def listener(controllers, route, ip, port):
server = Server(ip, port)
server.acceptConnection()
integration_requests = 0
print("Started listening to incoming messages ...")
while True:
# blocks until a message is received
msg = server.receiveMessage()
info = json.loads(msg)
id = ''
if 'id' in info:
id = info["id"]
controller = getController(id, controllers)
print("RECEIVED: %s" % (msg))
if (controller != -1):
# handle received messages
if (info["type"] == msg_resources.MsgType.MOVEMENT.value):
messages.handleMovementMessage(info, controller)
elif (info["type"] == msg_resources.MsgType.SPEED_ROTATION.value):
messages.handleSpeedRotationMessage(info, controller)
elif (info["type"] ==
msg_resources.MsgType.INTEGRATION_REQUEST.value):
reply = messages.getRejectedMessage(id)
controller.send_message(reply)
elif (info["type"] == msg_resources.MsgType.CALIBRATION.value):
messages.handleCalibrationMessage(info, controller)
else:
if (info["type"] == msg_resources.MsgType.INTEGRATION_REQUEST.value
):
integration_requests = integration_requests + 1
reply = messages.handleIntegrationRequestMessage(
info, controllers, route, integration_requests)
from server import Server
import json
import signal
import sys
server = Server()
server.acceptConnection()
def ctrl_z_handler(signal, frame):
global server
server.close()
sys.exit(0)
def handleMessage(data):
global server
if (data == "start"):
server.sendMessage("0")
else:
info = json.loads(data)
if ("move" in info):
print(info["move"])
server.sendMessage("ok")
signal.signal(signal.SIGINT, ctrl_z_handler)
i = True
while (i == True):
