class EvalClient():
POSITIONS = ['1 2 3', '3 2 1', '2 3 1', '3 1 2', '1 3 2', '2 1 3']
ACTIONS = ['gun', 'sidepump', 'hair']
def __init__(self, host: str, port: int, controlMain):
self.controlMain = controlMain
self.server = (host, port)
self.encryptionHandler = EncryptionHandler(b'Sixteen byte key')
pass
def sendToEval(self,
positions=None,
action=None,
sync_delay=None,
quit=False):
if quit:
message = '# |logout| '
else:
message = '#' + self.POSITIONS[positions] + '|' + self.ACTIONS[
action] + '|' + '0.005'
message = self.encryptionHandler.encrypt_msg(message)
self.evalSocket.send(message)
if quit:
return
data = self.evalSocket.recv(1024).decode()
print('Received from server: ' + data)
def connectToEval(self):
self.evalSocket = socket.socket()
print(self.server)
self.evalSocket.connect(self.server)
from Util.encryption import EncryptionHandler
h = EncryptionHandler(b'Sixteen Byte Key')
message = "caleb"
em = h.encrypt_msg(message)
print(h.decrypt_message(em))
print(b"R\x9e\xc6!\x01\x05\xcf\xa6&\xac\x9dQ\xc8\x92\xe5\xb4".decode('utf8'))
class Ultra96Server:
# Tuple containing "host" and "port" values for ultra96 server
connection = ()
# Holds socket address and port for each dancer, tied to dancer id as key
clients = {}
# Class for handling AES encryption
encryptionhandler = None
# Holds last timestamps from the 3 dancers/laptops
currTimeStamps = {}
# Holds the last 10 recorded offsets from the 3 dancers
# 2d array containing 10 lists of 3 offsets from each dancer
last10Offsets = {}
# Used to iterate offset list from the back in order to update offsets
currIndexClockOffset = {}
# Holds average offsets for 3 dancers, calculated from last10Offsets
currAvgOffsets = {}
# Booleans to check if current moves have been received for each dancer
currentMoveReceived = {}
# Count to keep track of number of clock sync updates sent from each client
# in current rotation (1-10)
clocksyncCount = {}
offsetLock = threading.Lock()
timestampLock = threading.Lock()
moveRcvLock = threading.Lock()
# Initialize encryption handler and socket data + misc setup
def __init__(self, host:str, port:int, key:bytes):
self.connection = (host,port)
self.encryptionhandler = EncryptionHandler(key.encode())
# for _ in range(10):
# self.last10Offsets.append([None,None,None])
return
def updateTimeStamp(self, message : str, dancerID):
print("Evaluating move...")
print(f"time recorded by bluno:", {message})
#calculate relative time using offset
timestamp = float(message)
relativeTS = timestamp - self.currAvgOffsets[dancerID]
self.timestampLock.acquire()
self.currTimeStamps[dancerID] = relativeTS
self.timestampLock.release()
return
def broadcastMessage(self, message):
message = self.encryptionhandler.encrypt_msg(message)
for conn, addr in self.clients.values():
print("BROADCAST: ",conn)
conn.send(message)
def respondClockSync(self, message : str, dancerID, timerecv):
print(f"Received clock sync request from dancer, {dancerID}")
timestamp = message
print(f"t1 =",{timestamp})
conn, addr = self.clients[dancerID]
# response = str(timerecv) + "|" + str(time.time())
response = json.dumps({'command' : 'CS', 'message': str(timerecv) + '|' + str(time.time())})
conn.send(response.encode())
# Must be called after acquiring offsetlock
def updateAvgOffset(self):
for dancerID, offsetList in self.last10Offsets.items():
currSum = 0
numOffsets = 10
for offset in offsetList:
if offset is None:
numOffsets -= 1
continue
currSum += offset
if numOffsets == 0:
