def main():
configure_logger()
logging.info('Daemon started.')
time.sleep(3)
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind((HOST, PORT))
sock.listen(0)
logging.info('Listening on tcp://{}:{}'.format(HOST, PORT))
try:
next_id = 0
while True:
conn, addr = sock.accept()
logging.info('Connection from {}'.format(addr))
try:
# Read only one request
req = read(conn.recv)
req['id'] = next_id
next_id += 1
send(req)
resp = read()
send(resp, conn.sendall)
finally:
conn.close()
finally:
sock.close()
logging.info('Daemon exitting gracefully.')
def send_to_key_server(message):
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((common.HOST, common.SERVER_PORT))
common.send(s, message)
rec = common.receive(s)
s.close()
return rec
def history_order(socket):
request = order_pb2.History_Order_Request()
common.send(socket, common_pb2.HISTORY_ORDER, request)
(protocol, data) = common.get(socket)
response = order_pb2.History_Order_Response()
response.ParseFromString(data)
print(response)
def logout(socket):
request = washer_pb2.Logout_Request()
common.send(socket, common_pb2.LOGOUT, request)
(_, body) = common.get(socket)
if body:
response = washer_pb2.Logout_Response()
response.ParseFromString(body)
print(response)
def order_detail(socket):
request = order_pb2.Order_Detail_Request()
request.order_id = "58bfabef7f439e2303a20426"
common.send(socket, common_pb2.ORDER_DETAIL, request)
(protocol, data) = common.get(socket)
response = order_pb2.Order_Detail_Response()
response.ParseFromString(data)
print(response)
def cancel_order(socket):
request = order_pb2.Cancel_Order_Request()
request.order_id = "58bfad717f439e23288ac4e2"
common.send(socket, common_pb2.CANCEL_ORDER, request)
(protocol, data) = common.get(socket)
response = order_pb2.Cancel_Order_Response()
response.ParseFromString(data)
print(response)
def stop_work(socket):
request = washer_pb2.Stop_Work_Request()
common.send(socket, common_pb2.STOP_WORK, request)
body = common.get(socket)
if body:
(protocol, data) = body
response = washer_pb2.Stop_Work_Response()
response.ParseFromString(data)
print(response)
def onData(imgMsg):
img = bridge.imgmsg_to_cv2(imgMsg, 'bgr8')
img = cv.resize(img, (640, 480))
jpgImg = cv.imencode('.jpg', img)[1]
data = np.array(jpgImg)
send(s, dataInfo, data, 'array')
dataInfo['sequence'] += 1
dataInfo['timestamp'] += 1
def order_feedback(socket):
print("protocol: order_feedback")
request = order_pb2.Order_Feedback_Request()
request.order_id = "58bfabef7f439e2303a20426"
request.score = 5
common.send(socket, common_pb2.ORDER_FEEDBACK, request)
(protocol, data) = common.get(socket)
response = order_pb2.Order_Feedback_Response()
response.ParseFromString(data)
print(response)
def main():
req = json.load(sys.stdin)
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((HOST, PORT))
send(req, sock.sendall)
resp = read(sock.recv)
print(json.dumps(resp, indent=4))
def get_near_washer(socket):
pb = washer_pb2.Near_Washer_Request()
pb.city_code = 179
pb.longitude = 120.21937542
pb.latitude = 30.25924446
common.send(socket, washer_pb2.NEAR_WASHER, pb)
body = common.get(socket)
if body:
resp = washer_pb2.Near_Washer_Response()
resp.ParseFromString(body)
print(resp)
def request_authcode(socket):
requestAuthcode = washer_pb2.Request_Authcode_Request()
requestAuthcode.phone = WASHER_PHONE
requestAuthcode.signature = 'signature'
