def handleJSON(self, json_obj):
# handle scanner rover sensing message calls
if srv.SCAN_SENSE in json_obj:
scan_sense = json_obj[srv.SCAN_SENSE]
# update quota status
if srv.ZONE in scan_sense:
if scan_sense[srv.ZONE] is 0:
self.client.send(('{ "SEQ": 0, "ZONE": 1, "ACTION": 1 }').encode())
if srv.RED and srv.GREEN and srv.BLUE in scan_sense:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(json_obj)
text = re.sub('\"','',text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = srv.store(json.loads('{ "SCAN_SENSE.ZONE": ' + str(scan_sense[srv.ZONE]) + ' }'), json_obj, self.col)
# text = re.sub('\"','',text)
msg = status.StatusMsg(self.name, "SUCCESS", "COLOR", text)
self.sendToStatusThread(msg)
if json_obj[srv.SEQ_FIELD] <= 100 and json_obj[srv.SEQ_FIELD] >= 0:
self.client.send(str('{ "SEQ": 0, "ZONE": ' + str(1) + ' , "ACTION": 1 }').encode())
elif json_obj[srv.SEQ_FIELD] <= 200 and json_obj[srv.SEQ_FIELD] > 100:
self.client.send(str('{ "SEQ": 0, "ZONE": ' + str(2) + ' , "ACTION": 1 }').encode())
elif json_obj[srv.SEQ_FIELD] <= 300 and json_obj[srv.SEQ_FIELD] > 200:
self.client.send(str('{ "SEQ": 0, "ZONE": ' + str(3) + ' , "ACTION": 1 }').encode())
elif json_obj[srv.SEQ_FIELD] >= 301:
self.client.send(str('{ "SEQ": 0, "ZONE": 1 , "ACTION": 1 }').encode())
def run(self):
self.srv.db_init()
text = re.sub('\"', '', "on port %s" % self.srv.port)
msg = status.StatusMsg(self.name, "SERVER", "NONE", text)
self.sendToStatusThread(msg)
# Main server processing
while True:
msg = status.StatusMsg(self.name, "SERVER", "NONE",
"awaiting connection...")
self.sendToStatusThread(msg)
# Initialize and start server listening for clients
# run this on dropped connections
self.initClient()
msg = status.StatusMsg(self.name, "SERVER", "NONE", "connected!")
self.sendToStatusThread(msg)
# Handle messages
while True:
try:
# blocking read call
buf = self.readFromClient()
json_obj = None
# Attempt to parse the JSON
if defs.isjson(buf):
json_obj = json.loads(buf)
# handle the valid JSON object
self.handleJSON(json_obj)
else:
msg = status.StatusMsg(
self.name, "ERROR", "BAD_JSON",
"Message is not json object type")
self.sendToStatusThread(msg)
except (ValueError, ConnectionError, KeyboardInterrupt) as err:
self.srv.reset()
self.srv.db.clean_db()
text = re.sub('\"', '', "Caught Exception " + str(err))
msg = status.StatusMsg(self.name, "ERROR", "EXCEPTION",
text)
self.sendToStatusThread(msg)
break
def handleJSON(self, json_obj):
# do whatever with the incoming data...
if not DELIV_NAV in json_obj:
return
deliv_nav = json_obj[DELIV_NAV]
# update rover status
if STATUS and MESSAGE in deliv_nav:
text = "Data being stored: " + json.dumps(json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.srv.db.deliv_nav, "STORE", "COLOR",
text)
self.sendToStatusThread(msg)
text = self.srv.store(
self.srv.db.deliv_nav_col,
json.loads('{ "DELIV_NAV.STATUS": { "$exists": true } }'),
json_obj, self.srv.db.deliv_nav)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "SUCCESS", "STATUS", text)
self.sendToStatusThread(msg)
# update position
elif srv.X and srv.Y in deliv_nav:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(
json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = self.srv.store(
json.loads('{ "DELIV_NAV.X": { "$exists": true } }'), json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "SUCCESS", "LOC", text)
self.sendToStatusThread(msg)
# update spped and direction
elif srv.RIGHT_DIR and srv.LEFT_DIR and srv.RIGHT_SPEED and srv.LEFT_SPEED in deliv_nav:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(
json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = srv.store(
json.loads('{ "DELIV_NAV.RIGHT_DIR": { "$exists": true } }'),
json_obj, self.col)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "SUCCESS", "SPEED", text)
self.sendToStatusThread(msg)
if srv.STATUS in deliv_nav:
if deliv_nav[srv.STATUS] is 0:
# send message for next action (FWD, BACKWARD, etc)
#deliv_nav_rtrn_msg = srv.retrieve(self.seq_num, self.col)
srv.send_msg(self.client, srv.DELIV_NAV_DEFAULT_ACTION)
self.seq_num += 1
return
def readFromClient(self):
buf = ""
# read data until we see the '!' delimeter
while delim not in buf:
try:
buf += self.srv.recvmsg()
except ConnectionError as err:
raise ConnectionError(err)
# if *HELLO* seen scrap the data
if buf is WIFLY_INIT_MSG:
buf = ""
break
buf = buf[:-1]
msg = status.StatusMsg(self.name, "RECVD", "NONE",
"Received msg: %s" % buf)
self.sendToStatusThread(msg)
return buf
def readFromClient(self):
buf = ""
# read data until we see the '!' delimeter
while srv.DELIM not in buf:
self.msg_length = len(buf)
data = srv.recv_msg(self.client, self.msg_length)
if not data:
raise ConnectionError('Client not connected, Reconnecting...')
buf += data
# if *HELLO* seen scrap the data
if srv.init_msg(buf) is True:
buf = ""
break
buf = buf[:-1]
text = re.sub('\"', '', srv.get_msg(srv.RECV, buf))
msg = status.StatusMsg(self.name, "RECVD", "NONE", text)
self.sendToStatusThread(msg)
# remove delimeter to create JSON object
return buf