continue
self.currAvgOffsets[dancerID] = currSum/numOffsets
# Check if variance between 10 offsets in dancerID is too high.
# If so, force another 10 updates with the specific dancerID
def checkOffsetVar(self, dancerID):
conn,addr = self.clients[dancerID]
prevOffset = self.currAvgOffsets[dancerID]
self.updateAvgOffset()
clockDriftDetected = False
offsetDiff = 0
if not prevOffset is None:
offsetDiff = abs(self.currAvgOffsets[dancerID] - prevOffset)
clockDriftDetected = (offsetDiff > 5e-05)
varLast10 = variance(self.last10Offsets[dancerID])
print("VARIANCE FOR DANCER: ", dancerID, varLast10)
if varLast10 > 1e-05 or clockDriftDetected:
print("Offset variance too high: ",varLast10," or clock drift too high:",
offsetDiff, "Resyncing for Dancer: ", dancerID)
conn.send(self.encryptionhandler.encrypt_msg("sync"))
return
def updateOffset(self, message: str, dancerID):
self.offsetLock.acquire()
print(f"{dancerID} has received offsetlock")
self.last10Offsets[dancerID][self.currIndexClockOffset[dancerID]] = float(message)
self.currIndexClockOffset[dancerID] = (self.currIndexClockOffset[dancerID] - 1) % 10
print(f"{dancerID} is releasing offsetlock")
self.offsetLock.release()
if self.clocksyncCount[dancerID] != 10:
self.clocksyncCount[dancerID] += 1
if self.clocksyncCount[dancerID] == 10:
self.checkOffsetVar(dancerID)
self.clocksyncCount[dancerID] = 0
print("Updating dancer " + str(dancerID) + " offset to: " + message + "\n")
return
def calculateSyncDelay(self):
sortedTimestamps = sorted(self.currTimeStamps.values())
return (sortedTimestamps[2] - sortedTimestamps[0])
def handleServerInput(self):
command = input("The rest of this test script will be controlled via " +
"server side input. Type 'sync' to perform clock synchronization " +
"protocol and 'start' to broadcast start signal to all laptops/dancers\n")
while command != "quit":
if command == "sync":
self.broadcastMessage("sync")
if command == "start":
self.broadcastMessage("start")
command = input("Enter 'sync' to start clock sync and 'start' "+
"to send start signal for move eval")
self.broadcastMessage("quit")
def handleClient(self, dancerID : str):
conn,addr = self.clients[dancerID]
try:
while True:
data = conn.recv(1024)
timerecv = time.time()
data = self.encryptionhandler.decrypt_message(data)
data = json.loads(data)
print("Received data:" + json.dumps(data) + "\n")
# print(data.decode("utf8"))
if data['command'] == "shutdown":
print(dancerID, ' Received shutdown signal\n')
break
elif data['command'] == "clocksync":
print("cLoCkSyNc")
self.respondClockSync(data['message'], dancerID, timerecv)
elif data['command'] == "offset":
self.updateOffset(data['message'], dancerID)
elif data['command'] == "evaluateMove":
self.updateTimeStamp(data['message'], dancerID)
self.moveRcvLock.acquire()
self.currentMoveReceived[dancerID] = True
if all(value == True for value in self.currentMoveReceived.values()):
print(f"Sync delay calculated:", {self.calculateSyncDelay()})
self.currentMoveReceived = {key: False for key in self.currentMoveReceived.keys()}
self.moveRcvLock.release()
# decrypted_msg = encryptionHandler.decrypt_message(data)
print(dancerID, " RETURNING\n")
except:
print("[ERROR][", dancerID, "] -> ", sys.exc_info())
# Initialize connections with 3 dancers prior to start of evaluation
def initializeConnections(self, numDancers = 3):
mySocket = socket.socket()
# host,port = self.connection
mySocket.bind((self.connection))
mySocket.listen(5)
try:
for _ in range(numDancers):
conn,addr = mySocket.accept()
data = self.encryptionhandler.decrypt_message(conn.recv(4096))
print("Dancer ID: ", data)
self.clients[data] = (conn,addr)
print(addr, '\n')
self.currIndexClockOffset[data] = 9 # initialize index counter to 9 for each dancer
self.last10Offsets[data] = [None for _ in range(10)] # initialize last 10 offsets for dancer id to None
self.currAvgOffsets[data] = None
self.currentMoveReceived[data] = False
self.clocksyncCount[data] = 0
