diff --git a/Drone/config/spec/configspec_client.ini b/Drone/config/spec/configspec_client.ini index 2ee30d3..0aff37e 100644 --- a/Drone/config/spec/configspec_client.ini +++ b/Drone/config/spec/configspec_client.ini @@ -16,7 +16,7 @@ host = string(default=ntp1.stratum2.ru) port = integer(default=123) [PRIVATE] -# avialiable options: /hostname ; /spec_default ; /ip ; any string 63 characters lengh +# available options: /hostname ; /default ; /ip ; any string 63 characters length id = string(default=/hostname, max=63) # Drone's individual offset (X, Y, Z) # __list__ X Y Z diff --git a/Server/config/spec/configspec_server.ini b/Server/config/spec/configspec_server.ini index 804f10d..ae67ac5 100644 --- a/Server/config/spec/configspec_server.ini +++ b/Server/config/spec/configspec_server.ini @@ -5,12 +5,12 @@ config_version = float(default='0.0') port = integer(default=25000) buffer_size = integer(default=1024) -[COPTER_TABLE] +[TABLE] # True -> clients are removed on disconnection # False -> disconnected clients indicated remove_disconnected = boolean(default=False) -[TABLE_CHECKS] +[CHECKS] battery_percentage_min = float(default=50.0, min=0, max=100) # in meters start_pos_delta_max = float(default=1.0, min=0) diff --git a/Server/copter_table_models.py b/Server/copter_table_models.py index 184ed78..28584cf 100644 --- a/Server/copter_table_models.py +++ b/Server/copter_table_models.py @@ -1,10 +1,7 @@ import sys import re import math -import configparser -import collections import indexed -from server import ConfigOption from PyQt5 import QtCore, QtGui, QtWidgets from PyQt5.QtCore import Qt as Qt @@ -13,9 +10,6 @@ from PyQt5.QtCore import Qt as Qt ModelDataRole = 998 ModelStateRole = 999 -config = configparser.ConfigParser() -config.read("server_config.ini") - class CopterData: class_basic_attrs = indexed.IndexedOrderedDict([('copter_id', None), ('git_ver', None), ('anim_id', None), @@ -94,9 +88,10 @@ def get_position_delta(pos1, pos2): class Checks: all_checks = {} takeoff_checklist = (3, 4, 6, 7, 8) - battery_min = config.getfloat('CHECKS', 'battery_percentage_min') - start_pos_delta_max = config.getfloat('CHECKS', 'start_pos_delta_max') - time_delta_max = config.getfloat('CHECKS', 'time_delta_max') + battery_min = 50 # config.getfloat('CHECKS', 'battery_percentage_min') + start_pos_delta_max = 1 # config.getfloat('CHECKS', 'start_pos_delta_max') + time_delta_max = 1 # config.getfloat('CHECKS', 'time_delta_max') + class CopterDataModel(QtCore.QAbstractTableModel): selected_ready_signal = QtCore.pyqtSignal(bool) diff --git a/Server/server.py b/Server/server.py index 82157d9..e3aa312 100644 --- a/Server/server.py +++ b/Server/server.py @@ -7,14 +7,15 @@ import datetime import threading import selectors import collections -import configparser -import os, inspect # Add parent dir to PATH to import messaging_lib +import os, inspect # Add parent dir to PATH to import messaging_lib and config_lib current_dir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe()))) parent_dir = os.path.dirname(current_dir) sys.path.insert(0, parent_dir) + import messaging_lib as messaging +from config import ConfigManager random.seed() @@ -41,7 +42,7 @@ ConfigOption = collections.namedtuple("ConfigOption", ["section", "option", "val class Server(messaging.Singleton): - def __init__(self, server_id=None, config_path="server_config.ini", on_stop=None): + def __init__(self, server_id=None, config_path="config/server.ini", on_stop=None): self.id = server_id if server_id else str(random.randint(0, 9999)).zfill(4) self.time_started = 0 @@ -58,9 +59,8 @@ class Server(messaging.Singleton): self.ip = messaging.get_ip_address() # Init configs + self.config = ConfigManager() self.config_path = config_path - self.config = configparser.ConfigParser() - self.load_config() # Init threads self.autoconnect_thread = threading.Thread(target=self._client_processor, daemon=True, @@ -75,49 +75,36 @@ class Server(messaging.Singleton): name='IP broadcast listener') self.listener_thread_running = threading.Event() - def load_config(self): - self.config.read(self.config_path) - self.port = int(self.config['SERVER']['port']) # TODO try, init def - self.BUFFER_SIZE = int(self.config['SERVER']['buffer_size']) # TODO connect to connection manager + def start(self): # do_auto_connect=True, , do_listen_broadcast=False + # load config on startup + self.config.load_config_and_spec(self.config_path) - self.remove_disconnected = self.config.getboolean('SERVER', 'remove_disconnected') - - self.use_broadcast = self.config.getboolean('BROADCAST', 'use_broadcast') - self.broadcast_port = int(self.config['BROADCAST']['broadcast_port']) - self.BROADCAST_DELAY = int(self.config['BROADCAST']['broadcast_delay']) - - self.USE_NTP = self.config.getboolean('NTP', 'use_ntp') - self.NTP_HOST = self.config['NTP']['host'] - self.NTP_PORT = int(self.config['NTP']['port']) - - def start(self, do_ip_broadcast=None): # do_auto_connect=True, , do_listen_broadcast=False self.time_started = time.time() - if do_ip_broadcast is None: - do_ip_broadcast = self.use_broadcast - - logging.info("Starting server with id: {} on {}:{} !".format(self.id, self.ip, self.port)) - logging.info("Starting server socket!") - self.server_socket.bind((self.ip, self.port)) + logging.info("Starting server with id: {} on {}:{} !".format(self.id, self.ip, self.config.server_port)) + logging.info("Binding server socket!") + self.server_socket.bind((self.ip, self.config.server_port)) logging.info("Starting client processor thread!") self.client_processor_thread_running.set() self.autoconnect_thread.start() - if do_ip_broadcast: + if self.config.broadcast_send: logging.info("Starting broadcast sender thread!") self.broadcast_thread_running.set() self.broadcast_thread.start() - logging.info("Starting broadcast listener thread!") - self.listener_thread_running.set() - self.listener_thread.start() + if self.config.broadcast_listen: + logging.info("Starting broadcast listener thread!") + self.listener_thread_running.set() + self.listener_thread.start() def stop(self): logging.info("Stopping server") self.client_processor_thread_running.clear() self.broadcast_thread_running.clear() self.listener_thread_running.clear() + self.server_socket.close() self.sel.close() logging.info("Server stopped") @@ -137,8 +124,8 @@ class Server(messaging.Singleton): return int.from_bytes(msg[-8:], 'big') / 2 ** 32 - NTP_DELTA def time_now(self): - if self.USE_NTP: - timenow = self.get_ntp_time(self.NTP_HOST, self.NTP_PORT) + if self.config.ntp_use: + timenow = self.get_ntp_time(self.config.ntp_host, self.config.ntp_port) else: timenow = time.time() return timenow @@ -150,7 +137,7 @@ class Server(messaging.Singleton): self.server_socket.setblocking(False) self.sel.register(self.server_socket, selectors.EVENT_READ, data=None) #| selectors.EVENT_WRITE - messaging.NotifierSock().bind((self.ip, self.port)) + messaging.NotifierSock().bind((self.ip, self.config.server_port)) while self.client_processor_thread_running.is_set(): events = self.sel.select() @@ -193,18 +180,19 @@ class Server(messaging.Singleton): def _ip_broadcast(self): logging.info("Broadcast sender thread started!") msg = messaging.MessageManager.create_simple_message( - "server_ip", {"host": self.ip, "port": str(self.port), "id": self.id, "start_time": str(self.time_started)}) + "server_ip", {"host": self.ip, "port": str(self.config.server_port), "id": self.id, + "start_time": str(self.time_started)}) + logging.debug("Formed broadcast message: {}".format(msg)) + 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) - logging.info("Formed broadcast message: {}".format(msg)) - time.sleep(self.BROADCAST_DELAY) try: while self.broadcast_thread_running.is_set(): - broadcast_sock.sendto(msg, ('255.255.255.255', self.broadcast_port)) + time.sleep(self.config.broadcast_delay) # todo make interruptable (from time lib) + broadcast_sock.sendto(msg, ('255.255.255.255', self.config.broadcast_port)) logging.debug("Broadcast sent") - time.sleep(self.BROADCAST_DELAY) finally: broadcast_sock.close() @@ -215,7 +203,7 @@ class Server(messaging.Singleton): broadcast_client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) broadcast_client.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1) try: - broadcast_client.bind(("", self.broadcast_port)) + broadcast_client.bind(("", self.config.broadcast_port)) except OSError: logging.critical("Another server is running on this computer, shutting down!") # TODO popup and as function @@ -227,15 +215,19 @@ class Server(messaging.Singleton): message = messaging.MessageManager() message.income_raw = data message.process_message() - if message.content: - if message.content["command"] == "server_ip": - if message.content["args"]["id"] != str(self.id) \ - and float(message.content["args"]["start_time"]) <= self.time_started: + content = message.content - # younger server should shut down - logging.critical("Another server detected over the network, shutting down!") - # TODO popup - self.stop() + right_command = (content and content["command"] == "server_ip") + + if right_command: + different_id = content["args"]["id"] != str(self.id) + self_younger = float(message.content["args"]["start_time"]) <= self.time_started + + if different_id and self_younger: + # younger server should shut down + logging.critical("Another server detected over the network, shutting down!") + # TODO popup + self.stop() else: logging.warning("Got wrong broadcast message from {}".format(addr)) diff --git a/Server/server_qt.py b/Server/server_qt.py index 9e715f1..b0a2242 100644 --- a/Server/server_qt.py +++ b/Server/server_qt.py @@ -118,7 +118,7 @@ class MainWindow(QtWidgets.QMainWindow): row_num = self.model.get_row_index(row_data) logging.debug("Removing {}".format(client.copter_id)) if row_num is not None: - if Server().remove_disconnected and (not client.connected): + if Server().config.table_remove_disconnected and (not client.connected): client.remove() self.signals.remove_client_signal.emit(row_num) else: @@ -240,7 +240,7 @@ class MainWindow(QtWidgets.QMainWindow): if row_num is not None: copter.client.remove() - if not Server().remove_disconnected: + if not Server().config.table_remove_disconnected: self.signals.remove_client_signal.emit(row_num) logging.info("Client removed from table!")