def Initialize(port, functionMap={}, asyncHandler=None):
'''
Initializes BlackBoard with the corresponding parameters.
:param int port: The port through which BlackBoard will communicate with this module.
:param dictionary functionMap: A dictionary containing **key:value** pairs, where the *key* is the name of a command received (a string),
and the *value* is either a tuple containing a function as a first element and a boolean as a second element, or a function.
The function in both cases is the function that is going to execute the specified command and receives on object of type :class:`Command` (See :ref:`Creating a command handler <creating_a_command_handler>`).
The boolean value indicates whether the execution of that command should be synchronous (on the same thread) or asynchronous,
usually synchronous execution is preferred for fast commands that can answer almost immediately and asynchronous for commands that might take a little time.
When the value is only a function, by default the execution is synchronous. *functionMap* can also contain an entry with a string containing only an asterisk,
meaning that would be the handler in case no other handler is found for a specific command.
.. note::
Notice that although functionMap can include a wildcard handler and this might seem like the module could answer
anything, BlackBoard will only send commands that are registered under this module's configuration.
:param function asyncHandler: A function that would handle the response of commands when sent with the method :func:`Send`
instead of using :func:`SendAndWait`. This means the execution of a program that sends a command could continue
and an asynchronous handler would handle the response when one is received.
.. note::
Notice that the asyncHandler functionality could also be achieved using a :class:`ParallelSender` object,
but it has other implications.
'''
global _executors, _connMan, _parser, _p, _initialized, _ready
_executors = {
'busy': (lambda x: Response('busy'), False),
'ready': (_isReady, False),
'alive': (lambda x: Response('alive', True), False)
}
for m in functionMap:
if isinstance(functionMap[m], types.FunctionType):
_executors[m] = (functionMap[m], False)
elif isinstance(functionMap[m], tuple):
_executors[m] = functionMap[m]
else:
print 'Element in function map is not a function nor a correct tuple: ' + repr(
functionMap[m])
_connMan = ConnectionManager(port)
_parser = CommandParser(asyncHandler)
_p = threading.Thread(target=_MainThread)
_p.daemon = True
_initialized = True
def Parse(cls, s):
r = Response.Parse(s)
if not (r and r.name == 'read_var'):
return r
var = SharedVar(r)
m = SharedVar._rx.match(var.params)
if not m:
print 'read_var received but failed to parse:'
print var.params
return None
var.svType = m.group('type') + ('[]' if m.group('array') else '')
var.size = -1 if not m.group('size') else int(m.group('size'))
var.varName = m.group('name')
var.data = m.group('data')
var.report = m.group('report')
var.subscription = m.group('subscription')
var.writer = m.group('writer')
var.isNotification = not not var.report
var.data = SharedVar._ProcessReadVar(var)
return var
def _Execute(func, command):
try:
response = func(command)
except Exception as e:
print "Function '" + str(func) + "' crashed."
print 'ERROR: ' + str(e)
response = Response.FromCommandObject(command, False, command.params)
if not isinstance(response, Response):
print "Function '" + str(func) + "' did not return a Response object."
response = Response.FromCommandObject(command, False, command.params)
resp = Response.FromCommandObject(command, response.successful,
response.params)
Send(resp)
def send_image_request(self, request):
camera_op = "CAMERA" in request.command # Indicates if a camera image was requested
data_out = str(
request.__dict__
) #pickle.dumps(request, protocol=2) # Explicitly requests Python2 protocol
while not self.connect_to_proxy(): # Open connection
time.sleep(1) # In case server is offline, continues to try
self.socket.send(data_out)
# Now wait for response
try:
if camera_op: # If it's an image, incrementally receive all the data chunks
data_in = b''
while True:
block = self.socket.recv(4096)
if block:
data_in += block
else:
break
else:
data_in = self.socket.recv(4096)
self.connection_close() # Close the connection
response = data_in
except EOFError:
response = Response(False, "Reception error")
return response
def get_camera_image(self):
img = self.nao.get_camera_image()
print(type(img))
retval, buff = cv.imencode(".jpg", img)
print(type(buff))
data = base64.b64encode(buff)
print(type(data))
return Response(True, data)
def api_request(self, method, path, params=[], data=""):
try:
self.connection.send_message(
Request(method, path, params, data).encode())
sresp = self.connection.receive_message()
# Check if client cliosing connection
if sresp.type == CLOSE_MESSAGE:
if self.onclose_callback != None:
self.onclose_callback()
return None
resp = Response()
resp.decode(sresp.data)
return resp
except socket.error:
if self.onclose_callback != None:
self.onclose_callback()
return None
def _isReady(c):
global _ready, _readyLock
_readyLock.acquire()
ready = _ready
_readyLock.release()
return Response('ready', ready)
def add_post(self, request):
user = request.user
# user = endpoints.get_current_user()
# user = handlers.BaseRequestHandler.current_user()
if user is None:
raise endpoints.UnauthorizedException('Invalid token.')