return
except:
print(sys.exc_info()[0], "\n")
return
class Dancer():
def __init__(self, dancerID: int, conn: socket.socket):
self.dancerID = dancerID
self.conn = conn
self.clockSyncResponseLock = threading.Event(
) # To handle client-server synchronization for clock sync protocol
self.encryptionHandler = EncryptionHandler(b'Sixteen byte key')
self.currIndexClockOffset = 9
self.last10Offsets = [None for _ in range(10)]
self.currAvgOffset = None
self.clockSyncCount = 0
self.dataQueue = Queue()
def handleClient(self, dataQueue, dataQueueLock: threading.Event,
positionChange: list):
self.dataQueue = dataQueue
self.dataQueueLock = dataQueueLock
conn = self.conn
while True:
try:
receivedFromBuffer = self.recvall(conn)
timerecv = time.time()
packets = receivedFromBuffer.decode('utf8').split(
",") # Split into b64encoded packets by ',' delimiter
packets.pop(-1) # Pop last empty "packet"
for packet in packets:
data = self.encryptionHandler.decrypt_message(packet)
if not data:
continue
data = json.loads(data)
# print("Received data:" + json.dumps(data) + "\n")
# print(data.decode("utf8"))
if data['command'] == "shutdown":
print(self.dancerID, ' Received shutdown signal\n')
return
elif data['command'] == "clocksync":
self.respondClockSync(data['message'], conn, timerecv,
self.dancerID)
elif data['command'] == "offset":
self.updateOffset(data['message'])
self.clockSyncResponseLock.set()
elif data['command'] == "timestamp":
# unlock data queue to store data
self.dataQueueLock.clear()
self.updateTimeStamp(data['message'])
elif data['command'] == "data":
data.pop('command')
data.pop('PosChangeFlag')
self.addData(data)
elif data['command'] == "poschange":
self.updatePosition(data['message'], positionChange)
except Exception as e:
print("[ERROR][HANDLECLIENT]:", self.dancerID, e)
return
def updatePosition(self, data, positionChange: list):
change = int(data)
positionChange[self.dancerID] += change
print("Dancer", self.dancerID, "Received position change data", data,
"\nNewData: ", positionChange)
return
def updateTimeStamp(self, data):
timestamp = float(data)
relativeTimeStamp = timestamp - self.currAvgOffset
self.currTimeStamp = relativeTimeStamp
print("Dancer: ", self.dancerID, "bluno recorded TS: ", timestamp,
"adjusted TS: ", self.currTimeStamp)
def addData(self, data):
if not self.dataQueueLock.is_set():
self.dataQueue.put(data)
else:
while not self.dataQueue.empty():
self.dataQueue.get()
def recvall(self, conn: socket.socket):
fullMessageReceived = False
data = b''
while not fullMessageReceived:
data += conn.recv(1024)
if data[-1] == 44: # 44 corresponds to ',' which is delimiter for end of b64 encoded msg
fullMessageReceived = True
return data
def respondClockSync(self, message: str, conn: socket.socket,
timerecv: float, dancerID):
# print(f"Received clock sync request from dancer, {dancerID}")
timestamp = message
# print(f"t1 =",{timestamp})
response = json.dumps({
'command': 'clocksync',
'message': str(timerecv) + '|' + str(time.time())
})
conn.send(self.encryptionHandler.encrypt_msg(response))
def sendMessage(self, message: str):
message = self.encryptionHandler.encrypt_msg(message)
self.conn.send(message)
def handleClockSync(self, doClockSync: threading.Event,
clockSyncHandlerCount, clockSyncCountLock):
while True:
try:
doClockSync.wait()
for _ in range(10):
self.sendMessage('sync')
self.clockSyncResponseLock.clear()
time.sleep(0.05)
self.clockSyncResponseLock.wait()
clockSyncCountLock.acquire()
if clockSyncHandlerCount[0] > 1:
# clockSyncCountLock.acquire()
clockSyncHandlerCount[0] -= 1
# print(self.dancerID, "done", clockSyncHandlerCount)
clockSyncCountLock.release()
while clockSyncHandlerCount[0] != 3:
pass
# print(self.dancerID, "PASS", clockSyncHandlerCount)
elif clockSyncHandlerCount[0] == 1:
doClockSync.clear()
clockSyncHandlerCount[0] = 3
clockSyncCountLock.release()
# doClockSync.clear()
except Exception as e:
print(e)
return
def updateOffset(self, message: str):
