def run(self):
log.info('rtk thread: start')
# threads
self.server = ServerThread(self.listen_port)
self.controller = ControlThread(self.control_port, self.got_command_cb)
# station_mode 指基站的模式，本地的模式与之相反
if self.station_mode == 'server':
# 基站为 server, 本地为 client
self.station = StationClientThread(self.name, self.config,
self.got_data_cb,
self.update_status_cb)
else:
# 基站为 client, 本地为 server
self.station = StationServerThread(self.name, self.config,
self.got_data_cb,
self.update_status_cb)
self.server.start()
self.controller.start()
self.station.start()
# wait
while self.running and self.server.running and self.station.running:
time.sleep(2)
# quit & clean up
self.stop_thread('controller', self.controller)
self.stop_thread('station', self.station)
self.stop_thread('server', self.server)
self.update_status_cb(RtkStatus.S_TERMINATED)
log.info('rtk thread: bye')
self.running = False
def wait_for_keyboard(self):
"""quit when press q or press ctrl-c, or exception from other threads"""
try:
while True:
time.sleep(2) # 减少死锁概率
print("enter 'q' to quit, 'r' to reload, 'l' to list ports.")
key = input().lower().strip()
if key == 'q':
break
elif key == 'r':
log.info('main: reload config.')
self.start_threads_from_config()
elif key == 'l':
try:
print('name, station_port, dispatch_port, control_port')
for name, config in sorted(self.configs['entry'].items()):
control_port = str(config['controlPort']) if 'controlPort' in config else None
print('%s, %d, %d, %s'
% (name, config['stationPort'], config['listenPort'], control_port))
except Exception as e:
print('Error when list config: %s' % e)
except KeyboardInterrupt:
pass
except (EOFError, OSError):
# no input
signal.signal(signal.SIGINT, self.exit_by_signal)
signal.signal(signal.SIGTERM, self.exit_by_signal)
while not self.is_interrupt:
time.sleep(1)
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('station server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(1)
server.settimeout(3) # timeout: 3s
while self.running:
try:
conn, address = server.accept()
conn.settimeout(3)
log.debug('new station connection from: %s' % str(address))
self.got_client(conn, str(address))
except socket.timeout:
pass
self.check_new_connections()
# clean up
server.close()
self.disconnect()
log.info('station server thread: bye')
except Exception as e:
log.error('station server thread error: %s' % e)
self.running = False
self.disconnect()
def run(self):
log.info('rtk thread: start')
# threads
self.server = ServerThread(self.listen_port)
self.controller = ControlThread(self.control_port, self.got_command_cb)
# station_mode 指基站的模式，本地的模式与之相反
if self.station_mode == 'server':
# 基站为 server, 本地为 client
self.station = StationClientThread(self.name, self.config,
self.got_data_cb, self.update_status_cb)
else:
# 基站为 client, 本地为 server
self.station = StationServerThread(self.name, self.config,
self.got_data_cb, self.update_status_cb)
self.server.start()
self.controller.start()
self.station.start()
# wait
while self.running and self.server.running and self.station.running:
time.sleep(2)
# quit & clean up
self.stop_thread('controller', self.controller)
self.stop_thread('station', self.station)
self.stop_thread('server', self.server)
self.update_status_cb(RtkStatus.S_TERMINATED)
log.info('rtk thread: bye')
self.running = False
def wait_for_keyboard(self):
"""quit when press q or press ctrl-c, or exception from other threads"""
try:
while True:
time.sleep(2) # 减少死锁概率
print("enter 'q' to quit, 'r' to reload, 'l' to list ports.")
key = input().lower().strip()
if key == 'q':
break
elif key == 'r':
log.info('main: reload config.')
