class TiVoClient(QObject):
"""Implements the TiVo version 1.1 TCP Remote Protocol."""
channel_changed = Signal(str)
error_message = Signal(str)
connection_error = Signal(str)
def __init__(self, ip):
super(TiVoClient, self).__init__()
self.socket = QTcpSocket(self)
# TiVos *always* serve on port 31339.
self.socket.connectToHost(ip, 31339)
self.socket.readyRead.connect(self.handle_read)
def send_command(self, command):
print(f'Sending {command}...')
# All commands are terminated with a carriage return. The end user
# shouldn't have to care about this detail.
command += "\r"
data = QByteArray(bytes(command, encoding='ascii'))
sent_bytes = self.socket.write(data)
data_len = len(data)
if sent_bytes != data_len:
error_string = "Network error: Not all of the data was sent.\n\n" \
f"Command: {command}\n" \
f"Number of bytes sent: {sent_bytes}\n" \
f"Expected: {data_len}"
self.connection_error.emit(error_string)
def handle_read(self):
"""Handles data received by the socket."""
# Grab the data from the socket.
data = self.socket.readAll().data()
# Remove whitespace from the data.
data = data.strip()
# Convert the data to a string.
data = data.decode('utf-8')
print(f"Received {data}")
# Parameterize the string.
data = data.split(' ')
if data[0] == "CH_STATUS":
self.channel_changed.emit(data[1])
elif data[0] == "CH_FAILED":
self.error_message.emit(data[1])
else:
self.error_message.emit(data[0])
def run(self):
tcpSocket = QTcpSocket()
if not tcpSocket.setSocketDescriptor(self.socketDescriptor):
self.error.emit(tcpSocket.error())
return
block = QByteArray()
outstr = QDataStream(block, QIODevice.WriteOnly)
outstr.setVersion(QDataStream.Qt_4_0)
outstr.writeUInt16(0)
outstr.writeQString(self.text)
outstr.device().seek(0)
outstr.writeUInt16(block.size() - 2)
msg = tcpSocket.readAll()
self.msg.emit(msg)
print(msg)
tcpSocket.write(block)
tcpSocket.disconnectFromHost()
tcpSocket.waitForDisconnected()
class Server(QTcpServer):
def __init__(self):
super(Server, self).__init__()
self.socket = QTcpSocket()
self.socket.readyRead.connect(self.read_receive_data)
self.socket.disconnected.connect(self.disconnect_socket)
def read_receive_data(self):
data = self.socket.readAll()
utf_str = data.data().decode()
# format to json
json_data = json.loads(utf_str)
event_dispatcher.emit_event(event_key.RECV_LOG, json_data)
def disconnect_socket(self):
event_dispatcher.emit_event(event_key.DISCONNECT_CLIENT, "null")
def incomingConnection(self, socket_desc):
if not self.socket.setSocketDescriptor(socket_desc):
self.error.emit(self.socket.error())
print("faild create socket")
return
event_dispatcher.emit_event(event_key.CONNECT_CLIENT, "null")
class MantaSocket:
def __init__(self) -> None:
self.socket = QTcpSocket()
self.timer = QTimer()
self.timer.timeout.connect(self.client_listening)
self.timer.start(1000)
self.socket.readyRead.connect(self.read_data)
self.socket.disconnected.connect(self.client_socket_disconnected)
self.writeflag = 0
def client_listening(self):
if self.socket.state() == QAbstractSocket.ConnectedState:
pass
else:
self.socket.connectToHost('192.168.7.2', 2345)
if not self.socket.waitForConnected(200):
return
print('Connected!!!')
# self.write_data()
def read_data(self):
print("read!!!")
receive_data = self.socket.readAll()
if not receive_data.isEmpty():
# print(socketdata)
self.socket_data_analysis(receive_data)
def write_data(self):
# obj=bytes('hello'.encode())
# send_str=QByteArray(obj)
send_str = 'hello yeah world'
if self.writeflag:
self.socket.writeData(send_str, len(send_str))
def client_socket_disconnected(self):
print('Socket Disconnect!!!')
def socket_data_analysis(self, receive):
'''
pos_left,pos_right,pos_left_roll,pos_right_roll,dpos_left,dpos_right,dpos_left_roll,dpos_right_roll,pos_behind_left,pos_behind_right,
roll,yaw,left_A,right_A,yaw_desire,pitch,left_behind,right_behind,pitch_desire,depth_c,depth;
'''
# print(receive)
pos_str = "$POS"
pos_str_index = receive.indexOf(pos_str.encode())
aux_num = 0
data_index = 0
data_index = pos_str_index + (4 + 1)
aux_num = 5
pos_left = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
pos_right = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
pos_left_roll = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
pos_right_roll = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
dpos_left = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
dpos_right = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
dpos_left_roll = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
dpos_right_roll = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
pos_behind_left = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 5
pos_behind_right = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
roll = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
yaw = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
left_A = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
right_A = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
yaw_desire = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
pitch = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
left_behind = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
right_behind = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
pitch_desire = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 6
depth_c = receive.mid(data_index, aux_num).toFloat()[0]
data_index += aux_num + 1
aux_num = 7
depth = receive.mid(data_index, aux_num).toFloat()[0]
# Window UI Display
window.ui.pitch_label.setText(str(pitch))
window.ui.roll_label.setText(str(roll))
window.ui.yaw_label.setText(str(yaw))
window.ui.depth_label.setText(str(depth))
