def __init__(self, exceptIps=["0.0.0.0"]): """ Constructor """ self.__serverReader = [] self.__exceptIps = exceptIps self.__networkService = NetworkService() self.__app = qi.Application( url="tcp://" + Settings.naoHostName + ":" + str(Settings.naoPort) ) logging.info( "Connecting to %s", self.__app.url ) self.__app.start() self.__session = self.__app.session NAOCommand.startDefaultModules(self.__session)
def __handleData(self, data, addr): """ Handles received data :param data: Received data string :param addr: Remote address of received data :return: None """ # check for connect if data: if 'command' in data and 'commandArguments' in data: disconnect = False # handle build in commands if data['command'] == dataCommands.SYS_DISCONNECT: self.__sendSystemInfoData(data) disconnect = True elif data['command'] == dataCommands.SYS_GET_INFO: disconnect = not self.__server.send(data) elif data['command'] == dataCommands.SYS_SET_REQUIRED_DATA: self.__server.setRequiredData( data['commandArguments'] ) disconnect = not self.__sendSystemInfoData(data) # handle user command else: ret = NAOCommand.resolveCmd( data, self.__server, self.__session ) data = self.__server.createDataResponsePackage(data, ret) if self.__server.send(data): # also send system information disconnect = not self.__sendSystemInfoData(data) else: disconnect = True # handle protocol error else: logging.error( "Protocol error receiving %s", str(data) ) disconnect = not self.__sendSystemInfoData(data) # check if command was executed succesfuly if disconnect: logging.warning( "restarting server due to communication errors." ) self.__server.close(True)
def __handleData(self, data, addr):
'''
Handles recieved data
'''
# check for connect
if data:
if 'command' in data and 'commandArguments' in data:
disconnect = False
# handle build in commands
if data['command'] == dataCommands.SYS_DISCONNECT:
data = self.__server.createDataResponsePackage(data, True)
self.__server.send(data);
disconnect = True
elif data['command'] == dataCommands.SYS_GET_INFO:
data = self.__server.createDataResponsePackage(data, True)
disconnect = not self.__server.send(data)
elif data['command'] == dataCommands.SYS_SET_REQUIRED_DATA:
self.__server.setRequiredData( data['commandArguments'] )
data = self.__server.createDataResponsePackage(data, True)
disconnect = not self.__server.send(data)
# handle user
else:
ret = NAOCommand.resolveCmd( data, self.__server )
data = self.__server.createDataResponsePackage(data, ret)
disconnect = not self.__server.send(data)
# handle protocol error
else:
data = self.__server.createDataResponsePackage(data, False)
disconnect = not self.__server.send(data)
# check if command was successfully executed
if disconnect:
self.__server.close(True)
def __handleData(self, data, addr):
"""
Handles recieved data
"""
# check for connect
if data:
if "command" in data and "commandArguments" in data:
disconnect = False
# handle build in commands
if data["command"] == dataCommands.SYS_DISCONNECT:
data = self.__server.createDataResponsePackage(data, True)
self.__server.send(data)
disconnect = True
elif data["command"] == dataCommands.SYS_GET_INFO:
data = self.__server.createDataResponsePackage(data, True)
disconnect = not self.__server.send(data)
elif data["command"] == dataCommands.SYS_SET_REQUIRED_DATA:
self.__server.setRequiredData(data["commandArguments"])
data = self.__server.createDataResponsePackage(data, True)
disconnect = not self.__server.send(data)
# handle user
else:
ret = NAOCommand.resolveCmd(data, self.__server)
data = self.__server.createDataResponsePackage(data, ret)
disconnect = not self.__server.send(data)
# handle protocol error
else:
data = self.__server.createDataResponsePackage(data, False)
disconnect = not self.__server.send(data)
# check if command was successfully executed
if disconnect:
self.__server.close(True)
i += 2
return True
if __name__ == '__main__':
# set current working padth
path = os.path.dirname(sys.argv[0])
if not path:
path = str(os.getcwd())
sys.argv[0] = path + "/" + str(sys.argv[0])
os.chdir(path)
print "set working path from " + str(os.getcwd()) + " to " + str(path)
# parse settings
parseSettings(sys.argv[1:])
# create commands list
NAOCommand.addCmds()
servermanager = ServerManager()
# Endlosschleife
while (True):
servermanager.manage()
sleep(2)
print "ERROR: Program terminated"
return True
if __name__ == '__main__':
# parse settings
parseSettings();
logging.debug("Parsed command line options")
# set current working path
path = os.path.dirname(sys.argv[0])
if not path:
path = str(os.getcwd())
sys.argv[0] = path + "/" + str(sys.argv[0])
logging.debug("set working path from %s to %s", str(os.getcwd()), str(path))
os.chdir(path)
# create commands list
NAOCommand.addCmds()
servermanager = ServerManager()
# Endlosschleife
while(True):
if not servermanager.manage():
break;
sleep(5)
logging.error( "Terminated" )