configs = config_loader.load_config()
self.configs = configs
self.rtk_mgr.start_threads_from_config(self.configs)
elif key == 'l':
try:
print(
'name, station_port, dispatch_port, control_port')
for name, config in sorted(
self.configs['entry'].items()):
print(
'%s, %d, %d, %s' %
(name, config.station_port, config.listen_port,
str(config.control_port)))
except Exception as e:
print('Error when list config: %s' % e)
except KeyboardInterrupt:
pass
except (EOFError, OSError):
# no input
signal.signal(signal.SIGINT, self.exit_by_signal)
signal.signal(signal.SIGTERM, self.exit_by_signal)
while not self.is_interrupt:
time.sleep(1)
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(100) # 并发
server.settimeout(1) # timeout: 1s
while self.running:
# 接受连接
try:
conn, address = server.accept()
conn.settimeout(3)
self.dispatcher.add_client(conn, address)
log.debug('new client from: %s' % str(address))
except socket.timeout:
pass
# 分发数据
self.dispatcher.dispatch()
server.close()
self.dispatcher.close_all_clients()
log.info('server thread: bye')
except Exception as e:
log.error('server thread error: %s' % e)
self.running = False
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(100) # 并发
server.settimeout(1) # timeout: 1s
while self.running:
# 接受连接
try:
conn, address = server.accept()
conn.settimeout(3)
self.dispatcher.add_client(conn, address)
log.debug('new client from: %s' % str(address))
except socket.timeout:
pass
# 分发数据
self.dispatcher.dispatch()
server.close()
self.dispatcher.close_all_clients()
log.info('server thread: bye')
except Exception as e:
log.error('server thread error: %s' % e)
self.running = False
def run(self):
"""线程主函数
循环运行，接受到控制端口的 socket 连接（唯一），接收命令。
"""
if self.port is None:
return
log.info('control thread: start, port: %d' % self.port)
try:
# 开始监听
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(1)
server.settimeout(3) # timeout: 3s
# 循环运行，监听端口，接收命令
while self.running:
self.accept_client(server)
self.receive_command()
self.resolve_command()
self.send_message()
server.close()
self.disconnect_client()
log.info('control thread: bye')
except Exception as e:
log.error('control thread error: %s' % e)
self.running = False
def resolve_command(self):
"""解析来自控制端口的数据
首先寻找指令起始标记，找不到就从 buffer 头删除一个字节，再继续寻找。
然后调用 resolve_command_from_begin() 从 buffer 的开头开始解析，直到遇到结尾标记为止。
"""
if self.is_transparency and len(self.buffer) > 0:
# 透传模式
command = b'send:' + bytes(self.buffer[:])
self.buffer.clear()
log.info('control command: %s' % command)
self.got_command_cb(command)
while len(self.buffer) >= 4:
# 解析指令
try:
if self.is_in_command: # 指令从 buffer[0] 开始
command = self.resolve_command_from_begin()
if self.is_in_command: # 没有遇到结尾，收到的指令还不完整
break
elif command is not None: # 收到了指令
log.info('control command: %s' % command)
self.got_command_cb(command)
if command == b'%MODE1':
# 透传模式
self.is_transparency = True
break
elif self.buffer[:4] == CMD_BEGIN: # begin of command
self.is_in_command = True
else:
del self.buffer[0] # 出队一个字节
except Exception as e:
log.warning('control thread resolve: %s' % e)
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('station server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(1)
server.settimeout(3) # timeout: 3s
while self.running:
try:
conn, address = server.accept()
conn.settimeout(3)
log.debug('new station connection from: %s' % str(address))
self.got_client(conn, str(address))
except socket.timeout:
pass
self.check_new_connections()
# clean up
server.close()
self.disconnect()
log.info('station server thread: bye')
except Exception as e:
log.error('station server thread error: %s' % e)
self.running = False
self.disconnect()
def check_new_connections(self):
"""检查新建的连接是否通过了握手测试"""
new_connections = self.new_connections[:]
time_sec = time.time()
for i in range(0, len(new_connections)):
connection_thread, established_time_sec = new_connections[i]
# 逐个检查新建立的连接，判断是否握手成功、是否超时
if connection_thread.handshake_ok:
# 握手成功
if self.connection_thread is not None and self.connection_thread.is_alive():
# stop old
log.info('stopping existing station connection thread.')