common.send(socket, common_pb2.REQUEST_AUTHCODE, requestAuthcode)
(protocol, body) = common.get(socket)
if body:
raResponse = washer_pb2.Request_Authcode_Response()
raResponse.ParseFromString(body)
print('request_authcode response:{!r}'.format(raResponse))
return raResponse.authcode
return False
def insidethenout():
zero()
for i in range(4):
j = (i + 1) * 2
k = 3 - i
for z in range(j):
for y in range(j):
for x in range(j):
common.grid(x + k, y + k, z + k, 1)
common.send()
shifty.execute()
if i != 4:
zero()
def outsidethenin():
fill()
for i in range(5):
j = (4 - i) * 2
k = i
for z in range(j):
for y in range(j):
for x in range(j):
common.grid(x + k, y + k, z + k, 1)
common.send()
shifty.execute()
if i != 4:
zero()
def fillfrombottom():
maxz = 0
for x in range(8):
for y in range(8):
for z in range(8):
if common.gridfindstate(x, y, z) == 1:
maxz = z
for z2 in range(8):
if z2 < maxz:
common.grid(x, y, z2, 1)
maxz = 0
common.send()
shifty.execute()
def fresh_location(socket):
pb = washer_pb2.Fresh_Location_Request()
pb.longitude = 120.21937542
pb.latitude = 30.25924446
pb.city_code = 179
common.send(socket, common_pb2.FRESH_LOCATION, pb)
(protocol, body) = common.get(socket)
if body:
resp = washer_pb2.Fresh_Location_Response()
resp.ParseFromString(body)
print('fresh_location result:')
print(resp.error_code)
def layerbylayer():
for z in range(8):
for y in range(8):
for x in range(8):
common.grid(x, y, z, 1)
common.send() # Has a sleep within it
shifty.execute()
time.sleep(1)
for j in range(8):
for i in range(8):
common.grid(j, i, z, 0)
common.send()
shifty.execute()
time.sleep()
def main():
socket = connect()
if not common.__dict__.has_key(sys.argv[1]):
raise Exception("Invalid request type")
req_type = common.__dict__[sys.argv[1]]
args = []
for pair in sys.argv[2:]:
pair_parts = pair.split(':', 1)
if len(pair_parts) == 1 or pair_parts[0] == 's':
args.append(pair_parts[-1])
elif pair_parts[0] == 'i':
args.append(int(pair_parts[1]))
send(socket, req_type, *args)
resp = recv_all(socket)
print resp
print "PAYLOAD SIZE: %d" % (len(resp['payload']),)
def staysame(self):
z = self.currentfreq
for x in range(8):
for y in range(8):
common.grid(x, y, z, 1)
common.send()
shifty.execute()
for x in range(8):
for y in range(8):
common.grid(x, y, z, 0)
common.send()
shifty.execute()
def login(socket):
washer = washer_pb2.Login_Request()
washer.phone = WASHER_PHONE
washer.password = '******'
washer.signature = 'signature'
#washer.city_code = 179
#washer.longitude = 120.025806
#washer.latitude = 30.246185
common.send(socket, common_pb2.LOGIN, washer)
(protocol, body) = common.get(socket)
if body:
washerResponse = washer_pb2.Login_Response()
washerResponse.ParseFromString(body)
print(washerResponse)
return True
print('login failure')
def onVSlamData(msg):
# get json data
jsonData = {'observers': {}, 'marks': []}
jsonData['observer'] = {
'id': msg.key_frame.key_frame_id,
'location': {
'x': msg.key_frame.camera_pose.position.x,
'y': msg.key_frame.camera_pose.position.y,
'z': msg.key_frame.camera_pose.position.z
},
'orientation': {
'x': msg.key_frame.camera_pose.orientation.x,
'y': msg.key_frame.camera_pose.orientation.y,
'z': msg.key_frame.camera_pose.orientation.z,
'w': msg.key_frame.camera_pose.orientation.w
}
}