self.last10Offsets[self.currIndexClockOffset] = float(message)
self.currIndexClockOffset = (self.currIndexClockOffset - 1) % 10
if self.clockSyncCount != 10:
self.clockSyncCount += 1
if self.clockSyncCount == 10:
self.updateAvgOffset()
self.clockSyncCount = 0
# print("Updating dancer " + str(self.dancerID) + " offset to: " + message + "\n")
return
def updateAvgOffset(self):
offsetSum = 0
numOffsets = 10
for offset in self.last10Offsets:
offsetSum += offset
self.currAvgOffset = offsetSum / numOffsets
print("Dancer: ", str(self.dancerID), "average offset: ",
self.currAvgOffset)
class Ultra96Server():
def __init__(self, host: str, port: int, key: str):
# each value in list holds dancer class
self.addr = (host, port)
self.dancers = [Dancer(0, None), Dancer(0, None), Dancer(0, None)]
self.encryptionHandler = EncryptionHandler(key.encode('utf8'))
self.globalShutDown = threading.Event()
def initializeConnections(self, numDancers=NUM_DANCERS):
socket96 = socket.socket()
# host,port = self.connection
socket96.bind((self.addr))
socket96.listen(3)
try:
for _ in range(numDancers):
conn, addr = socket96.accept()
messageRecv = self.recvall(conn)
dancerID = self.encryptionHandler.decrypt_message(messageRecv)
print("Accepted connection from:", addr, "Dancer ID: ",
dancerID)
dancerID = int(dancerID)
if dancerID not in [0, 1, 2]:
raise Exception(
"Dancer ID invalid, must be integer value 0,1 or 2")
self.dancers[dancerID] = Dancer(dancerID, conn)
except Exception as e:
print("[ERROR][initializeConnections]", e)
def executeClientHandlers(self, executor, dataQueues, dataQueueLock,
positionChange):
dancerID = 0
for dancer in self.dancers:
executor.submit(dancer.handleClient, dataQueues[dancerID],
dataQueueLock, positionChange)
dancerID += 1
def executeClockSyncHandlers(self, executor, doClockSync: threading.Event):
self.clockSyncHandlerCount = [3]
self.clockSyncCountLock = threading.Lock()
for dancer in self.dancers:
executor.submit(dancer.handleClockSync, doClockSync,
self.clockSyncHandlerCount,
self.clockSyncCountLock)
def recvall(self, conn: socket.socket):
fullMessageReceived = False
data = b''
while not fullMessageReceived:
data += conn.recv(1024)
if data[-1] == 44: # 44 corresponds to ',' which is delimiter for end of b64 encoded msg
fullMessageReceived = True
return data
def broadcastMessage(self, message):
print("BROADCASTING: ", message)
message = self.encryptionHandler.encrypt_msg(message)
for dancer in self.dancers:
dancer.conn.send(message)
def getSyncDelay(self) -> float:
timeStampList = []
for dancer in self.dancers:
timeStampList.append(dancer.currTimeStamp)
sortedTimeStamps = sorted(timeStampList)
return sortedTimeStamps[NUM_DANCERS - 1] - sortedTimeStamps[0]
class LaptopClient():
def __init__(self, host, port, dancerID):
self.moveStarted = Event()
self.evalStarted = Event()
self.socketLock = Lock()
self.host = host
self.port = port
self.encryptionHandler = EncryptionHandler(b'Sixteen byte key')
self.dancerID = dancerID
def sendMessage(self, message):
print("SENDING: ", message)
encrypted_message = self.encryptionHandler.encrypt_msg(
message
) + b',' #Send b64encoded bytes with ',' delimiter as ',' is not valid b64encoded char
self.mySocket.send(encrypted_message)
def handleBlunoData(self, inputQueue):
try:
packet = None
while True:
packet = None
packet = inputQueue.get()
if packet is not None:
if not self.evalStarted.is_set():
# print("Eval not yet started, ignoring data")
# print(packet)
continue
if packet['PosChangeFlag'] != 0:
self.sendMessage(
json.dumps({
"command": "poschange",
"message": packet['PosChangeFlag']
}))
if packet['moveFlag'] == 1:
if not self.moveStarted.is_set():
# if move hasn't started, set flag and send timestamp
self.moveStarted.set()
self.sendMessage(
json.dumps({
"command": "timestamp",
"message": packet['time']
}))
packet['command'] = 'data'
self.sendMessage(json.dumps(packet))
# print(packet)
else:
print("No packet found...")
