def start_controller(self, device):
while True:
try:
message_received = self.unix_server.read_data()
print(message_received)
sender_address = message_received["sender"]
print(sender_address)
if "PickAndPlace" in message_received:
response = self.call_pick_and_place(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
print("\n \n \n \n ok")
if "PickAndInsert" in message_received:
response = self.call_pick_and_insert(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "ScrewPickAndFasten" in message_received:
response = self.call_screw_pick_and_fasten(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "PickAndFlipAndPress" in message_received:
response = self.call_pick_and_flip_and_press(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "Move" in message_received:
position = message_received["Move"]
response = self.call_move(position, device)
print("\n \n \n \n \n " + str(position) +
"\n \n \n \n \n ")
if "REACHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
except (ConnectionResetError, OSError) as e:
print(e)
class W2Coordinator_Wrapper:
SERVER_ADDRESS = '/tmp/w2coordinator.sock'
def create_client(self):
self.unix_client = UnixClient(self.SERVER_ADDRESS)
def send_2_coordinator(self, message):
self.unix_client.send_data(str(message))
def read_from_robot_coordinator(self):
self.unix_client.read_data()
def connect_2_unix_server(self, server_address):
self.unix_client.connect_client(server_address)
class Robot3Coordinator_Wrapper:
COMPLETED_MESSAGE = "AT6_FINISHED"
SERVER_ADDRESS = '/tmp/robot3coordinator.sock'
def create_client(self):
self.unix_client = UnixClient(self.SERVER_ADDRESS)
def send_2_robot_coordinator(self, message):
self.unix_client.send_data(str(message))
def read_from_robot_coordinator(self):
self.unix_client.read_data()
def connect_2_unix_server(self, server_address):
self.unix_client.connect_client(server_address)
class RobotCtrl_Wrapper:
START_MESSAGE_PickAndPlace = '{"PickAndPlace": "STARTED","sender": "/tmp/at4.sock"}'
COMPLETED_MESSAGE_PickAndPlace = '{"PickAndPlace": "FINISHED","sender": "/tmp/at4.sock"}'
START_MESSAGE_PickAndInsert = '{"PickAndInsert": "STARTED","sender": "/tmp/at4.sock"}'
COMPLETED_MESSAGE_PickAndInsert = '{"PickAndInsert": "FINISHED","sender": "/tmp/at4.sock"}'
START_MESSAGE_ScrewPickAndFasten = '{"ScrewPickAndFasten": "STARTED","sender": "/tmp/at4.sock"}'
COMPLETED_MESSAGE_ScrewPickAndFasten = '{"ScrewPickAndFasten": "FINISHED","sender": "/tmp/at4.sock"}'
SERVER_ADDRESS = '/tmp/robot1ctrl.sock'
def create_client(self):
self.unix_client = UnixClient(self.SERVER_ADDRESS)
def send_2_robotctrl(self, message):
self.unix_client.send_data(message)
def read_from_robot(self):
self.unix_client.read_data()
def connect_2_unix_server(self, server_address):
self.unix_client.connect_client(server_address)
def create_client(self):
self.unix_client = UnixClient(self.SERVER_ADDRESS)
class RobotController:
SERVER_ADDRESS = "/tmp/robot2ctrl.sock"
def __init__(self):
self.unix_server = UnixServer(self.SERVER_ADDRESS)
self.unix_server.start()
print("\n \n Unix Server of Robot Controller has just started \n \n")
#########################################################
# CALL MICROSERVICES
#########################################################
def call_pick_and_place(self, device):
pickandplace = PickAndPlace()
return pickandplace.start_working(device) # pick and place service
def call_pick_and_insert(self, device):
pickandinsert = PickAndInsert()
return pickandinsert.start_working(device) # pick and insert service
def call_screw_pick_and_fasten(self, device):
screwpickandfasten = ScrewPickAndFasten()
return screwpickandfasten.start_working(
device) # screw pick and fasten service
def call_pick_and_press(self, device):
return "screw pick and press service " # pick and press service
def call_move(self, message, device):
move = Move()
return move.start_working(message, device) # move service
def call_pick_and_flip_and_press(self, device):
pickandflipandpress = PickAndFlipAndPress()
return pickandflipandpress.start_working(
device) # pick and flip and press service
def stop_controller(self):
return " ad"
def wrong_message_response(self):
return "wrong messsage received"
@staticmethod
def call_microservice(self, service):
switcher = {
"pick_and_place": self.call_pick_and_place(),
"pick_and_insert": self.call_pick_and_insert(),
"screw_pick_And_fasten": self.call_screw_pick_and_fasten(),
"pick_and_press": self.call_pick_and_press(),
"move": self.call_move(),
"pick_and_flip_press": self.call_pick_and_flip_press(),
}
return switcher.get(service, self.wrong_message_response())
def start_controller(self, device):
while True:
try:
message_received = self.unix_server.read_data()
print(message_received)
sender_address = message_received["sender"]
print(sender_address)
if "PickAndPlace" in message_received:
response = self.call_pick_and_place(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
print("\n \n \n \n ok")
if "PickAndInsert" in message_received:
response = self.call_pick_and_insert(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "ScrewPickAndFasten" in message_received:
response = self.call_screw_pick_and_fasten(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "PickAndFlipAndPress" in message_received:
response = self.call_pick_and_flip_and_press(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "Move" in message_received:
position = message_received["Move"]
response = self.call_move(position, device)
print("\n \n \n \n \n " + str(position) +
"\n \n \n \n \n ")
if "REACHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
except (ConnectionResetError, OSError) as e:
print(e)