# for data in msg.key_frame:
# jsonData['observers'].append({
# 'location': {
# 'x': data.camera_pose.position.x,
# 'y': data.camera_pose.position.y,
# 'z': data.camera_pose.position.z
# },
# 'orientation': {
# 'x': data.camera_pose.orientation.x,
# 'y': data.camera_pose.orientation.y,
# 'z': data.camera_pose.orientation.z,
# 'w': data.camera_pose.orientation.w
# }
# })
for data in msg.map_points:
jsonData['marks'].append({
'id': data.card_id,
'code': data.code_id,
'current': data.current,
'location': {
'x': data.card_pose.position.x,
'y': data.card_pose.position.y,
'z': data.card_pose.position.z
}
})
send(s, dataInfo, json.dumps(jsonData), 'string')
dataInfo['sequence'] += 1
dataInfo['timestamp'] += 1
def fillfromtop():
for x in range(8):
x = 7 - x
for y in range(8):
minz = 7
y = 7 - y
for z in range(8):
z = 7 - z
if common.gridfindstate(x, y, z) == 1:
minz = z
for z2 in range(8):
z2 = 7 - z2
if z2 > minz:
common.grid(x, y, z2, 1)
minz = 0
common.send()
shifty.execute()
def outsidetheninhollow():
zero()
for i in range(5):
j = (4 - i) * 2
pastj = j - 2
k = i
pastk = k + 1
for z in range(j):
for y in range(j):
for x in range(j):
common.grid(x + k, y + k, z + k, 1)
for z in range(pastj):
for y in range(pastj):
for x in range(pastj):
common.grid(x + pastk, y + pastk, z + pastk, 0)
common.send()
shifty.execute()
zero()
def send_changes(self, line_no, action, payload=''):
'''Send changes in local file to the server
:param line_no: int, Line number to be changed (line numbers start from 0)
:param action: int, Editing control code
(valid values: common.EDIT_REPLACE, common.EDIT_INSERT, common.EDIT_DELETE)
:param payload: string, Value for the line (ignored if `action' is set to common.EDIT_DELETE)
:return: True, if the request was successfully sent
False, otherwise
The file and client ID relevant to this request are defined in instance variables `self.id' and `self.fn'
'''
if self.id is None:
logging.error(
"Yo, what's up! You have no ID and should request one "
"from the server before initiating the session (use: req_id())"
)
return False
if self.fn is None:
logging.error(
"You haven't requested any files from the server. SMH")
return False
msg = common.marshall(line_no, action, payload, self.id)
try:
logging.debug("Send the changes made in file '%s' to the server" %
self.fn)
common.send(self.sock, msg)
except socket.timeout as err:
logging.debug('Socket timeout error: %s' % err)
return False
except socket.error as err:
logging.debug('Socket error: %s' % err)
return False
except struct.error as err:
logging.debug('Struct un/packing error: %s' % err)
return False
except RuntimeError as err:
logging.debug('Runtime error: %s' % err)
return False
except KeyboardInterrupt:
logging.debug('Caught SIGINT')
return False
except BaseException as err:
logging.debug('Unknown error: %s' % err)
return False
return True
def register(socket):
authcode = verify_authcode(socket)
if not authcode:
return
pb = washer_pb2.Register_Request()
pb.phone = WASHER_PHONE
pb.authcode = authcode
pb.password = '******'
pb.password2 = 'iwasher'
pb.nick = 'iwasher'
pb.signature = 'signature'
pb.type = common_pb2.PERSONAL
common.send(socket, common_pb2.REGISTER, pb)
(protocol, body) = common.get(socket)
if body:
res = washer_pb2.Register_Response()
res.ParseFromString(body)
print(res)
print('finish register')
def verify_authcode(socket):
authcode = request_authcode(socket)
if not authcode:
print('get request authcode failure..')
