def connect_signalk(self):
print 'connect...'
connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socketio.emit(
'flush'
) # unfortunately needed to awaken socket for client messages
try:
connection.connect(('localhost', DEFAULT_PORT))
except:
socketio.sleep(2)
return
print 'connected'
self.client = LineBufferedNonBlockingSocket(connection)
self.client.send('{"method": "list"}\n')
self.client.flush()
self.poller = select.poll()
self.poller.register(connection, select.POLLIN)
t0 = time.time()
self.list_values = {}
while time.time() - t0 < 3:
self.client.recv()
line = self.client.readline()
if line:
self.list_values = line
return
self.client.socket.close()
self.client = False
class MyNamespace(Namespace):
def __init__(self, name):
super(Namespace, self).__init__(name)
socketio.start_background_task(target=self.background_thread)
self.client = False
self.polls = {}
def connect_signalk(self):
print 'connect...'
connection = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socketio.emit(
'flush'
) # unfortunately needed to awaken socket for client messages
try:
connection.connect(('localhost', DEFAULT_PORT))
except:
socketio.sleep(2)
return
print 'connected'
self.client = LineBufferedNonBlockingSocket(connection)
self.client.send('{"method": "list"}\n')
self.client.flush()
self.poller = select.poll()
self.poller.register(connection, select.POLLIN)
t0 = time.time()
self.list_values = {}
while time.time() - t0 < 3:
self.client.recv()
line = self.client.readline()
if line:
self.list_values = line
return
self.client.socket.close()
self.client = False
def background_thread(self):
print 'processing clients'
x = 0
polls_sent = {}
while True:
socketio.sleep(.25)
if self.client:
polls = {}
for sid in self.polls:
for poll in self.polls[sid]:
polls[poll] = True
t = time.time()
for message in polls:
if not message in polls_sent or \
t - polls_sent[message] > 1:
#print 'msg', message
self.client.send(message + '\n')
polls_sent[message] = t
self.client.flush()
events = self.poller.poll(0)
if not events:
continue
event = events.pop()
fd, flag = event
if flag & (select.POLLHUP | select.POLLERR | select.POLLNVAL) \
or not self.client.recv():
print 'disconnected'
self.client.socket.close()
socketio.emit('signalk_disconnect', self.list_values)
self.client = False
continue
while True:
line = self.client.readline()
if not line:
break
#print 'line', line
try:
#data = {'data': json.loads(line.rstrip())}
#print 'data', data
socketio.emit('signalk', line.rstrip())
except:
socketio.emit('log', line)
print 'error: ', line.rstrip()
break
else:
if self.polls:
self.connect_signalk()
if self.client:
socketio.emit('signalk_connect', self.list_values)
def on_signalk(self, message):
#print 'msg', message
self.client.send(message + '\n')
def on_signalk_poll(self, message):
#print 'message', message
if message == 'clear':
self.polls[request.sid] = {}
return
self.polls[request.sid][message] = True
#def on_disconnect_request(self):
# disconnect()
def on_ping(self):
emit('pong')
def on_connect(self):
#self.clients[request.sid] = Connection()
#print('Client connected', request.sid, len(self.clients))
print('Client connected', request.sid)
self.polls[request.sid] = {}
if self.client:
socketio.emit('signalk_connect', self.list_values)
def on_disconnect(self):
#client = self.clients[request.sid].client
#if client:
# client.socket.close()
del self.polls[request.sid]
if not self.polls:
self.client.socket.close()
self.client = False
print 'closed signalk client'
print('Client disconnected', request.sid, len(self.polls))
def nmea_bridge_process(pipe=False):
import os
sockets = []
watchlist = [
'ap.enabled', 'ap.mode', 'ap.heading_command', 'imu/pitch', 'imu/roll',
'imu/heading_lowpass', 'gps.source', 'wind.speed', 'wind.direction',
'wind.source'
]
def setup_watches(client, watch=True):
for name in watchlist:
client.watch(name, watch)
def on_con(client):
print 'nmea client connected'
if sockets:
setup_watches(client)
# we actually use a local connection to the server to simplify logic
print 'nmea try connections'
while True:
try:
client = SignalKClient(on_con, 'localhost', autoreconnect=True)
break
except:
time.sleep(2)
print 'nmea connected'
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setblocking(0)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
port = 10110
try:
server.bind(('0.0.0.0', port))
except:
print 'nmea_bridge: bind failed.'
