def run(self):
log.info('rtk thread: start')
# threads
self.server = ServerThread(self.listen_port)
self.controller = ControlThread(self.control_port, self.got_command_cb)
# station_mode 指基站的模式，本地的模式与之相反
if self.station_mode == 'server':
# 基站为 server, 本地为 client
self.station = StationClientThread(self.name, self.config,
self.got_data_cb,
self.update_status_cb)
else:
# 基站为 client, 本地为 server
self.station = StationServerThread(self.name, self.config,
self.got_data_cb,
self.update_status_cb)
self.server.start()
self.controller.start()
self.station.start()
# wait
while self.running and self.server.running and self.station.running:
time.sleep(2)
# quit & clean up
self.stop_thread('controller', self.controller)
self.stop_thread('station', self.station)
self.stop_thread('server', self.server)
self.update_status_cb(RtkStatus.S_TERMINATED)
log.info('rtk thread: bye')
self.running = False
def run(self):
log.info('rtk thread: start')
# threads
self.server = ServerThread(self.listen_port)
self.controller = ControlThread(self.control_port, self.got_command_cb)
# station_mode 指基站的模式，本地的模式与之相反
if self.station_mode == 'server':
# 基站为 server, 本地为 client
self.station = StationClientThread(self.name, self.config,
self.got_data_cb, self.update_status_cb)
else:
# 基站为 client, 本地为 server
self.station = StationServerThread(self.name, self.config,
self.got_data_cb, self.update_status_cb)
self.server.start()
self.controller.start()
self.station.start()
# wait
while self.running and self.server.running and self.station.running:
time.sleep(2)
# quit & clean up
self.stop_thread('controller', self.controller)
self.stop_thread('station', self.station)
self.stop_thread('server', self.server)
self.update_status_cb(RtkStatus.S_TERMINATED)
log.info('rtk thread: bye')
self.running = False
class RtkThread(threading.Thread):
def __init__(self, name, config, update_status_cb):
"""初始化
Args:
name (str): rtk 线程名
config (Entry): 配置 dict
update_status_cb (Callable[[str], None]): 更新差分状态的回调函数
"""
super().__init__()
self.name = name
self.update_status_cb = update_status_cb
self.server = None
self.controller = None
self.station = None
self.running = True
self.config = config
self.station_mode = config.station_mode
self.listen_port = config.listen_port
self.control_port = config.control_port
self.rtk_filter = config.filter
def got_data_cb(self, data):
"""接收到差分数据的回调函数
Args:
data (bytes): 收到的数据包
"""
self.server.dispatcher.data_queue.put(data)
self.update_status_cb(None)
def got_command_cb(self, command):
"""接收到来自控制端口的指令的回调函数
Args:
command (bytes): 待处理的命令
"""
if command == b'reset server':
old_server = self.server
self.server = ServerThread(self.listen_port)
old_server.running = False
self.server.start()
elif command == b'list':
self.controller.msg_queue.put('client count: %d\r\n' %
len(self.server.dispatcher.clients))
for _id, sender in self.server.dispatcher.clients.copy().items():
self.controller.msg_queue.put(
'%d: %s, %d\r\n' %
(sender.sender_id, sender.address, sender.send_count))
elif command.startswith(b'send:') and len(command) > len('send:'):
self.station.send(command[len('send:'):])
def stop_thread(self, name, thread_to_stop):
"""结束指定线程
Args:
name (str): 要结束的线程名，名字仅用于 log
thread_to_stop (threading.Thread): 要结束的线程
"""
try:
thread_to_stop.running = False
thread_to_stop.join()
except Exception as e:
log.error('rtk thread: failed to stop thread %s: %s' % (name, e))
def run(self):
log.info('rtk thread: start')
# threads
self.server = ServerThread(self.listen_port)
self.controller = ControlThread(self.control_port, self.got_command_cb)
# station_mode 指基站的模式，本地的模式与之相反
if self.station_mode == 'server':
