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Commands changed to JSON format, small code fixes

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This commit is contained in:
Artem30801
2019-03-20 15:44:34 +03:00
parent 27403dd237
commit 51370fb7a0
2 changed files with 102 additions and 69 deletions
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130
Drone/client.py
View File

@@ -5,10 +5,12 @@ import struct
import random
import time
import errno
import json
import logging
import threading
import ConfigParser
from contextlib import closing
from collections import OrderedDict
import rospy
@@ -33,9 +35,9 @@ NTP_DELTA = 2208988800L # 1970-01-01 00:00:00
NTP_QUERY = '\x1b' + 47 * '\0'
def get_ntp_time(host, port):
def get_ntp_time(ntp_host, ntp_port):
with closing(socket.socket(socket.AF_INET, socket.SOCK_DGRAM)) as s:
s.sendto(NTP_QUERY, (host, port))
s.sendto(NTP_QUERY, (ntp_host, ntp_port))
msg, address = s.recvfrom(1024)
unpacked = struct.unpack(NTP_PACKET_FORMAT, msg[0:struct.calcsize(NTP_PACKET_FORMAT)])
return unpacked[10] + float(unpacked[11]) / 2**32 - NTP_DELTA
@@ -62,18 +64,17 @@ def reconnect(timeout=2, attempt_limit=10):
if attempt_count >= attempt_limit:
print("Too many attempts. Trying to get new server IP")
broadcst_client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
broadcst_client.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
broadcst_client.bind(("", broadcast_port))
broadcast_client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
broadcast_client.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
broadcast_client.bind(("", broadcast_port))
while True:
data, addr = broadcst_client.recvfrom(1024)
print("Recieved broadcast message %s from %s" % (data, addr))
comm, args = parse_command(data.decode("UTF-8"))
print(comm, args)
if comm == "server_ip":
host, port = args[0], int(args[1])
data, addr = broadcast_client.recvfrom(1024)
print("Received broadcast message %s from %s" % (data, addr))
command, args = parse_message(data.decode("UTF-8"))
if command == "server_ip":
host, port = args["host"], int(args["port"])
print("Binding to new IP: ", host, port)
broadcst_client.close()
broadcast_client.close()
attempt_count = 0
break
@@ -100,35 +101,39 @@ def recive_message():
return msg
def form_command(command, args=()):
return " ".join([command, args])
def form_message(str_command, dict_arguments):
msg_dict = {str_command: str(dict_arguments).replace(",", '').replace("'", '')[1:-1]}
msg = json.dumps(msg_dict)
return msg
def parse_command(command_input):
args = command_input.split()
command = args.pop(0)
return command, args
def parse_message(msg):
try:
j_message = json.loads(msg)
except json.decoder.JSONDecodeError:
print("Json string not in correct format")
return None
str_command = list(j_message.keys())[0]
arguments = list(j_message.values())[0].replace(":", '').split()
dict_arguments = OrderedDict(zip(arguments[::2], arguments[1::2]))
return str_command, dict_arguments
def recive_file(filename):
print("Reciving file:", filename)
print("Receiving file:", filename)
with open(filename, 'wb') as file: # TODO add directory
while True:
data = recive_message() #clientSocket.recv(BUFFER_SIZE)
if data:
print(data)
if parse_command(data.decode("UTF-8"))[0] == "/endoffile":
print("File recived")
if parse_message(data.decode("UTF-8"))[0] == "/endoffile":
print("File received")
break
file.write(data)
def write_to_config(section, option, value):
config.set(section, option, value)
with open(CONFIG_PATH, 'w') as file:
config.write(file)
def animation_player(running_event, stop_event):
print("Animation thread activated")
frames = play_animation.read_animation_file()
@@ -183,33 +188,48 @@ def selfcheck():
return FlightLib.selfcheck(), telemetry.voltage
CONFIG_PATH = "client_config.ini"
config = ConfigParser.ConfigParser()
config.read(CONFIG_PATH)
def write_to_config(section, option, value):
config.set(section, option, value)
with open(CONFIG_PATH, 'w') as file:
config.write(file)
broadcast_port = config.getint('SERVER', 'broadcast_port')
port = config.getint('SERVER', 'port')
host = config.get('SERVER', 'host')
BUFFER_SIZE = config.getint('SERVER', 'buffer_size')
USE_NTP = config.getboolean('NTP', 'use_ntp')
NTP_HOST = config.get('NTP', 'host')
NTP_PORT = config.getint('NTP', 'port')
files_directory = config.get('FILETRANSFER', 'files_directory')
animation_file = config.get('FILETRANSFER', 'animation_file')
def load_config():
global config, CONFIG_PATH
global broadcast_port, port, host, BUFFER_SIZE
global USE_NTP, NTP_HOST, NTP_PORT
global files_directory, animation_file
global TAKEOFF_HEIGHT, TAKEOFF_TIME
global USE_LEDS, COPTER_ID
CONFIG_PATH = "client_config.ini"
config = ConfigParser.ConfigParser()
config.read(CONFIG_PATH)
TAKEOFF_HEIGHT = config.getfloat('COPTERS', 'takeoff_height')
TAKEOFF_TIME = config.getint('COPTERS', 'takeoff_time')
broadcast_port = config.getint('SERVER', 'broadcast_port')
port = config.getint('SERVER', 'port')
host = config.get('SERVER', 'host')
BUFFER_SIZE = config.getint('SERVER', 'buffer_size')
USE_NTP = config.getboolean('NTP', 'use_ntp')
NTP_HOST = config.get('NTP', 'host')
NTP_PORT = config.getint('NTP', 'port')
USE_LEDS = config.getboolean('PRIVATE', 'use_leds')
play_animation.USE_LEDS = USE_LEDS
files_directory = config.get('FILETRANSFER', 'files_directory')
animation_file = config.get('FILETRANSFER', 'animation_file')
COPTER_ID = config.get('PRIVATE', 'id')
if COPTER_ID == 'default':
COPTER_ID = 'copter' + str(random.randrange(9999)).zfill(4)
write_to_config('PRIVATE', 'id', COPTER_ID)
elif COPTER_ID == '/hostname':
COPTER_ID = socket.gethostname()
TAKEOFF_HEIGHT = config.getfloat('COPTERS', 'takeoff_height')
TAKEOFF_TIME = config.getint('COPTERS', 'takeoff_time')
USE_LEDS = config.getboolean('PRIVATE', 'use_leds')
play_animation.USE_LEDS = USE_LEDS
COPTER_ID = config.get('PRIVATE', 'id')
if COPTER_ID == 'default':
COPTER_ID = 'copter' + str(random.randrange(9999)).zfill(4)
write_to_config('PRIVATE', 'id', COPTER_ID)
elif COPTER_ID == '/hostname':
COPTER_ID = socket.gethostname()
load_config()
rospy.init_node('Swarm_client', anonymous=True)
if USE_LEDS:
@@ -230,12 +250,12 @@ try:
message = recive_message()
if message:
message = message.decode("UTF-8")
command, args = parse_command(message)
command, args = parse_message(message)
print("Command from server:", command, args)
if command == "writefile":
recive_file(args[0])
recive_file(list(args.values)[0])
elif command == "starttime":
starttime = float(args[0])
starttime = float(list(args.values)[0])
print("Starting on:", time.ctime(starttime))
dt = starttime - get_ntp_time(NTP_HOST, NTP_PORT)
print("Until start:", dt)
@@ -250,12 +270,12 @@ try:
stop_animation()
FlightLib.interrupt()
elif command == 'land':
play_animation.land() # TODO dont forget change back to land
play_animation.land()
elif command == 'disarm':
FlightLib.arming(False)
elif command == 'request':
request_target = args[0]
request_target = args['value']
print("Got request for:", request_target)
response = ""
if request_target == 'test':
@@ -264,7 +284,7 @@ try:
response = COPTER_ID
elif request_target == 'selfcheck':
response = selfcheck()
send_all(bytes(form_command("response", response)))
send_all(bytes(form_message("response", {"status": "ok", "value": response})))
print("Request responded with:", response)
except socket.error as e:
if e.errno != errno.EINTR:

