Merge branch 'alpha' of https://github.com/artem30801/CleverSwarm into alpha

Drone/client.py

@@ -175,10 +175,14 @@ class Client(object):
                                               ConfigOption("SERVER", "port", self.server_port),
                                               ConfigOption("SERVER", "host", self.server_host))
                             logger.info("Binding to new IP: {}:{}".format(self.server_host, self.server_port))
+                            self.on_broadcast_bind()
                             break
         finally:
             broadcast_client.close()
 
+    def on_broadcast_bind(self):
+        pass
+
     def _process_connections(self):
         while True:
             events = self.selector.select(timeout=1)

Drone/copter_client.py

@@ -41,6 +41,10 @@ class CopterClient(client.Client):
         self.USE_LEDS = self.config.getboolean('PRIVATE', 'use_leds')
         self.LED_PIN = self.config.getint('PRIVATE', 'led_pin')
 
+    def on_broadcast_bind(self):
+        configure_chrony_ip(self.server_host)
+        restart_service("chrony")
+
     def start(self, task_manager_instance):
         client.logger.info("Init ROS node")
         rospy.init_node('Swarm_client', anonymous=True)
@@ -52,6 +56,43 @@ class CopterClient(client.Client):
         super(CopterClient, self).start()
 
 
+def restart_service(name):
+    os.system("systemctl restart {}".format(name))
+
+
+def configure_chrony_ip(ip, path="/etc/chrony/chrony.conf", ip_index=1):
+    try:
+        with open(path, 'r') as f:
+            raw_content = f.read()
+    except IOError as e:
+        print("Reading error {}".format(e))
+        return False
+
+    content = raw_content.split(" ")
+
+    try:
+        current_ip = content[ip_index]
+    except IndexError:
+        print("Something wrong with config")
+        return False
+
+    if "." not in current_ip:
+        print("That's not ip!")
+        return False
+
+    if current_ip != ip:
+        content[ip_index] = ip
+
+        try:
+            with open(path, 'w') as f:
+                f.write(" ".join(content))
+        except IOError:
+            print("Error writing")
+            return False
+
+    return True
+
+
 @messaging.request_callback("selfcheck")
 def _response_selfcheck():
     check = FlightLib.selfcheck()
@@ -75,12 +116,13 @@ def _response_cell():
 
 @messaging.message_callback("test")
 def _command_test(**kwargs):
-    print("test")
+    logger.info("logging info test")
+    print("stdout test")
 
 
 @messaging.message_callback("service_restart")
 def _command_service_restart(**kwargs):
-    os.system("systemctl restart {}".format(kwargs["name"]))
+    restart_service(kwargs["name"])
 
 
 @messaging.message_callback("led_test")
@@ -193,7 +235,7 @@ def _play_animation(**kwargs):
     frame_time = rfp_time + client.active_client.RFP_TIME
     frame_delay = 0.125  # TODO from animation file
     for frame in frames:
-        point, color = animation.convert_frame(frame)  # TODO add param to calculate delta
+        point, color, yaw = animation.convert_frame(frame)  # TODO add param to calculate delta
         task_manager.add_task(frame_time, 0, animation.execute_frame,
                               task_kwargs={
                                   "point": point,