resp = services.ApiUtils.add_post(user, request.title, request.quote,
request.user_anonymous,
request.provider, request.url,
request.image)
return Response(success=resp)
def add_comment(self, request):
author = request.author
# user = endpoints.get_current_user()
# user = handlers.BaseRequestHandler.current_user()
resp = services.ApiUtils.add_comment(
user=author,
quoteid=request.post_id,
text=request.text,
provider=request.provider,
user_anon=request.author_anonymous)
return Response(success=resp)
def _sendAck(self):
ack = Response(typeMessage=MessageType.ACK,
messageId=self._messageId,
token=self._token)
ack.setCode(ResponseCode.EMPTY)
self._sock.sendto(ack.getHeader() + ack.getTokenBytes(),
(self._ip, self._port))
async def read(self,
websocket: websockets.WebSocketClientProtocol) -> None:
"""Asynchronously reads responses from the OBS websocket."""
try:
while True:
msg = await websocket.recv()
data = json.loads(msg)
if self.debug:
print(data)
self.responses.append(Response(data, self.obs))
except asyncio.CancelledError:
return
def _parsingThread(self):
while True:
data = BB._incomingMessages.get()
el = SharedVar.Parse(data)
if el and el.isNotification:
handler = None
BB._subscriptionHandlersLock.acquire()
if el.varName in BB._subscriptionHandlers:
handler = BB._subscriptionHandlers[el.varName]
BB._subscriptionHandlersLock.release()
if not handler:
print 'ERROR: No handler for shared variable: ' + el.varName
continue
try:
handler(el)
except:
print 'Handler for shared var: "' + el.varName + '" crashed.'
continue
if not el:
el = Response.Parse(data)
if el:
print "Something that wasn't supposed to happen happened"
if el:
BB._commandsLock.acquire()
if el in BB._sentCommands:
BB._responsesLock.acquire()
BB._receivedResponses[el] = el
BB._responsesLock.release()
elif self._asyncHandler:
self._asyncHandler(el)
else:
print 'Response without awaiting command: ' + repr(el)
BB._commandsLock.release()
continue
el = Command.Parse(data)
if el:
BB._receivedCommands.put(el)
continue
print 'Invalid message received: ' + data + '_len(' + str(
len(data)) + ')'
def route_request(self, request):
if request.command == "PING":
response = 5
elif request.command == "CAMERA":
response = self.get_camera_image()
elif request.command == "LED":
response = self.set_led_color(request.parameters)
elif request.command == "LISTEN":
response = self.listen_for_words(request.parameters)
elif request.command == "STAND":
response = self.standup()
elif request.command == "SIT":
response = self.sitdown()
elif request.command == "SAY":
response = self.say(request.parameters)
elif request.command == "CLOSE":
response = Server.close()
else:
# Command not recognized
response = Response(False, "Invalid command code")
return response
def run (self): while not self.stopped(): # Wait for message msg = self.wsconnection.receive_message() # Check if client cliosing connection if msg.type == CLOSE_MESSAGE: self.stop() self.server.remove_client(self) return # Hendle message request = Request() resp = None if not request.decode(msg.data): resp = Response (400) else: if request.path in self.server.paths: data = self.server.paths[request.path](request.data) resp = Response (200, data) else: resp = Response (404) sresp = resp.encode() self.wsconnection.send_message(sresp)
def standup(self):
self.nao.standup()
return Response(True, None)
def ping(self):
return Response(True, t.time())
def close(self):
self.close_request = True
return Response(True, None)
def set_led_color(self, *params):
self.nao.set_led_color(params[0], params[1])
return Response(True, None)
def say(self, words):
self.nao.say(words)
return Response(True, None)
def sitdown(self):
self.nao.sitdown()
return Response(True, None)
def listen_for_words(self, vocabulary):
return Response(True, self.nao.listen_for_words(vocabulary))
