mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-26 15:13:26 +00:00
271 lines
11 KiB
Python
271 lines
11 KiB
Python
import os
|
|
import sys
|
|
import time
|
|
import errno
|
|
import random
|
|
import socket
|
|
import struct
|
|
import logging
|
|
import selectors2 as selectors
|
|
|
|
from contextlib import closing
|
|
|
|
import inspect # Add parent dir to PATH to import messaging_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)
|
|
|
|
logger = logging.getLogger(__name__)
|
|
|
|
import messaging_lib as messaging
|
|
from config import ConfigManager
|
|
|
|
active_client = None # needs to be refactored: Singleton \ factory callbacks
|
|
|
|
|
|
class Client(object):
|
|
def __init__(self, config_path="config/client.ini"):
|
|
self.selector = selectors.DefaultSelector()
|
|
self.client_socket = None
|
|
|
|
self.server_connection = messaging.ConnectionManager("pi")
|
|
|
|
self.connected = False
|
|
self.client_id = None
|
|
|
|
# Init configs
|
|
self.config = ConfigManager()
|
|
self.config_path = config_path
|
|
|
|
global active_client
|
|
active_client = self
|
|
|
|
def load_config(self):
|
|
self.config.load_config_and_spec(self.config_path)
|
|
|
|
config_id = self.config.private_id.lower()
|
|
if config_id == '/default':
|
|
self.client_id = 'copter' + str(random.randrange(9999)).zfill(4)
|
|
self.config.set('PRIVATE', 'id', self.client_id, write=True) # set and write
|
|
elif config_id == '/hostname':
|
|
self.client_id = socket.gethostname()
|
|
elif config_id == '/ip':
|
|
self.client_id = messaging.get_ip_address()
|
|
else:
|
|
self.client_id = config_id
|
|
|
|
logger.info("Config loaded")
|
|
|
|
@staticmethod
|
|
def get_ntp_time(ntp_host, ntp_port):
|
|
NTP_PACKET_FORMAT = "!12I"
|
|
NTP_DELTA = 2208988800L # 1970-01-01 00:00:00
|
|
NTP_QUERY = '\x1b' + 47 * '\0'
|
|
|
|
with closing(socket.socket(socket.AF_INET, socket.SOCK_DGRAM)) as s:
|
|
s.sendto(bytes(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
|
|
|
|
def time_now(self):
|
|
if self.config.ntp_use:
|
|
timenow = self.get_ntp_time(self.config.ntp_host, self.config.ntp_port)
|
|
else:
|
|
timenow = time.time()
|
|
return timenow
|
|
|
|
def start(self):
|
|
self.load_config()
|
|
|
|
logger.info("Starting client")
|
|
messaging.NotifierSock().init(self.selector)
|
|
|
|
try:
|
|
while True:
|
|
self._reconnect()
|
|
self._process_connections()
|
|
|
|
except (KeyboardInterrupt, ):
|
|
logger.critical("Caught interrupt, exiting!")
|
|
self.selector.close()
|
|
|
|
def _reconnect(self, timeout=2.0, attempt_limit=3): # TODO reconnecting broadcast listener in another thread
|
|
logger.info("Trying to connect to {}:{} ...".format(self.config.server_host, self.config.server_port))
|
|
attempt_count = 0
|
|
while not self.connected:
|
|
logger.info("Waiting for connection, attempt {}".format(attempt_count))
|
|
try:
|
|
self.client_socket = socket.socket()
|
|
self.client_socket.settimeout(timeout)
|
|
messaging.set_keepalive(self.client_socket)
|
|
self.client_socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
|
|
self.client_socket.connect((self.config.server_host, self.config.server_port))
|
|
except socket.error as error:
|
|
if isinstance(error, OSError):
|
|
if error.errno == errno.EINTR:
|
|
logger.critical("Shutting down on keyboard interrupt")
|
|
raise KeyboardInterrupt
|
|
|
|
logger.warning("Can not connect due error: {}".format(error))
|
|
attempt_count += 1
|
|
time.sleep(timeout)
|
|
|
|
else:
|
|
logger.info("Connection to server successful!")
