def start_server():
init_state()
set_power_switch(False)
def handle_message(msg):
global last_client_message_time
last_client_message_time = time.time()
message_queue.put(msg)
# wait for a connection
class _Server(socketserver.StreamRequestHandler):
def handle(self):
debug("_Server.handle called")
global server
server = Server(handle_message, on_connection_open, on_connection_close)
self.server = server
self.server.request = self.request
self.server.open()
self.server.wait()
def finish(self):
if on_connection_close:
on_connection_close()
_server = socketserver.TCPServer((settings['HOST'], settings['PORT']), _Server)
global server_thread
server_thread = make_thread(_server.serve_forever, "socket server")
server_thread.start()
start_message_loop()
debug("serving on {0} {1}".format(settings['HOST'], settings['PORT']))
def initialize_hardware():
set_power_switch(on=True)
global motors_thread
motors_thread = make_thread(run_motors, "motors")
motors_thread.start()
global init_camera_thread
init_camera_thread = make_thread(run_init_camera, "camera")
init_camera_thread.start()
def on_connection_close():
debug("connection closing")
# send motors home
if motors is not None:
# leave A alone
# send B to its min so that it's upright
motor_b = motors['B']
motor_b_home = admin.motor_bounds()[1][0]
debug("sending motor " + repr(motor_b.name) + " home to " + repr(motor_b_home))
# send X, Y, Z to 0
for char in "XYZ":
motor = motors[char]
motor.stoppedMovingHandlers.remove(motorStoppedMovingHandler)
debug("sending motor " + repr(motor.name) + " home to 0")
move_motor(motor, 0)
# clean up
global finished
finished = True
if live_view_thread is not None:
debug("waiting for live view thread to join")
live_view_thread.join()
if motors_thread is not None:
debug("waiting for motors thread to join")
motor_movement_queue.put({})
motors_thread.join()
if monitor_thread is not None:
debug("waiting for monitor thread to join")
monitor_thread.join()
if message_thread is not None:
debug("waiting for message thread to join")
message_queue.put(DummyCloseConnection())
message_thread.join()
if motors is not None:
debug("shutting down motors")
motor_disposer_threads = []
def shutdown_motor(motor):
debug("waiting for motor " + repr(motor.name) + " to stop moving")
for _ in range(settings['MOTOR_MOVEMENT_TIMEOUT']):
if motor.isReady():
break
time.sleep(1)
else:
error("timed out waiting for motor " + repr(motor.name) + " to stop moving")
debug("disposing motor " + repr(motor.name))
motor.dispose()
for motor in motors.values():
thread = make_thread(shutdown_motor, "motor " + repr(motor.name) + " disposer", args=[motor])
thread.start()
motor_disposer_threads.append(thread)
for thread in motor_disposer_threads:
thread.join()
set_power_switch(on=False)
debug("done with life. comitting seppuku")
os._exit(0)