# 基站为 server, 本地为 client
self.station = StationClientThread(self.name, self.config,
self.got_data_cb,
self.update_status_cb)
else:
# 基站为 client, 本地为 server
self.station = StationServerThread(self.name, self.config,
self.got_data_cb,
self.update_status_cb)
self.server.start()
self.controller.start()
self.station.start()
# wait
while self.running and self.server.running and self.station.running:
time.sleep(2)
# quit & clean up
self.stop_thread('controller', self.controller)
self.stop_thread('station', self.station)
self.stop_thread('server', self.server)
self.update_status_cb(RtkStatus.S_TERMINATED)
log.info('rtk thread: bye')
self.running = False
class RtkThread(threading.Thread):
def __init__(self, name, config, update_status_cb):
"""初始化
Args:
name (str): rtk 线程名
config (dict): 配置 dict
update_status_cb (Callable[[str], None]): 更新差分状态的回调函数
"""
super().__init__()
self.name = name
self.update_status_cb = update_status_cb
self.server = None
self.controller = None
self.station = None
self.running = True
self.config = config
self.station_mode = config['stationMode'].lower().strip()
if self.station_mode != 'server' and self.station_mode != 'client':
raise Exception('Unrecognized station mode "%s". Should be "server" or "client". %s' %
self.station_mode)
if self.station_mode == 'server':
self.station_ip_address = config['stationIpAddress']
else:
self.station_ip_address = None
self.station_port = config['stationPort']
self.listen_port = config['listenPort']
self.control_port = config['controlPort'] if 'controlPort' in config.keys() else None
self.rtk_filter = config['filter'] if 'filter' in config.keys() else None
if not isinstance(self.rtk_filter, list):
self.rtk_filter = None
def got_data_cb(self, data):
"""接收到差分数据的回调函数
Args:
data (bytes): 收到的数据包
"""
self.server.dispatcher.data_queue.put(data)
self.update_status_cb(None)
def got_command_cb(self, command):
"""接收到来自控制端口的指令的回调函数
Args:
command (bytes): 待处理的命令
"""
if command == b'reset server':
old_server = self.server
self.server = ServerThread(self.listen_port)
old_server.running = False
self.server.start()
elif command == b'list':
self.controller.msg_queue.put('client count: %d\r\n' % len(self.server.dispatcher.clients))
for _id, sender in self.server.dispatcher.clients.copy().items():
self.controller.msg_queue.put('%d: %s, %d\r\n' %
(sender.sender_id, sender.address, sender.send_count))
elif command.startswith(b'send:') and len(command) > len('send:'):
self.station.send(command[len('send:'):])
def stop_thread(self, name, thread_to_stop):
"""结束指定线程
Args:
name (str): 要结束的线程名，名字仅用于 log
thread_to_stop (threading.Thread): 要结束的线程
"""
try:
thread_to_stop.running = False
thread_to_stop.join()
except Exception as e:
log.error('rtk thread: failed to stop thread %s: %s' % (name, e))
def run(self):
log.info('rtk thread: start')
# threads
self.server = ServerThread(self.listen_port)
self.controller = ControlThread(self.control_port, self.got_command_cb)
# station_mode 指基站的模式，本地的模式与之相反
if self.station_mode == 'server':
# 基站为 server, 本地为 client
self.station = StationClientThread(self.name, self.config,
self.got_data_cb, self.update_status_cb)
else:
# 基站为 client, 本地为 server
self.station = StationServerThread(self.name, self.config,
self.got_data_cb, self.update_status_cb)
self.server.start()
self.controller.start()
self.station.start()
# wait
while self.running and self.server.running and self.station.running:
time.sleep(2)
# quit & clean up
self.stop_thread('controller', self.controller)
self.stop_thread('station', self.station)
self.stop_thread('server', self.server)
self.update_status_cb(RtkStatus.S_TERMINATED)
log.info('rtk thread: bye')
self.running = False