mirror of
https://github.com/CopterExpress/clever-show.git
synced 2026-05-28 07:59:32 +00:00
343 lines
11 KiB
Python
343 lines
11 KiB
Python
from __future__ import print_function
|
|
import sys
|
|
import socket
|
|
import struct
|
|
import random
|
|
import time
|
|
import errno
|
|
import json
|
|
import logging
|
|
import threading
|
|
import ConfigParser
|
|
from contextlib import closing
|
|
|
|
import rospy
|
|
import pause
|
|
|
|
#from FlightLib.FlightLib import FlightLib
|
|
from FlightLib2 import FlightLib
|
|
from FlightLib.FlightLib import LedLib # TODO new ledlib
|
|
|
|
import play_animation
|
|
|
|
random.seed()
|
|
|
|
logging.basicConfig( # TODO all prints as logs
|
|
level=logging.INFO,
|
|
format="%(asctime)s [%(name)-7.7s] [%(threadName)-12.12s] [%(levelname)-5.5s] %(message)s",
|
|
handlers=[
|
|
logging.FileHandler("client_logs"),
|
|
logging.StreamHandler()
|
|
])
|
|
|
|
NTP_PACKET_FORMAT = "!12I"
|
|
NTP_DELTA = 2208988800L # 1970-01-01 00:00:00
|
|
NTP_QUERY = '\x1b' + 47 * '\0'
|
|
|
|
|
|
def get_ntp_time(ntp_host, ntp_port):
|
|
with closing(socket.socket(socket.AF_INET, socket.SOCK_DGRAM)) as s:
|
|
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
|
|
|
|
|
|
def reconnect(timeout=2, attempt_limit=5):
|
|
global clientSocket, host, port
|
|
print("Trying to connect to", host, ":", port, "...")
|
|
connected = False
|
|
attempt_count = 0
|
|
while not connected:
|
|
print("Waiting for connection, attempt", attempt_count)
|
|
try:
|
|
clientSocket = socket.socket()
|
|
clientSocket.settimeout(timeout)
|
|
clientSocket.connect((host, port))
|
|
connected = True
|
|
print("Connection successful")
|
|
clientSocket.settimeout(None)
|
|
except socket.error as e:
|
|
if e.errno != errno.EINTR:
|
|
print("Waiting for connection, can not connect:", e)
|
|
time.sleep(timeout)
|
|
else:
|
|
print("Shutting down on keyboard interrupt")
|
|
raise KeyboardInterrupt
|
|
attempt_count += 1
|
|
|
|
if attempt_count >= attempt_limit:
|
|
print("Too many attempts. Trying to get new server IP")
|
|
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 = 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)
|
|
broadcast_client.close()
|
|
write_to_config("SERVER", "port", port)
|
|
write_to_config("SERVER", "host", host)
|
|
attempt_count = 0
|
|
break
|
|
|
|
def send_all(msg):
|
|
clientSocket.sendall(struct.pack('>I', len(msg)) + msg)
|
|
|
|
|
|
def recive_all(n):
|
|
data = b''
|
|
while len(data) < n:
|
|
packet = clientSocket.recv(min(n - len(data), BUFFER_SIZE))
|
|
if not packet:
|
|
return None
|
|
data += packet
|
|
return data
|
|
|
|
|
|
def recive_message():
|
|
raw_msglen = recive_all(4)
|
|
if not raw_msglen:
|
|
return None
|
|
msglen = struct.unpack('>I', raw_msglen)[0]
|
|
msg = recive_all(msglen)
|
|
return msg
|
|
|
|
|
|
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_message(msg):
|
|
try:
|
|
j_message = json.loads(msg)
|
|
except ValueError:
|
|
print("Json string not in correct format")
|
|
return None, None
|
|
|
|
str_command = list(j_message.keys())[0]
|
|
|
|
arguments = list(j_message.values())[0].replace(":", '').split()
|
|
dict_arguments = dict(zip(arguments[::2], arguments[1::2]))
|
|
return str_command, dict_arguments
|
|
|
|
|
|
def recive_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_message(data.decode("UTF-8"))[0] == "/endoffile":
|
|
print("File received")
|
|
break
|
|
file.write(data)
|
|
else:
|
|
break
|
|
|
|
|
|
def animation_player(running_event, stop_event):
|
|
print("Animation thread activated")
|
|
frames = play_animation.read_animation_file()
|
|
# rate = rospy.Rate(1000 / 125)
|
|
delay_time = 0.125
|
|
|
|
print("Takeoff")
|
|
play_animation.takeoff(z=TAKEOFF_HEIGHT, safe_takeoff=SAFE_TAKEOFF)
|
|
takeoff_time = starttime + TAKEOFF_TIME
|
|
dt = takeoff_time - time.time()
|
|
print("Wait until takeoff " + str(dt) + "s: " + time.ctime(takeoff_time))
|
|
pause.until(takeoff_time)
|
|
|
|
print("Reach first point")
|
|
play_animation.reach_frame(frames[0]) #Reach first point at the same time with others
|
|
rfp_time = takeoff_time + RFP_TIME
|
|
dt = rfp_time - time.time()
|
|
print("Wait reaching first point " + str(dt) + "s: " + time.ctime(rfp_time))
|
|
pause.until(rfp_time)
|
|
|
|
next_frame_time = rfp_time
|
|
print("Start animation at " + str(time.time()))
|
|
for frame in frames:
|
|
#running_event.wait()
|
|
play_animation.animate_frame(frame)
|
|
next_frame_time += delay_time
|
|
if stop_event.is_set():
|
|
running_animation_event.clear()
|
|
break
|
|
#rate.sleep()
|
|
pause.until(next_frame_time)
|
|
else:
|
|
play_animation.land()
|
|
print("Animation ended")
|
|
print("Animation thread closed")
|
|
|
|
|
|
stop_animation_event = threading.Event()
|
|
running_animation_event = threading.Event()
|
|
|
|
|
|
def start_animation(*args, **kwargs):
|
|
animation_thread = threading.Thread(target=animation_player, args=(running_animation_event, stop_animation_event))
|
|
print("Starting animation!")
