def __init__(self, ip='127.0.0.1', port=12345):
self.host = ip # IP to run input server on
self.port = port # Port to run input server on
self.Running = True # For debuging: Run robot and devices
self.plate_list = [] # List to collect all added plates
self.lid_spots = [
-1
] * 3 # Amount of lid spots, -1 means the spot is free
self.hotel_spots = [0] * 14 # Amount of hotel spots
self.current_global_position = "h_get" # Current system position (default h_get)
self.build_checkpoints = BuildProtocol()
self.robot_connection = RoboConnect()
self.robot_run = RoboRun()
self.prioritizer = Prioritizer()
self.connect_to_robot = True # For debugging: Connecting to robot
def __init__(self):
self.tn = -1
self.pd = BuildProtocol()
class EventServer:
def __init__(self, ip='127.0.0.1', port=12345):
self.host = ip # IP to run input server on
self.port = port # Port to run input server on
self.Running = True # For debuging: Run robot and devices
self.plate_list = [] # List to collect all added plates
self.lid_spots = [
-1
] * 3 # Amount of lid spots, -1 means the spot is free
self.hotel_spots = [0] * 14 # Amount of hotel spots
self.current_global_position = "h_get" # Current system position (default h_get)
self.build_checkpoints = BuildProtocol()
self.robot_connection = RoboConnect()
self.robot_run = RoboRun()
self.prioritizer = Prioritizer()
self.connect_to_robot = True # For debugging: Connecting to robot
# Run the different threads
# - Get key inputs
# - Plate input server
# - Robot and device running
def run_server(self):
# Start connection to robot server
if self.connect_to_robot:
self.robot_connection.connect()
# Thread: Get key inputs
key_input_manager = threading.Thread(target=self.get_input,
args=('Message', ))
key_input_manager.start()
# Thread: Get new plate inputs, protocol files or single commmands
input_server = threading.Thread(target=self.plate_inputs)
input_server.start()
# Thread: Run robot and device system
input_server = threading.Thread(target=self.system_runner)
input_server.start()
# Saves a string and time stamp to a file
def log(self, str_):
with open('log', 'a') as file:
do = datetime.now()
file.write(do.hour, ':', do.minute, ':', do.second, ' ', str_)
# Run the robot and devices by picking
# what plate to move next with the priorotizer.
def system_runner(self):
while True: # Loop forever
# Don't run if the plate list is empty
if len(self.plate_list) == 0:
time.sleep(2)
continue
# Perform the next move. (Robot / Device)
# Add threading here for overlapping movment
self.move_next()
# Performs the actions needed to advance the system
# - Sets up where to move from and to (with the help of the priorotizer)
# - Uses the checkpoint builder to get checkpoints between these points
# - Uses the telnet connection to the robot computer to issue the commands
# When reached target, change current to dest and move on etc.
def move_next(self): # Do the next moves
move_from = self.current_global_position # The position to move from
plateToMove = self.prioritizer.get_prio_plate(
self.plate_list, self.hotel_spots,
self.lid_spots) # Get what plate should be moved
move_to = plateToMove.path[
plateToMove.cur_step] # Where to move this plate
movment = [
move_from, move_to
] # Pack it into a list for convenience (and in case longer movements will be done in the futuure)
self.log("Deciding to move plate " + str(plateToMove.id))
data_list = [
self.hotel_spots, self.lid_spots
] # Get the current hotel and lid spot statuses and pack it to a list
movement_with_cp = self.build_checkpoints.build_protocol(
movment, plateToMove.id, data_list) # Build checkpoints
# Run system between the 2 steps including checkpoints
if self.connect_to_robot:
updated_lists = self.robot_run.start(
self.robot_connection.tn, movement_with_cp, data_list,
plateToMove
) # Holds this thread until the run is done, might want to split
self.hotel_spots = updated_lists[0]
self.lid_spots = updated_lists[1]
self.current_global_position = move_to # Set the systems current global position to where it just moved
self.plate_list[self.get_plate_list_index(
plateToMove)].step() # Advance plate to next step in path
else: # For debugging
time.sleep(20)
# Establish TCP-connection to accept protocol on
def plate_inputs(self):
# Adress family - IPv4; Socket type - TCP;
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR,
1) # To force socket rebinding
s.bind(
(self.host, self.port)
) # Associate socket with specific network interface nad port
s.listen(
) # Enables server to accept connections / Makes it a listening socket
print('Protocol server started successfully!')
while self.Running:
conn, addr = s.accept(
) # New connection creates new s. Touple (ip,port)
with conn: # With the new connection
# Add new plate
print('New entry by', addr)
data = pickle.loads(
conn.recv(4096)) # Reads what client sends
plate_number = len(
self.plate_list
) + 1 # Currently assigns the plate numbers (id) with +1, this should be changed
h_spot = re.findall(
r'[0-9]+',
data[0]) # Get the hotel spot to take the plate from
self.hotel_spots[
int(h_spot[0]) -
1] = plate_number # Book that hotel spot in the list
newPlate = Plate(plate_number,
data) # Create a new plate object
self.plate_list.append(newPlate)
self.log("New plate added with id: " + str(plate_number) +
" ,at spot:" + str(h_spot))
print('Current amount of plates: ' +
str(len(self.plate_list)))
conn.send(bytes("Entry successfully added!", "ascii"))
#s.close()
# Check for inputs
# (This gets a bit messy to run at the server because of
# all the outputs in the terminal.
# There should probably be a input client or something
# instead.)
def get_input(self, s):
while True:
s = input()
time.sleep(0.5)
if "plate" in s:
if self.is_num(s):
num = int(s[len(s) - 1])
if len(self.plate_list) >= num:
self.get_plate_info(num - 1)
else:
print("Plate not found")
elif "check plates" in s:
self.check_plates()
elif "check hotel" in s:
self.check_hotel()
elif "check lid" in s:
self.check_lid()
# Print and log hotel spot status
def check_hotel(self):
i = 0
for cur_spot in self.hotel_spots:
if cur_spot == 0:
check = "empty"
else:
check = "{Plate id: " + str(cur_spot) + "}"
str_ = "Hotel spot " + str(i + 1) + ": " + check
print(str_)
self.log("str_")
i += 1
# Print and log lid spot status
def check_lid(self):
i = 0
for cur_spot in self.lid_spots:
if cur_spot == -1:
check = "empty"
else:
check = "{Plate id: " + str(cur_spot) + "}"
str_ = "Lid spot " + str(i + 1) + ": " + check
print(str_)
self.log(str_)
i += 1
# Print and log plates in the system
def check_plates(self):
for cur_plate in self.plate_list:
str_ = "Plate id: " + str(cur_plate.id)
print(str_)
self.log(str_)
# Print info about certain plate
def get_plate_info(self, plate_num):
plate = self.plate_list[plate_num]
print("Plate id: {0}, status:".format(plate.id))
print("Current position: {0}".format(plate.path[plate.cur_step]))
# Check if not at last
print("Destination: {0}".format(plate.path[plate.cur_step + 1]))
# Helper to check for digit
def is_num(self, string):
return any(i.isdigit() for i in string)
# Return a list index of a specific value
# Including exception for non-existing
def get_plate_list_index(self, id):
i = 0
for p in self.plate_list:
if p.id == id:
return i
i += 1
# Get the index of a spot with the value -1 (a free spot)
def get_list_spot(self, plate_id, lista):
try:
return lista.index(plate_id)
except ValueError:
return -1
def __init__(self):
self.build_checkpoints = BuildProtocol()
self.robot_run = RoboRun()