self.connection_thread.got_data_cb = lambda data: None
self.connection_thread.update_status_cb = lambda status: None
self.connection_thread.running = False # 不用等待
# set new connection_thread
self.connection_thread = connection_thread
self.connection_thread.got_data_cb = self.got_data_cb
self.connection_thread.update_status_cb = self.update_status_cb
self.new_connections.remove((connection_thread, established_time_sec))
elif (time_sec - established_time_sec > handshake_timeout_second) or time_sec < established_time_sec:
# 超时
connection_thread.running = False # 不用等待
connection_thread.got_data_cb = lambda data: None
connection_thread.update_status_cb = lambda status: None
self.new_connections.remove((connection_thread, established_time_sec))
def run(self):
"""线程主函数
循环运行，接收来自客户端的数据并丢弃，向客户端发送 data_queue 中的数据包。
当 data_queue 过长时，丢弃旧的数据包。
"""
log.info('station connection thread: start, %s' % self.address)
self.update_status_cb(RtkStatus.S_CONNECTED)
try:
self.send_and_receive_data()
except Exception as e:
log.error('station connection thread error: %s' % e)
self.update_status_cb(RtkStatus.S_DISCONNECTED)
log.info('station connection thread: bye')
def run(self):
"""线程主函数
启动定时器，用于检查心跳超时
循环运行，接受新的客户端的连接。
"""
log.info('http thread: start, port: %d' % self.port)
try:
self.server = ThreadingHTTPServer(('', self.port), RequestHandler)
self.server.serve_forever()
except Exception as e:
log.error('http thread error: %s' % e)
time.sleep(0.5)
log.info('http thread: bye')
def run(self):
"""线程主函数
启动定时器，用于检查心跳超时
循环运行，接受新的客户端的连接。
"""
log.info("http thread: start, port: %d" % self.port)
try:
self.server = ThreadingHTTPServer(("", self.port), RequestHandler)
self.server.serve_forever()
except Exception as e:
log.error("http thread error: %s" % e)
time.sleep(0.5)
log.info("http thread: bye")
def main(self):
log.info('main: start')
# start rtk & loop
self.rtk_mgr.start()
# wait
self.wait_for_keyboard()
# quit & clean up
self.rtk_mgr.running = False
self.rtk_mgr.join()
log.info('main: bye')
log.close_all()
base64_log.close_all()
def stop_thread(self, name):
"""停止某 rtk 线程，不等待
之后需要调用 wait_for_thread
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
rtk_thread.stop()
log.info('main: require stop thread %d %s.' % (rtk_thread.thread_id, name))
except Exception as e:
log.error('main: failed to stop thread %s: %s' % (name, e))
def run(self):
"""线程主函数
循环运行，接收来自客户端的数据并丢弃，向客户端发送 data_queue 中的数据包。
当 data_queue 过长时，丢弃旧的数据包。
"""
log.info('station connection thread: start, %s' % self.address)
self.update_status_cb(RtkStatus.S_CONNECTED)
try:
self.send_and_receive_data()
except Exception as e:
log.error('station connection thread error: %s' % e)
self.update_status_cb(RtkStatus.S_DISCONNECTED)
self.running = False
log.info('station connection thread: bye')
def accept_client(self, server):
"""监听控制端口
尝试接受连接，如果有新连接，就关闭旧的连接。
Args:
server (socket.socket): server socket
"""
try:
conn, address = server.accept()
self.disconnect_client()
self.client = conn
self.client.settimeout(3)
self.is_transparency = False # 新连接不透传
log.info('new control client from: %s' % str(address))
except socket.timeout:
pass
def stop_thread(self, name):
"""停止某 rtk 线程，不等待
之后需要调用 wait_for_thread
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
rtk_thread.stop()
log.info('main: require stop thread %d %s.' %
(rtk_thread.thread_id, name))
except Exception as e:
log.error('main: failed to stop thread %s: %s' % (name, e))
def update_names(names):
"""更新 rtk 服务名字列表
Args:
names (list[str]): 开启的 rtk 服务名
"""
log.info("http thread: load %d name(s)" % len(names))
# update status
# add new name
for name in names:
if name not in RtkStatus.rtk_status:
RtkStatus.rtk_status[name] = RtkStatus.S_UNKNOWN
