
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ANSWER_CMD_REJECTED = "ACRJ"
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# List of possible messages from server
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MESSAGE = "MSSG"
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ROBOT_BATTERY_LEVEL = "RBLV"
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ROBOT_CURRENT_STATE = "RCST"
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# List of accepted command by server
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CAMERA_OPEN = "COPN"
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CAMERA_CLOSE = "CCLS"
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CAMERA_IMAGE = "CIMG"
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@ -71,13 +87,12 @@ class Network():
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ROBOT_GO_RIGHT = "RGRI"
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ROBOT_STOP = "RSTP"
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ROBOT_POWEROFF = "RPOF"
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ROBOT_BATTERY_LEVEL = "RBLV"
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ROBOT_GET_BATTERY = "RGBT"
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ROBOT_GET_STATE = "RGST"
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ROBOT_CURRENT_STATE = "RCST"
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SEPARATOR_CHAR = ':'
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# Decoded answers
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ACK = 1
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NACK =2
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COM_ERROR =3
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@ -85,13 +100,18 @@ class Network():
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CMD_REJECTED=5
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UNKNOWN=-1
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# Initialisation method.
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def __init__(self, receiveCallback=None, eventCallback=None) -> None:
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self.receiveCallback = receiveCallback
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self.eventCallback = eventCallback
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self.waitForAnswer=False
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self.receiveEvent = threading.Event()
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def ReceptionThread(self):
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# Reception thread used for conencting to server and receiving data.
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# Never stop, auto reconnect if connection is lost
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# Send event when conencting to or disconnecting from server
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# send received message to appropriate callback
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def ReceptionThread(self) -> None:
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while True:
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try:
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self.__connect()
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@ -110,11 +130,13 @@ class Network():
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time.sleep(2.0)
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# Method helper for starting reception thread
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def startReceptionThread(self) -> None:
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self.threadId = threading.Thread(target=self.ReceptionThread, args=())
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self.threadId.daemon=True
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self.threadId.start()
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# Private method for connecting to server
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def __connect(self) -> None:
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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@ -125,6 +147,7 @@ class Network():
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self.waitForAnswer=False
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# Private method for sending raw data to server
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def __write(self, msg: str) -> None:
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totalsent = 0
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if msg[-1] != '\n':
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@ -140,6 +163,8 @@ class Network():
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raise RuntimeError("Unable to send data to " + GlobVar.address + ":" + str(GlobVar.port))
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totalsent = totalsent + sent
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# Private method for receiving data from server.
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# Data received are sent to callback __receiveHandler for decoding
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def __read(self) -> None:
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chunks = []
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bytes_recd = 0
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@ -159,6 +184,8 @@ class Network():
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bytes_recd =0
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last_char=0
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# private callback for reception and decoding of data.
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# If no answer is wait, send data to caller callback
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def __receiveHandler(self, data: str) -> None:
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# traitement a faire lors de la reception de donnée
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if self.waitForAnswer:
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@ -170,7 +197,8 @@ class Network():
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if self.receiveCallback != None:
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self.receiveCallback(data)
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def __sendCommand(self,cmd, waitans) -> str:
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# Private method for sending command to server
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def __sendCommand(self,cmd, waitans: bool) -> str:
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if waitans == True:
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self.waitForAnswer = True
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else:
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@ -181,7 +209,7 @@ class Network():
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if waitans:
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ans = self.ANSWER_TIMEOUT
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try:
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self.receiveEvent.wait(timeout=1.0) # timeout set to 0.3 sec
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self.receiveEvent.wait(timeout=GlobVar.timeout) # Max waiting time = GlobVar.timeout
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if self.receiveEvent.is_set():
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ans=self.receivedAnswer
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@ -200,7 +228,8 @@ class Network():
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else:
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return self.ANSWER_ACK
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def __decodeAnswer(self, ans) -> int:
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# Private method for decoding answer from server
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def __decodeAnswer(self, ans: str) -> int:
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if self.ANSWER_ACK in ans:
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return self.ACK
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elif self.ANSWER_NACK in ans:
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@ -214,49 +243,61 @@ class Network():
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else:
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return self.UNKNOWN
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# Send OpenCom command to server
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def robotOpenCom(self) -> int:
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ans = self.__sendCommand(self.ROBOT_COM_OPEN, True)
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return self.__decodeAnswer(ans)
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# Send CloseCom command to server
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def robotCloseCom(self) -> int:
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ans = self.__sendCommand(self.ROBOT_COM_CLOSE, True)
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return self.__decodeAnswer(ans)
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# Send StartWithWatchdog command to server
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def robotStartWithWatchdog(self) -> int:
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ans = self.__sendCommand(self.ROBOT_START_WITH_WD, True)
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return self.__decodeAnswer(ans)
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# Send StartWithoutWatchdog command to server
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def robotStartWithoutWatchdog(self) -> int:
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ans = self.__sendCommand(self.ROBOT_START_WITHOUT_WD, True)
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return self.__decodeAnswer(ans)
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# Send Reset command to server
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def robotReset(self) -> int:
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ans = self.__sendCommand(self.ROBOT_RESET, True)
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return self.__decodeAnswer(ans)
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# Send Stop command to server
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def robotStop(self) -> int:
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ans = self.__sendCommand(self.ROBOT_STOP, True)
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return self.__decodeAnswer(ans)
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# Send GoLeft command to server
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def robotGoLeft(self) -> int:
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ans = self.__sendCommand(self.ROBOT_GO_LEFT, True)
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return self.__decodeAnswer(ans)
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# Send GoRight command to server
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def robotGoRight(self) -> int:
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ans = self.__sendCommand(self.ROBOT_GO_RIGHT, True)
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return self.__decodeAnswer(ans)
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# Send GoForward command to server
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def robotGoForward(self) -> int:
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ans = self.__sendCommand(self.ROBOT_GO_FORWARD, True)
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return self.__decodeAnswer(ans)
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# Send GoBackward command to server
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def robotGoBackward(self) -> int:
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ans = self.__sendCommand(self.ROBOT_GO_BACKWARD, True)
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return self.__decodeAnswer(ans)
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# Send GetBattery command to server
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def robotGetBattery(self) -> None:
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ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False)
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# Function for decoding battery level
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def batterylevelToStr(batlvl: int) -> str:
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switcher = {
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2: "Full",
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@ -266,6 +307,7 @@ def batterylevelToStr(batlvl: int) -> str:
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return switcher.get(batlvl, "Unknown")
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# Function for display human readable answer
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def answertoStr(ans: int) -> str:
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switcher = {
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Network.ACK: "Acknowledged",
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@ -277,7 +319,8 @@ def answertoStr(ans: int) -> str:
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return switcher.get(ans, "Unknown answer")
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def threadRefreshScreen(currentWindow):
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# Thread for updtating display
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def threadRefreshScreen(currentWindow) -> None:
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while 1:
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currentWindow.clear()
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currentWindow.addstr("Connected to " + GlobVar.address + ":" + str(GlobVar.port) +" = " + str(GlobVar.connectedToPi))
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@ -293,13 +336,13 @@ def threadRefreshScreen(currentWindow):
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currentWindow.addstr("Last answer received = " + answertoStr(GlobVar.last_answer))
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currentWindow.move(9,0)
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currentWindow.addstr("Messages received (log)")
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# up to 8 messages
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for i in range(0,len(GlobVar.message)):
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currentWindow.move(10+i,0)
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currentWindow.addstr("[mes "+str(i)+ "] ")
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currentWindow.addstr(str(GlobVar.message[i]))
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# up to 8 messages
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currentWindow.move(20,0)
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currentWindow.addstr("Commands : \'O\' = Open COM with robot/ \'C\' = Close COM with robot")
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currentWindow.move(21,0)
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@ -311,7 +354,8 @@ def threadRefreshScreen(currentWindow):
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currentWindow.refresh()
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time.sleep(0.5)
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def threadGetKeys(win, net:Network):
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# Thread for reading keyboard keys and sending corresponding commands to server
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def threadGetKeys(win: curses.window, net:Network) -> None:
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while 1:
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try:
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key = win.getkey()
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@ -366,15 +410,20 @@ def threadGetKeys(win, net:Network):
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except Exception as e:
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GlobVar.exceptionmsg="Exception received: " + str(e)
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def threadPeriodic(net: Network):
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# Thread used for requesting battery level, exit if getBatteryLevelPeriod is 0 or below
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def threadPeriodic(net: Network) -> None:
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while True:
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time.sleep(5.0)
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if GlobVar.getBatteryLevelPeriod>0:
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time.sleep(GlobVar.getBatteryLevelPeriod)
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GlobVar.batteryLevel = -1
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if GlobVar.connectedToPi:
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net.robotGetBattery()
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else:
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break
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def receptionCallback(s:str):
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# Callback used to decode non answer message from server (mainly battery level and log message)
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def receptionCallback(s:str) -> None:
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if Network.ROBOT_BATTERY_LEVEL in s:
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str_split = s.split(':')
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@ -394,13 +443,15 @@ def receptionCallback(s:str):
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if len(GlobVar.message) > 8:
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GlobVar.message.pop(0)
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def eventCallback(event):
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# Callback for connection/deconnection event from network manager
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def eventCallback(event: NetworkEvents) -> None:
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if event == NetworkEvents.EVENT_CONNECTED:
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GlobVar.connectedToPi = True
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elif event == NetworkEvents.EVENT_CONNECTION_LOST:
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GlobVar.connectedToPi = False
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def main(win):
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# Main program, wait for keys thread to end (CTRL-C)
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def main(win: curses.window) -> None:
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win.keypad(True)
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net = Network(receiveCallback=receptionCallback, eventCallback=eventCallback)
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@ -417,7 +468,7 @@ def main(win):
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periodicThread = threading.Thread(target=threadPeriodic, args=(net,))
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periodicThread.daemon=True
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# periodicThread.start()
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periodicThread.start()
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keyThread.join()
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@ -431,18 +482,13 @@ try:
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print ("No target address specified")
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print ("Usage: monitor-python.py address [port]")
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exit (-1)
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#GlobVar.address = "10.105.1.12"
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#exit (-1) # Comment this line for connecting to localhost
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if len(sys.argv)>=3:
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GlobVar.port = int(sys.argv[2])
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else:
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GlobVar.port = 5544
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curses.wrapper(main)
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except KeyboardInterrupt:
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except KeyboardInterrupt: # exception when pressing CTRL-C
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print ("Bye bye")
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except:
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raise
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