time.sleep(0.04)
except Exception as e:
print("HANDLEBLUNO:", e)
sys.exit()
def startClockSync(self):
self.timeSend = time.time()
messagedict = {"command": "clocksync", "message": str(self.timeSend)}
print("SENDING", messagedict)
self.sendMessage(json.dumps(messagedict))
def respondClockSync(self, timestamps, timeRecv):
timestamps = json.loads(timestamps)['message'].split('|')
print(f"t1:", {self.timeSend}, "t2:", \
{timestamps[0]}, "t3:", {timestamps[1]}, "t4:", {timeRecv})
t = [
self.timeSend,
float(timestamps[0]),
float(timestamps[1]), timeRecv
]
roundTripTime = (t[3] - t[0]) - (t[2] - t[1])
print("RTT:", {roundTripTime})
clockOffset = ((t[2] - t[3] - roundTripTime / 2) +
(t[1] - t[0] - roundTripTime / 2)) / 2
messagedict = {"command": "offset", "message": str(clockOffset)}
self.sendMessage(json.dumps(messagedict))
print("Clock offset:", {clockOffset})
print("\n")
def handleServerCommands(self):
command = self.mySocket.recv(4096)
timeRecv = time.time()
command = self.encryptionHandler.decrypt_message(command)
print("COMMAND RECEIVED:", command)
while command != "quit":
if command == "sync":
self.startClockSync()
elif command == "start":
self.evalStarted.set()
elif command == 'moveComplete':
self.moveStarted.clear()
elif "clocksync" in command:
self.respondClockSync(command, timeRecv)
command = self.mySocket.recv(4096)
timeRecv = time.time()
command = self.encryptionHandler.decrypt_message(command)
print("COMMAND RECEIVED:", command)
print("Shutting down dancer number " + self.dancerID)
self.sendMessage(json.dumps(SHUTDOWNCOMMAND))
self.mySocket.close()
print("Quitting now")
sys.exit()
def connectAndIdentify(self, host, port, dancerID):
self.mySocket = socket.socket()
self.mySocket.connect((host, port))
print(dancerID, ": Connection established with ", (host, port))
self.sendMessage(dancerID)
def start(self, remote=False):
if remote:
REMOTE_SERVER_IP = 'sunfire.comp.nus.edu.sg'
PRIVATE_SERVER_IP = '137.132.86.228'
username = input("Enter ssh username: "******"Enter ssh password: ")
key = 'Sixteen byte key' #remember to hide
tunnel1 = sshtunnel.open_tunnel(
(REMOTE_SERVER_IP, 22),
remote_bind_address=(PRIVATE_SERVER_IP, 22),
ssh_username=username,
ssh_password=password,
# local_bind_address=('127.0.0.1', 8081),
block_on_close=False)
tunnel1.start()
print('[Tunnel Opened] Tunnel into Sunfire opened ' +
str(tunnel1.local_bind_port))
tunnel2 = sshtunnel.open_tunnel(
ssh_address_or_host=(
'localhost', tunnel1.local_bind_port), # ssh into xilinx
remote_bind_address=('127.0.0.1', 10022), # binds xilinx host
ssh_username='******',
ssh_password='******',
local_bind_address=('127.0.0.1',
10022), # localhost to bind it to
block_on_close=False)
tunnel2.start()
self.connectAndIdentify('127.0.0.1', 10022, self.dancerID)
else:
self.connectAndIdentify('127.0.0.1', 10022, self.dancerID)
print('Address: ' + str(tunnel1.local_bind_address))
print('Port no: ' + str(tunnel1.local_bind_port))
with SSHTunnelForwarder(('localhost', 10022),
ssh_username='******',
ssh_password='******',
remote_bind_address=('localhost', 10022),
local_bind_address=('localhost', 8080)) as tunnel2:
print('Tunnel opened to ultra96 board with...')
print('Address: ' + str(tunnel2.local_bind_address))
print('Port no: ' + str(tunnel2.local_bind_port))
host = '127.0.0.1'
port = 8080
mySocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
mySocket.connect((host, port))
message = input(" -> ")
while message != 'q':
encryptionHandler = EncryptionHandler(key.encode())
encrypted_msg = encryptionHandler.encrypt_msg(message)
mySocket.send(encrypted_msg)
data = mySocket.recv(1024).decode()
print('Received from server: ' + data)
message = input(" -> ")
mySocket.close()
print('Closing connection')
class EvalClient():