|
|
running_animation_event.set()
|
|
stop_animation_event.clear()
|
|
animation_thread.start()
|
|
|
|
|
|
def resume_animation():
|
|
print("Resuming animation")
|
|
running_animation_event.set()
|
|
|
|
|
|
def pause_animation():
|
|
print("Pausing animation")
|
|
running_animation_event.clear()
|
|
|
|
|
|
def stop_animation():
|
|
stop_animation_event.set()
|
|
print("Stopping animation")
|
|
# animation_thread.join()
|
|
|
|
|
|
def selfcheck():
|
|
return FlightLib.selfcheck()
|
|
|
|
|
|
def write_to_config(section, option, value):
|
|
config.set(section, option, value)
|
|
with open(CONFIG_PATH, 'w') as file: # TODO as separate function
|
|
config.write(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 FRAME_ID, TAKEOFF_HEIGHT, TAKEOFF_TIME, SAFE_TAKEOFF, RFP_TIME
|
|
global USE_LEDS, COPTER_ID
|
|
CONFIG_PATH = "client_config.ini"
|
|
config = ConfigParser.ConfigParser()
|
|
config.read(CONFIG_PATH)
|
|
|
|
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')
|
|
|
|
FRAME_ID = config.get('COPTERS', 'frame_id') # TODO in play_animation
|
|
TAKEOFF_HEIGHT = config.getfloat('COPTERS', 'takeoff_height')
|
|
TAKEOFF_TIME = config.getfloat('COPTERS', 'takeoff_time')
|
|
RFP_TIME = config.getfloat('COPTERS', 'reach_first_point_time')
|
|
SAFE_TAKEOFF = config.getboolean('COPTERS', 'safe_takeoff')
|
|
|
|
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:
|
|
LedLib.init_led()
|
|
|
|
print("Client started on copter:", COPTER_ID)
|
|
if USE_NTP:
|
|
print("NTP time:", time.ctime(get_ntp_time(NTP_HOST, NTP_PORT)))
|
|
print("System time", time.ctime(time.time()))
|
|
|
|
reconnect()
|
|
|
|
print("Connected to server")
|
|
|
|
try:
|
|
while True:
|
|
try:
|
|
message = recive_message()
|
|
if message:
|
|
message = message.decode("UTF-8")
|
|
command, args = parse_message(message)
|
|
print("Command from server:", command, args)
|
|
if command == "writefile":
|
|
recive_file(args['filename'])
|
|
elif command == 'config_write':
|
|
write_to_config(args['section'], args['option'], args['value'])
|
|
elif command == 'config_reload':
|
|
load_config()
|
|
elif command == "starttime":
|
|
global starttime
|
|
starttime = float(args['time'])
|
|
print("Starting on:", time.ctime(starttime))
|
|
dt = starttime - time.time()
|
|
if USE_NTP:
|
|
dt = starttime - get_ntp_time(NTP_HOST, NTP_PORT)
|
|
print("Until start:", dt)
|
|
rospy.Timer(rospy.Duration(dt), start_animation, oneshot=True)
|
|
elif command == 'takeoff':
|
|
play_animation.takeoff(safe_takeoff=SAFE_TAKEOFF)
|
|
elif command == 'pause':
|
|
pause_animation()
|
|
elif command == 'resume':
|
|
resume_animation()
|
|
elif command == 'stop':
|
|
stop_animation()
|
|
FlightLib.interrupt()
|
|
elif command == 'land':
|
|
play_animation.land()
|
|
elif command == 'disarm':
|
|
FlightLib.arming(False)
|
|
|
|
elif command == 'request':
|
|
request_target = args['value']
|
|
print("Got request for:", request_target)
|
|
response = ""
|
|
if request_target == 'test':
|
|
response = "test_success"
|
|
elif request_target == 'id':
|
|
response = COPTER_ID
|
|
elif request_target == 'selfcheck':
|
|
response = FlightLib.selfcheck()
|
|
elif request_target == 'batt_voltage':
|
|
response = FlightLib.get_telemetry('body').voltage
|
|
elif request_target == 'cell_voltage':
|
|
response = FlightLib.get_telemetry('body').cell_voltage
|
|
|
|
send_all(bytes(form_message("response",
|
|
{"status": "ok", "value": response, "value_name": str(request_target)})))
|
|
print("Request responded with:", response)
|
|
|
|
except socket.error as e:
|
|
if e.errno != errno.EINTR:
|
|
print("Connection lost due error:", e)
|
|
print("Reconnecting...")
|
|
reconnect()
|
|
print("Re-connection successful")
|
|
else:
|
|
print("Interrupted")
|
|
raise KeyboardInterrupt
|
|
except KeyboardInterrupt:
|
|
print("Shutdown on keyboard interrupt")
|
|
finally:
|
|
clientSocket.close()
|
|
|