return
verifyAuthcode = washer_pb2.Verify_Authcode_Request()
verifyAuthcode.phone = WASHER_PHONE
verifyAuthcode.authcode = authcode
verifyAuthcode.signature = 'signature'
common.send(socket, common_pb2.VERIFY_AUTHCODE, verifyAuthcode)
(protocol, body) = common.get(socket)
if body:
va = washer_pb2.Verify_Authcode_Response()
va.ParseFromString(body)
if va.error_code == common_pb2.SUCCESS:
print("verify authcode success:%s" % va.error_code)
return authcode
print('verify authcode failure')
return False
def start_work(socket):
result = login(socket)
if result is None:
print('login first')
return
request = washer_pb2.Start_Work_Request()
request.city_code = 179
request.longitude = 120.025806
request.latitude = 30.246185
common.send(socket, common_pb2.START_WORK, request)
print("start work, protocol:{}".format(common_pb2.START_WORK))
while True:
body = common.get(socket)
if not body:
break
else:
(protocol, data) = body
if protocol == common_pb2.START_WORK:
print("protocol: start_work")
response = washer_pb2.Start_Work_Response()
response.ParseFromString(data)
print(response)
print("protocol: fresh_location")
request = washer_pb2.Fresh_Location_Request()
request.city_code = 179
request.longitude = 120.025806
request.latitude = 30.246185
common.send(socket, common_pb2.FRESH_LOCATION, request)
break
elif protocol == common_pb2.ALLOCATE_ORDER:
print("protocol: allocate_order")
response = order_pb2.Allocate_Order_Push()
response.ParseFromString(data)
print(response)
print("protocol: processing_order")
request = order_pb2.Processing_Order_Request()
request.order_id = response.order_id
common.send(socket, common_pb2.PROCESSING_ORDER, request)
print("protocol: finish_order")
request = order_pb2.Finish_Order_Request()
request.order_id = response.order_id
common.send(socket, common_pb2.FINISH_ORDER, request)
elif protocol == common_pb2.FINISH_ORDER:
print("protocol: finish_order")
response = order_pb2.Finish_Order_Response()
response.ParseFromString(data)
print(response)
def insidethenouthollow():
zero()
for i in range(4):
j = (i + 1) * 2
pastj = j - 2
k = 3 - i
pastk = k + 1
for z in range(j):
for y in range(j):
for x in range(j):
common.grid(x + k, y + k, z + k, 1)
for z in range(pastj):
for y in range(pastj):
for x in range(pastj):
common.grid(x + pastk, y + pastk, z + pastk, 0)
common.send()
shifty.execute()
if i != 3:
zero()
def onGMapData(msg):
jsonData = {
'gmap': {
'info': {
'resolution': msg.info.resolution,
'width': msg.info.width,
'height': msg.info.height,
'location': {
'x': msg.info.origin.position.x,
'y': msg.info.origin.position.y,
'z': msg.info.origin.position.z
}
},
'data': msg.data
}
}
send(s, dataInfo, json.dumps(jsonData), 'string')
dataInfo['sequence'] += 1
dataInfo['timestamp'] += 1
def lowtohigh(self):
z = self.currentfreq
for i in range(6):
j = (i + 1) * 2
pastj = j - 2
pasterj = j - 4
k = 3 - i
pastk = k + 1
pasterk = k + 2
# Turn on the inside circle of a layer
if j > 10:
for x in range(8):
for y in range(8):
common.grid(x, y, z + 1, 0)
elif j > 8:
for x in range(8):
for y in range(8):
common.grid(x + k, y + k, z, 0)
common.grid(x + k, y + k, z + 1, 1)
else:
for x in range(j):
for y in range(j):
common.grid(x + k, y + k, z, 1)
common.grid(x + k, y + k, z + 1, 0)
# Turn off the past inside ring and turn on ring layer of the lower layer
if j < 10:
for x in range(pastj):
for y in range(pastj):
common.grid(x + pastk, y + pastk, z, 0)
common.grid(x + pastk, y + pastk, z + 1, 1)
if pasterj >= 0:
for x in range(pasterj):
for y in range(pasterj):
common.grid(x + pasterk, y + pasterk, z + 1, 0)
common.send()
shifty.execute()
def main():
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind((common.HOST, common.SERVER_PORT))
s.listen()
print("KeyServer started")
dictionary = {}
while True:
clientsocket, address = s.accept()
request = common.receive(clientsocket)
if request["type"] == 1:
port = request["port"]
public_key = request["public_key"]
dictionary[port] = public_key
print("Client registred: ", port, public_key)
common.send(clientsocket, {"status": "ok"})
else:
port = request["port"]
if port in dictionary:
common.send(clientsocket, {
"status": "ok",
"public_key": dictionary[port]
})
print("Request for", port, "-> ok, public key:",
dictionary[port])
else:
common.send(clientsocket, {"status": "not found"})
print("Request for", port, "-> not found")
clientsocket.close()
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import socket
from time import sleep
from common import send
import config
if '__main__' == __name__:
conn = ('localhost', 6969)
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(conn)
server.listen(1)
print("Waiting client")
(client, address) = server.accept()
config.serverside_login(client, config.hello)
while True:
msg = config.heartbeat_msg
print("Sending: " + msg)
send(client, msg)
sleep(config.heartbeat_interval)
