def __init__(self):
GPIO.setmode(GPIO.BCM)
self.sensor_x = UltrasonicSensor(18, 24, GPIO)
self.sensor_z = UltrasonicSensor(17, 23, GPIO)
self.arduino = Arduino(arduino_device)
self.server = TcpServer()
self.eye = TargetDetection(True)
self.end_switch = EndSwitch(GPIO)
self.logger = Log.instance('Brain')
self.initial_distance_mm, _ = self.distances(z=False)
def run(self):
try:
server = TcpServer("localhost", 4444)
threading.Thread(target = server.listen).start()
while 1:
raw_input("Press Enter to continue...\n")
server.sendToClient("Server: send to Client")
except KeyboardInterrupt:
print "Shutdown requested...exiting\n"
except Exception:
traceback.print_exc(file=sys.stdout)
sys.exit(0)
def create_(self, ip, port, sockType):
# Check ip and port
server = None
if sockType == socktypes.TCP_SERVER:
server = TcpServer(port, ip)
elif sockType == socktypes.UDP_SERVER:
server = UdpServer(port, ip)
else:
logger.error("sockType not supported")
return 0, ""
_id = server.getId()
if self.serverDict.has_key(_id):
logger.error("server already exists")
del server
return 0, ""
if not server.start_():
return 0, ""
self.serverDict[_id] = server
logger.info("server create ok")
return _id, server.getAddress()
def StartTcpServer(self):
self.tcpServer = TcpServer()
self.tcpServer.StartListening(self.newConnection, self.Receive)
print("ready to socket !")
from threading import Thread
from TcpServer import TcpServer
from PrintHandler import PrintHandler
from GuiHandler import GuiHandler
from MapAnalysis import MapAnalysis
from RoverHandler import RoverHandler
from RTKHandler import RTKHandler
from MessageHandler import MessageHandler
RoverCon = TcpServer(9001, "Rover")
RoverCon.setAcceptAddress("0.0.0.0")
RoverCon.setMessageHandler(RoverHandler())
RoverThread = Thread()
RTKCon = TcpServer(9002, "RTK")
RTKCon.setAcceptAddress("0.0.0.0")
RTKCon.setMessageHandler(RTKHandler())
RTKThread = Thread()
GuiCon = TcpServer(9003, "GUI")
GuiCon.setAcceptAddress("0.0.0.0")
GuiCon.setMessageHandler(GuiHandler())
GuiThread = Thread()
#parsed_JSON_obj = ()
#parsed_JSON_obj = "[{\"conns\":[2,4],\"coord\":{\"lat\":56.67507440022754,\"long\":12.863477416073408},\"id\":1},{\"conns\":[1,3],\"coord\":{\"lat\":56.67501716123367,\"long\":12.862938208261255},\"id\":2},{\"conns\":[2,4],\"coord\":{\"lat\":56.67521716922783,\"long\":12.862889771317356},\"id\":3},{\"conns\":[3,1],\"coord\":{\"lat\":56.675154300977404,\"long\":12.863227111490545},\"id\":4}]"
rover_position = ""
parsed_JSON_obj = "[{\"conns\":[2,4],\"coord\":{\"lat\":56.66329672972045,\"long\":12.878284881888675},\"id\":1},{\"conns\":[1,3],\"coord\":{\"lat\":56.66324094333677,\"long\":12.87838877294243},\"id\":2},{\"conns\":[2,4],\"coord\":{\"lat\":56.66335448141366,\"long\":12.878455855505564},\"id\":3},{\"conns\":[3,1],\"coord\":{\"lat\":56.66337026074343,\"long\":12.87833033757488},\"id\":4}]"
#rover_position = (56.67515246104728,12.863372800241422)
#map_analysis = ""
#startSignal = False
from Epoll import Epoll from Events import * from Socket import Socket from Handle import Handle from EventLoop import EventLoop from TcpServer import TcpServer loop = EventLoop() server = TcpServer(loop) loop.loop()