def __init__(self, host: str, port: int, controlMain):
self.moveCounter = 0
self.controlMain = controlMain
self.server = (host, port)
self.encryptionHandler = EncryptionHandler(b'Sixteen byte key')
pass
def sendToEval(self,
positions=randint(0, 5),
action=None,
sync_delay=0,
quit=False):
if self.moveCounter == 24:
quit = True
if quit:
message = '# |logout| '
else:
if positions == None:
positions = randint(0, 5)
message = '#' + POSITIONS[positions] + '|' + ACTIONS[
action] + '|' + str(sync_delay)
message = self.encryptionHandler.encrypt_msg(message)
self.evalSocket.send(message)
if quit:
return
data = self.evalSocket.recv(1024).decode()
print('Received from server: ' + data)
self.moveCounter += 1
return data
def updateDancerPositions(self, dancerPositions, positionChange):
middleDancerIndex = int(dancerPositions[1]) - 1
leftDancerIndex = int(dancerPositions[0]) - 1
rightDancerIndex = int(dancerPositions[2]) - 1
# middle dancer doesn't move
if positionChange[middleDancerIndex] == 0:
# all dancers don't move
if positionChange[rightDancerIndex] == 0 and positionChange[
leftDancerIndex] == 0:
print("[UPDATE DANCER POSITIONS][NO CHANGE]", dancerPositions)
positionChange = [0, 0, 0]
return
elif positionChange[rightDancerIndex] < 0 and positionChange[
leftDancerIndex] > 0:
temp = dancerPositions[0]
dancerPositions[0] = dancerPositions[2]
dancerPositions[2] = temp
print(
"[UPDATE DANCER POSITIONS][RIGHT AND LEFT SWAP POSITIONS]",
dancerPositions)
else:
print("[UPDATE DANCER POSITIONS][INVALID CHANGE]",
dancerPositions)
# middle dancer moves right
elif positionChange[middleDancerIndex] > 0:
if positionChange[leftDancerIndex] > 0 and positionChange[
rightDancerIndex] < 0:
dancerPositions[2] = middleDancerIndex + 1
dancerPositions[0] = rightDancerIndex + 1
dancerPositions[1] = leftDancerIndex + 1
print(
"[UPDATE DANCER POSITIONS][MIDDLE & LEFT DANCERS MOVE RIGHT, RIGHT DANCER MOVES LEFT",
dancerPositions)
elif positionChange[leftDancerIndex] == 0 and positionChange[
rightDancerIndex] < 0:
dancerPositions[2] = middleDancerIndex + 1
dancerPositions[1] = rightDancerIndex + 1
print(
"[UPDATE DANCER POSITIONS][LEFT DANCER STAYS, MIDDLE DANCER MOVES RIGHT, RIGHT DANCER MOVES LEFT",
dancerPositions)
else:
print("[UPDATE DANCER POSITIONS][INVALID CHANGE]",
dancerPositions)
#middle dancer moves left
else:
if positionChange[leftDancerIndex] > 0 and positionChange[
rightDancerIndex] < 0:
dancerPositions[0] = middleDancerIndex + 1
dancerPositions[1] = rightDancerIndex + 1
dancerPositions[2] = leftDancerIndex + 1
print(
"[UPDATE DANCER POSITIONS][MIDDLE & RIGHT DANCERS MOVE LEFT, LEFT DANCER MOVES RIGHT",
dancerPositions)
elif positionChange[rightDancerIndex] == 0 and positionChange[
leftDancerIndex] > 0:
dancerPositions[0] = middleDancerIndex + 1
dancerPositions[1] = leftDancerIndex + 1
print(
"[UPDATE DANCER POSITIONS][RIGHT DANCER STAYS, MIDDLE DANCER MOVES LEFT, LEFT DANCER MOVES RIGHT",
dancerPositions)
else:
print("[UPDATE DANCER POSITIONS][INVALID CHANGE]",
dancerPositions)
print("Positions updated, resetting position change")
for x in range(len(positionChange)):
positionChange[x] = 0
def handleEval(self, outputForEval, rdyForEval: threading.Event,
server: Ultra96Server, globalShutDown: threading.Event,
dancerPositions: list, positionChange: list,
doClockSync: threading.Event):
while True:
if globalShutDown.is_set():
return
try:
rdyForEval.wait()
self.updateDancerPositions(dancerPositions, positionChange)
outputForEval['delay'] = server.getSyncDelay()
positionsStr = ''
for dancerPosition in dancerPositions:
positionsStr += str(dancerPosition) + ' '
positionsStr = positionsStr.strip()
outputForEval['positions'] = POSITIONS_DICT[positionsStr]
print("SENDING TO EVAL SERVER: ", outputForEval)