exit(1)
print 'listening on port', port, 'for nmea connections'
server.listen(5)
max_connections = 10
READ_ONLY = select.POLLIN | select.POLLHUP | select.POLLERR
ap_enabled = 'N/A'
ap_mode = 'N/A'
ap_heading_command = 180
addresses = {}
cnt = 0
poller = select.poll()
poller.register(server, READ_ONLY)
fd_to_socket = {server.fileno(): server}
windspeed = 0
gps_source = wind_source = False
while True:
if sockets:
timeout = 100
else:
timeout = 10000
events = poller.poll(timeout)
while events:
event = events.pop()
fd, flag = event
sock = fd_to_socket[fd]
if sock == server:
connection, address = sock.accept()
if len(sockets) == max_connections:
connection.close()
else:
if not sockets:
setup_watches(client)
sock = LineBufferedNonBlockingSocket(connection)
sockets.append(sock)
print 'new connection: ', address
addresses[sock] = address
fd = sock.socket.fileno()
fd_to_socket[fd] = sock
poller.register(sock.socket, READ_ONLY)
elif (flag & (select.POLLHUP | select.POLLERR)) or \
(flag & select.POLLIN and not sock.recv()):
print 'lost connection: ', addresses[sock]
sockets.remove(sock)
# addresses.remove(sock)
if not sockets:
setup_watches(client, False)
poller.unregister(sock.socket)
fd = sock.socket.fileno()
del fd_to_socket[fd]
sock.socket.close()
# elif flag & select.POLLOUT:
# sock.flush()
# if not sock.out_buffer:
# poller.register(sock.socket, READ_ONLY)
for sock in sockets:
line = sock.readline()
if not line:
continue
if line[:6] == '$GPRMC':
if pipe and gps_source != 'internal':
data = line[7:len(line) - 3].split(',')
timestamp = float(data[0])
speed = float(data[6])
heading = float(data[7])
pipe.send(
{
'gps': {
'timestamp': timestamp,
'track': heading,
'speed': speed
}
}, False)
elif line[0] == '$' and line[3:6] == 'MVW':
if pipe and wind_source != 'internal':
winddata = wind.parse_nmea(line)
if winddata:
pipe.send({'wind': winddata}, False)
elif line[0] == '$' and line[3:6] == 'APB':
data = line[7:len(line) - 3].split(',')
if not ap_enabled:
client.set('ap.enabled', True)
if ap_mode != 'gps':
client.set('ap.mode', 'gps')
if abs(ap_heading_command - float(data[7])) > .1:
client.set('ap.heading_command', float(data[7]))
msgs = client.receive()
for name in msgs:
data = msgs[name]
value = data['value']
msg = False
if name == 'ap.enabled':
ap_enabled = value
elif name == 'ap.mode':
ap_mode = value
elif name == 'ap.heading_command':
ap_heading_command = value
elif name == 'imu/pitch':
msg = 'APXDR,A,%.3f,D,PTCH' % value
elif name == 'imu/roll':
msg = 'APXDR,A,%.3f,D,ROLL' % value
elif name == 'imu/heading_lowpass':
msg = 'APHDM,%.3f,M' % value
elif name == 'gps.source':
gps_source = value
elif name == 'wind.speed':
windspeed = value
elif name == 'wind.direction':
msg = 'APMWV,%.1f,R,%.1f,K,A' % (value, windspeed)
elif name == 'wind.source':
wind_source = value
if msg:
msg = '$' + msg + '*' + cksum(msg) + '\r\n'
for sock in sockets:
sock.send(msg)
sock.flush()