|
|
self._connect()
|
|
break
|
|
|
|
if attempt_count >= attempt_limit:
|
|
logger.info("Too many attempts. Trying to get new server IP")
|
|
self.broadcast_bind(timeout*2, attempt_limit)
|
|
attempt_count = 0
|
|
|
|
def _connect(self):
|
|
self.connected = True
|
|
self.client_socket.setblocking(False)
|
|
self.selector.register(self.client_socket, selectors.EVENT_READ, data=self.server_connection)
|
|
self.server_connection.connect(self.selector, self.client_socket,
|
|
(self.config.server_host, self.config.server_port))
|
|
|
|
def broadcast_bind(self, timeout=2.0, attempt_limit=3):
|
|
broadcast_client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
broadcast_client.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
|
|
broadcast_client.settimeout(timeout)
|
|
try:
|
|
broadcast_client.bind(("", self.config.broadcast_port))
|
|
except socket.error as error:
|
|
logger.error("Error during broadcast listening binding: {}".format(error))
|
|
return
|
|
|
|
attempt_count = 0
|
|
try:
|
|
while attempt_count <= attempt_limit:
|
|
try:
|
|
data, addr = broadcast_client.recvfrom(self.config.server_buffer_size)
|
|
except socket.error as error:
|
|
logger.warning("Could not receive broadcast due error: {}".format(error))
|
|
attempt_count += 1
|
|
else:
|
|
message = messaging.MessageManager()
|
|
message.income_raw = data
|
|
message.process_message()
|
|
if message.content and message.jsonheader["action"] == "server_ip":
|
|
logger.info("Received broadcast message {} from {}".format(message.content, addr))
|
|
|
|
kwargs = message.content["kwargs"]
|
|
self.config.set("SERVER", "port", int(kwargs["port"]))
|
|
self.config.set("SERVER", "host", kwargs["host"])
|
|
self.config.write()
|
|
|
|
logger.info("Binding to new IP: {}:{}".format(
|
|
self.config.server_host, self.config.server_port))
|
|
self.on_broadcast_bind()
|
|
break
|
|
finally:
|
|
broadcast_client.close()
|
|
|
|
def on_broadcast_bind(self): # TODO move ALL binding code here
|
|
pass
|
|
|
|
def _process_connections(self):
|
|
while True:
|
|
events = self.selector.select(timeout=1)
|
|
for key, mask in events:
|
|
connection = key.data
|
|
if connection is not None:
|
|
try:
|
|
connection.process_events(mask)
|
|
|
|
except Exception as error:
|
|
logger.error(
|
|
"Exception {} occurred for {}! Resetting connection!".format(error, connection.addr)
|
|
)
|
|
self.server_connection._close()
|
|
self.connected = False
|
|
|
|
if isinstance(error, OSError):
|
|
if error.errno == errno.EINTR:
|
|
raise KeyboardInterrupt
|
|
try:
|
|
mapping_fds = self.selector.get_map().keys() # file descriptors
|
|
notifier_fd = messaging.NotifierSock().get_sock().fileno()
|
|
except (KeyError, RuntimeError) as e:
|
|
logger.error("Exception {} occurred when getting connections map!".format(e))
|
|
logger.error("Connections changed during getting connections map, passing")
|
|
else:
|
|
notify_only= len(mapping_fds) == 1 and notifier_fd in mapping_fds
|
|
if notify_only or not mapping_fds:
|
|
logger.warning("No active connections left!")
|
|
return
|
|
|
|
|
|
@messaging.message_callback("config")
|
|
def _command_config_write(*args, **kwargs):
|
|
mode = kwargs.get("mode", "modify")
|
|
# exceptions would be risen in case of incorrect config
|
|
if mode == "rewrite":
|
|
active_client.config.load_from_dict(kwargs["config"], configspec=active_client.config_path) # with validation
|
|
elif mode == "modify":
|
|
new_config = ConfigManager()
|
|
new_config.load_from_dict(kwargs["config"])
|
|
active_client.config.merge(new_config, validate=True)
|
|
|
|
active_client.config.write()
|
|
logger.info("Config successfully updated from command")
|
|
active_client.load_config()
|
|
|
|
@messaging.request_callback("config")
|
|
def _response_config(*args, **kwargs):
|
|
send_configspec = kwargs.get("send_configspec", False)
|
|
response = {"config": active_client.config.full_dict()}
|
|
if send_configspec:
|
|
response.update({"configspec": dict(active_client.config.config.configspec)})
|
|
return response
|
|
|
|
@messaging.request_callback("id")
|
|
def _response_id(*args, **kwargs):
|
|
new_id = kwargs.get("new_id", None)
|
|
if new_id is not None:
|
|
active_client.config.set("PRIVATE", "id", new_id, True)
|
|
active_client.load_config()
|
|
# TODO renaming here
|
|
|
|
return active_client.client_id
|
|
|
|
|
|
@messaging.request_callback("time")
|
|
def _response_time(*args, **kwargs):
|
|
return active_client.time_now()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
startup_cwd = os.getcwd()
|
|
|
|
import threading
|
|
|
|
|
|
def restart(): # move to core
|
|
args = sys.argv[:]
|
|
logging.info('Restarting {}'.format(args))
|
|
args.insert(0, sys.executable)
|
|
if sys.platform == 'win32':
|
|
args = ['"%s"' % arg for arg in args]
|
|
os.chdir(startup_cwd)
|
|
os.execv(sys.executable, args)
|
|
|
|
def mock_telem():
|
|
while True:
|
|
time.sleep(5)
|
|
#t = dict([('fcu_status', None), ('current_position', [-2.89, 2.12, 3.64, 15.22, 'aruco_map']), ('animation_id', 'two_drones_test'), ('selfcheck', 'OK'), ('battery', None), ('git_version', '01bf95e'), ('calibration_status', None), ('start_position', [0.2, 0.2, 0.0]), ('mode', 'MANUAL'), ('time_delta', 1581338473.438682), ('armed', False), ('config_version', None), ('last_task', 'No task')])
|
|
t = dict([('fcu_status', 'STANDBY'), ('current_position', [-1.17, 2.04, 3.45, 0, "11"]), ('animation_id', 'two_drones_test'), ('selfcheck', 'OK'), ('battery', [12.2, 1.0]), ('git_version', '42aee96'), ('calibration_status', None), ('start_position', [0.2, 0.2, 0.0]), ('mode', 'MANUAL'), ('time_delta', 1581342970.889573), ('armed', False), ('config_version', 'Copter config V0.0'), ('last_task', 'No task')])
|
|
if active_client.connected:
|
|
active_client.server_connection.send_message("telemetry", kwargs={"value": t})
|
|
|
|
logging.basicConfig(level=logging.DEBUG)
|
|
client = Client()
|
|
tr = threading.Thread(target=mock_telem)
|
|
tr.start()
|
|
client.start()
|
|
|