servResponse = self.sendToEval(outputForEval['positions'],
outputForEval['action'],
outputForEval['delay'])
servResponse = servResponse.replace(',', '')
servResponse = servResponse.replace('[', '')
servResponse = servResponse.replace(']', '')
servResponse = servResponse.replace('\'', '')
servResponse = servResponse.replace(' ', '')
dancerPositions[0] = int(servResponse[0])
dancerPositions[1] = int(servResponse[1])
dancerPositions[2] = int(servResponse[2])
print("Server updated values:", dancerPositions)
rdyForEval.clear()
# doClockSync.set()
server.broadcastMessage("moveComplete")
except Exception as e:
print("[ERROR][EVALCLIENT]", e)
return
def connectToEval(self):
self.evalSocket = socket.socket()
print(self.server)
self.evalSocket.connect(self.server)
class Ultra96Server():
# Tuple containing "host" and "port" values for ultra96 server
connection = ()
# Holds socket address and port for each dancer, tied to dancer id as key
clients = {}
# Class for handling AES encryption
encryptionHandler = None
# Holds last timestamps from the 3 dancers/laptops
currTimeStamps = {}
# Holds the last 10 recorded offsets from the 3 dancers
# 2d array containing 10 lists of 3 offsets from each dancer
last10Offsets = {}
# Used to iterate offset list from the back in order to update offsets
currIndexClockOffset = {}
# Holds average offsets for 3 dancers, calculated from last10Offsets
currAvgOffsets = {}
# Booleans to check if current moves have been received for each dancer
currentMoveReceived = {}
# Count to keep track of number of clock sync updates sent from each client
# in current rotation (1-10)
clocksyncCount = {}
# To synchronize clock sync broadcasts and offset receiving
clockSyncResponseLock = {}
def __init__(self, host: str, port: int, key: str, controlMain):
self.controlMain = controlMain
self.connection = (host, port)
self.encryptionHandler = EncryptionHandler(key.encode())
self.lockDataQueue = controlMain.lockDataQueue
self.doClockSync = controlMain.doClockSync
self.dancerDataDict = controlMain.dancerDataDict
self.moveCompletedFlag = controlMain.moveCompletedFlag
self.globalShutDown = controlMain.globalShutDown
return
def recvall(self, conn: socket.socket):
fullMessageReceived = False
data = b''
while not fullMessageReceived:
data += conn.recv(1024)
if data[-1] == 44: # 44 corresponds to ',' which is delimiter for end of b64 encoded msg
fullMessageReceived = True
return data
def initializeConnections(self, numDancers=NUM_DANCERS):
mySocket = socket.socket()
# host,port = self.connection
mySocket.bind((self.connection))
mySocket.listen(5)
try:
for _ in range(numDancers):
conn, addr = mySocket.accept()
print(conn, addr)
# data = conn.recv(4096)
data = self.recvall(conn)
print(data)
data = self.encryptionHandler.decrypt_message(data)
print("Dancer ID: ", data)
self.clients[data] = (conn, addr)
print(addr, '\n')
self.currIndexClockOffset[
data] = 9 # initialize index counter to 9 for each dancer
self.last10Offsets[data] = [
None for _ in range(10)
] # initialize last 10 offsets for dancer id to None
self.currAvgOffsets[data] = None
self.currentMoveReceived[data] = False
self.clocksyncCount[data] = 0
self.dancerDataDict[data] = Queue()
self.clockSyncResponseLock[data] = threading.Event()
return
except:
print(sys.exc_info(), "\n")
return
def calculateSyncDelay(self):
sortedTimestamps = sorted(self.currTimeStamps.values())
return (sortedTimestamps[-1] - sortedTimestamps[0])
def addData(self, dancerID, data):
with self.lockDataQueue:
if not self.moveCompletedFlag.is_set():
self.dancerDataDict[dancerID].put(data)
else:
while not self.dancerDataDict[dancerID].empty():
self.dancerDataDict[dancerID].get()
def updateTimeStamp(self, message: str, dancerID):
print("Evaluating move...")
