def run(self):
while self.alive:
time.sleep(0.2)
f = self.client_socket.makefile()
l = f.readline()
l = l.replace("\n", "")
command_recieved = COMMAND.decode_message(l)
self.mutex.acquire()
self.messages.append([self] + command_recieved)
self.mutex.release()
self.send_message(COMMAND.encode_message(COMMAND.RECIEVED, [command_recieved[0]]))
def logevent(self, module, message, priority=0):
if priority >= self.min_log_priority:
print(str(module).upper() + str(" - ") + str(message))
if self.server is not None:
for c in self.server.clients:
if c.type == ServerClient.ANDROID_DASHBOARD:
c.send_message(COMMAND.encode_message(COMMAND.LOG_ENTRY, [str(module).upper() + str(" - ") + str(message)]))
def run(self):
try:
while self.running:
time.sleep(0.2)
message_list = self.server.get_messages()#berichten ophalen van serverclients
for message in message_list:
client = message[0]#client is eerste in lijst
message.remove(client)#verwijderen uit lijst
if message[0] == COMMAND.IDENTIFY:#if en elsif om te achterhalen welk commando is gegeven
#kijken welk apparaat connect
if message[1] == "dashboard":
client.type = ServerClient.ANDROID_DASHBOARD
self.logger.logevent("SPINOS", "Connected - ANDROID_DASHBOARD", Logger.MESSAGE)
elif message[1] == "controller":
client.type = ServerClient.ANDROID_CONTROLLER
self.logger.logevent("SPINOS", "Connected - ANDROID_CONTROLLER", Logger.MESSAGE)
elif message[1] == "gamepad":
client.type = ServerClient.GAMEPAD_CONTROLLER
self.logger.logevent("SPINOS", "Connected - GAMEPAD_CONTROLLER", Logger.MESSAGE)
else:
client.type = ServerClient.UNKNOWN
self.logger.logevent("SPINOS", "Connected - UNKNOWN", Logger.WARNING)
elif message[0] == COMMAND.KILL:
#spider wordt uitegezet alle threads worden gestopt
self.logger.logevent("SPINOS", "KILLING SPIDER, OH NO!!!!!")
self.running = False
self.shutdown()
elif message[0] == COMMAND.TO_MANUAL:
#huidige mode alive false zodat threads stoppen
self.current_mode.set_alive(False)
self.mode = "manual"
#set mode naar manual besturing
SpinOS.logger.logevent("SPINOS", "Mode set to " + self.mode, Logger.MESSAGE)
self.current_mode = ManualMode(self.movementHandler, self.logger)
self.current_mode.alive = True
elif message[0] == COMMAND.TO_BALLOON_MODE:
#huidige mode alive false zodat threads stoppen
self.current_mode.set_alive(False)
self.mode = "balloon mode"
#set mode naar balloon mode
SpinOS.logger.logevent("SPINOS", "Mode set to " + self.mode, Logger.MESSAGE)
self.current_mode = BalloonMode(self.movementHandler, self.logger, self)
self.current_mode.alive = True
elif message[0] == COMMAND.TO_TEERBAL_MODE:
#huidige mode alive false zodat threads stoppen
self.current_mode.set_alive(False)
self.mode = "teerbal mode"
#mode naar teerbal zetten
SpinOS.logger.logevent("SPINOS", "Mode set to " + self.mode, Logger.MESSAGE)
self.current_mode = TeerbalMode(self.movementHandler,self.logger,self)
self.current_mode.alive = True
elif message[0] == COMMAND.TO_DANCE_MODE:
#huidige mode alive false zodat threads stoppen
self.current_mode.set_alive(False)
self.mode = "dance mode"
#dance mode aanzetten
SpinOS.logger.logevent("SPINOS", "Mode set to " + self.mode, Logger.MESSAGE)
self.current_mode = DanceMode(self.movementHandler, self.logger)
self.current_mode.set_alive(True)
elif message[0] == COMMAND.SEND_SENSOR_DATA:
data = self.MPU.sensorlogger.get_log()
encoded = COMMAND.encode_message(COMMAND.SEND_SENSOR_DATA, data)
client.send_message(encoded)
elif message[0] == COMMAND.SEND_ACCU_DATA:
data = self.serial.voltagelogger.get_log()
encoded = COMMAND.encode_message(COMMAND.SEND_ACCU_DATA, data)
client.send_message(encoded)
else:
command = message[0]
message.remove(command)
self.current_mode.process_command(command, message)
except Exception, e :
print e
self.shutdown()#als er een exception optreedt wordt de spin gedood