41
Server/server_qt.py
View File

@@ -15,6 +15,7 @@ import os
import sys
import glob
import time
import json
import struct
import socket
import threading
@@ -48,7 +49,7 @@ def auto_connect():
def ip_broadcast(server_ip, server_port):
msg = bytes(Client.form_command("server_ip ", (server_ip, str(server_port))), "UTF-8")
msg = bytes(Client.form_message("server_ip ", {"host": server_ip, "port": str(server_port)}), "UTF-8")
broadcast_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
broadcast_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
broadcast_sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
@@ -154,12 +155,12 @@ class Client:
received = self._receive_message()
if received:
received = received.decode("UTF-8")
print("Recived", received, "from", self.addr)
command, args = Client.parse_command(received)
print("Received", received, "from", self.addr)
command, args = Client.parse_message(received)
if command == "response":
for key, value in self._request_queue.items():
if not value:
self._request_queue[key] = args[0]
self._request_queue[key] = args['value']
print("Request successfully closed")
break
else:
@@ -175,14 +176,26 @@ class Client:
# time.sleep(0.05)
@staticmethod
def form_command(command: str, args=()): # Change for different protocol
return " ".join([command, *args])
def form_message(command: str, dict_arguments: dict = None):
if dict_arguments is None:
dict_arguments = {}
msg_dict = {command: str(dict_arguments).replace(",", '').replace("'", '')[1:-1]}
msg = json.dumps(msg_dict)
return msg
@staticmethod
def parse_command(command_input):
args = command_input.split()
command = args.pop(0)
return command, args
def parse_message(msg):
try:
j_message = json.loads(msg)
except json.decoder.JSONDecodeError:
print("Json string not in correct format")
return None
str_command = list(j_message.keys())[0]
arguments = list(j_message.values())[0].replace(":", '').split()
dict_arguments = collections.OrderedDict(zip(arguments[::2], arguments[1::2]))
return str_command, dict_arguments
@requires_connect
def send(self, *messages):
@@ -192,7 +205,7 @@ class Client:
@requires_connect
def get_response(self, requested_value):
self._request_queue[requested_value] = ""
self.send(Client.form_command("request", (requested_value,)))
self.send(Client.form_message("request", {"value": requested_value}))
while not self._request_queue[requested_value]:
pass
@@ -227,14 +240,14 @@ class Client:
@requires_connect
def send_file(self, filepath, dest_filename):
print("Sending file ", dest_filename)
self.send(Client.form_command("writefile", (dest_filename,)))
self.send(Client.form_message("writefile", {"filename": dest_filename}))
file = open(filepath, 'rb')
chunk = file.read(BUFFER_SIZE)
while chunk:
self._send_queue.append(chunk) # TODO os.sendfile
chunk = file.read(BUFFER_SIZE)
file.close()
self.send(Client.form_command("/endoffile"))
self.send(Client.form_message("/endoffile"))
print("File sent")
@@ -276,7 +289,7 @@ class MainWindow(QtWidgets.QMainWindow):
else:
timenow = time.time()
print('Now:', time.ctime(timenow), "+ dt =", dt)
Client.send_to_selected(Client.form_command("starttime", (str(timenow + dt),)))
Client.send_to_selected(Client.form_message("starttime", {"time": str(timenow + dt)}))
@pyqtSlot()
def stop_all(self):