print(f"time recorded by bluno:", {message})
#calculate relative time using offset
timestamp = float(message)
relativeTS = timestamp - self.currAvgOffsets[dancerID]
self.currTimeStamps[dancerID] = relativeTS
print(dancerID, "adjusted timestamp: ", relativeTS)
def handleClient(self, dancerID: str):
conn, addr = self.clients[dancerID]
while True:
if self.globalShutDown.is_set():
return
try:
# receivedFromBuffer = conn.recv(4096)
receivedFromBuffer = self.recvall(conn)
timerecv = time.time()
packets = receivedFromBuffer.decode('utf8').split(
",") #Split into b64encoded packets by ',' delimiter
packets.pop(-1)
# print("data received at ", timerecv, data)
for packet in packets:
data = self.encryptionHandler.decrypt_message(packet)
if not data:
continue
data = json.loads(data)
# print("Received data:" + json.dumps(data) + "\n")
# print(data.decode("utf8"))
if data['command'] == "shutdown":
print(dancerID, ' Received shutdown signal\n')
break
elif data['command'] == "clocksync":
self.respondClockSync(data['message'], dancerID,
timerecv)
elif data['command'] == "offset":
self.clockSyncResponseLock[dancerID].set()
self.updateOffset(data['message'], dancerID)
elif data['command'] == "timestamp":
self.moveCompletedFlag.clear()
self.updateTimeStamp(data['message'], dancerID)
self.currentMoveReceived[dancerID] = True
# if all(value == True for value in self.currentMoveReceived.values()):
# print(f"Sync delay calculated:", {self.calculateSyncDelay()})
# self.currentMoveReceived = {key: False for key in self.currentMoveReceived.keys()}
elif data['command'] == "data":
data.pop('command')
self.addData(dancerID, data)
elif data['command'] == "moveComplete":
pass
# self.moveCompletedFlag.clear()
except UnicodeDecodeError:
print("Packet incorrectly received")
pass
except Exception as e:
print("[ERROR][", dancerID, "] -> ", e)
print(self.dancerDataDict[dancerID].qsize())
pass
# decrypted_msg = encryptionHandler.decrypt_message(data)
print(dancerID, " RETURNING\n")
return
def handleClockSync(self, dancerID):
while True:
if self.globalShutDown.is_set():
return
self.doClockSync.wait()
for _ in range(10):
self.broadcastMessage('sync')
self.clockSyncResponseLock[dancerID].clear()
self.clockSyncResponseLock[dancerID].wait()
self.doClockSync.clear()
# Check if variance between 10 offsets in dancerID is too high.
# If so, force another 10 updates with the specific dancerID
def checkOffsetVar(self, dancerID):
conn, addr = self.clients[dancerID]
self.updateAvgOffset()
varLast10 = variance(self.last10Offsets[dancerID])
print("VARIANCE FOR DANCER: ", dancerID, varLast10)
if varLast10 > 1e-05:
print("Offset variance too high: ", "varLast10",
"Resyncing for Dancer: ", dancerID)
conn.send(self.encryptionHandler.encrypt_msg("sync"))
return
def updateOffset(self, message: str, dancerID):
# self.offsetLock.acquire()
# print(f"{dancerID} has received offsetlock")
self.last10Offsets[dancerID][
self.currIndexClockOffset[dancerID]] = float(message)
self.currIndexClockOffset[dancerID] = (
self.currIndexClockOffset[dancerID] - 1) % 10
# print(f"{dancerID} is releasing offsetlock")
# self.offsetLock.release()
if self.clocksyncCount[dancerID] != 10:
self.clocksyncCount[dancerID] += 1
if self.clocksyncCount[dancerID] == 10:
self.checkOffsetVar(dancerID)
self.clocksyncCount[dancerID] = 0
print("Updating dancer " + str(dancerID) + " offset to: " + message +
"\n")
return
def broadcastMessage(self, message):
print("BROADCASTING: ", message)
message = self.encryptionHandler.encrypt_msg(message)
for conn, addr in self.clients.values():
conn.send(message)
def respondClockSync(self, message: str, dancerID, timerecv):
print(f"Received clock sync request from dancer, {dancerID}")
timestamp = message
print(f"t1 =", {timestamp})
conn, addr = self.clients[dancerID]
# response = str(timerecv) + "|" + str(time.time())
response = json.dumps({
'command': 'clocksync',
'message': str(timerecv) + '|' + str(time.time())
})
conn.send(self.encryptionHandler.encrypt_msg(response))
def updateAvgOffset(self):
for dancerID, offsetList in self.last10Offsets.items():
currSum = 0
numOffsets = 10
for offset in offsetList:
if offset is None:
numOffsets -= 1
continue
currSum += offset
if numOffsets == 0:
continue
self.currAvgOffsets[dancerID] = currSum / numOffsets
import socket
from base64 import b64decode, b64encode
from Cryptodome.Cipher import AES
import time
from Util.encryption import EncryptionHandler
import json
eH = EncryptionHandler(b'Sixteen byte key')
host, port = ('127.0.0.1', 10022)
mySocket = socket.socket()
mySocket.bind((host, port))
mySocket.listen()
conn, addr = mySocket.accept()
conn.send(eH.encrypt_msg("sync"))
data = conn.recv(4096)
timeRecv = time.time()
time.sleep(1)
response = json.dumps({
'command': 'clocksync',
'message': str(timeRecv) + '|' + str(time.time())
})
conn.send(eH.encrypt_msg(response))
data = conn.recv(4096)
timeRecv = time.time()
print(eH.decrypt_message(data))
time.sleep(10)
conn.send(eH.encrypt_msg("start"))