RtkStatus.rtk_last_rcv_time[name] = "NULL"
# delete outdated name
for name in RtkStatus.rtk_status.copy().keys():
if name not in names:
del RtkStatus.rtk_status[name]
del RtkStatus.rtk_last_rcv_time[name]
def update_names(names):
"""更新 rtk 服务名字列表
Args:
names (list[str]): 开启的 rtk 服务名
"""
log.info('http thread: load %d name(s)' % len(names))
# update status
# add new name
for name in names:
if name not in RtkStatus.rtk_status:
RtkStatus.rtk_status[name] = RtkStatus.S_UNKNOWN
RtkStatus.rtk_last_rcv_time[name] = 'NULL'
# delete outdated name
for name in RtkStatus.rtk_status.copy().keys():
if name not in names:
del RtkStatus.rtk_status[name]
del RtkStatus.rtk_last_rcv_time[name]
def wait_for_thread(self, name):
"""等待某 rtk 线程完全退出
在 stop_thread 之后调用
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
# wait
rtk_thread.join()
log.info('main: thread %d %s has stopped.' % (rtk_thread.thread_id, name))
# remove
del self.rtk_threads[name]
except Exception as e:
log.error('main: error when wait for thread %s: %s' % (name, e))
def wait_for_thread(self, name):
"""等待某 rtk 线程完全退出
在 stop_thread 之后调用
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
# wait
rtk_thread.join()
log.info('main: thread %d %s has stopped.' %
(rtk_thread.thread_id, name))
# remove
del self.rtk_threads[name]
except Exception as e:
log.error('main: error when wait for thread %s: %s' % (name, e))
def main(self):
log.info('main: start')
# start rtk
self.start_threads_from_config()
# wait
self.wait_for_keyboard()
# quit & clean up
for name in self.rtk_threads.keys():
self.stop_thread(name)
for name in sorted(self.rtk_threads.keys()):
self.wait_for_thread(name)
self.stop_and_wait_for_web_interface()
# clear queue
while not self.status_queue.empty():
self.status_queue.get(block=False)
log.info('main: bye')
log.close_all()
def send_and_receive_data(self):
"""循环发送、接收数据"""
timeout_count = 0
while self.running:
# 发送数据
self.send_data_from_queue()
# 接收数据
try:
data = self.client_socket.recv(BUFFER_SIZE)
# 连接失败的处理
if len(data) == 0:
raise RuntimeError('socket connection broken')
# 收到数据后的处理
self.parse_data(data)
timeout_count = 0
except socket.timeout:
# 超时处理，超时 10 次时主动断开
# 超时时间短是为了在需要时能快速退出
timeout_count += 1
if timeout_count >= 10:
self.running = False
log.info('station connection thread: timeout')
self.disconnect()
def send_and_receive_data(self):
"""循环发送、接收数据"""
timeout_count = 0
while self.running:
# 发送数据
self.send_data_from_queue()
# 接收数据
try:
data = self.client_socket.recv(BUFFER_SIZE)
# 连接失败的处理
if len(data) == 0:
raise RuntimeError('socket connection broken')
# 收到数据后的处理
self.parse_data(data)
timeout_count = 0
except socket.timeout:
# 超时处理，超时 10 次时主动断开
# 超时时间短是为了在需要时能快速退出
timeout_count += 1
if timeout_count >= 10:
self.running = False
log.info('station connection thread: timeout')
self.disconnect()
def check_new_connections(self):
"""检查新建的连接是否通过了握手测试"""
new_connections = self.new_connections[:]
time_sec = time.time()
for i in range(0, len(new_connections)):
connection_thread, established_time_sec = new_connections[i]
# 逐个检查新建立的连接，判断是否握手成功、是否超时
if connection_thread.handshake_ok:
# 握手成功
if self.connection_thread is not None and self.connection_thread.is_alive(
):
# stop old
log.info('stopping existing station connection thread.')
self.connection_thread.got_data_cb = lambda data: None
self.connection_thread.update_status_cb = lambda status: None
self.connection_thread.running = False # 不用等待
# set new connection_thread
self.connection_thread = connection_thread
self.connection_thread.got_data_cb = self.got_data_cb
self.connection_thread.update_status_cb = self.update_status_cb
self.new_connections.remove(
(connection_thread, established_time_sec))
elif (time_sec - established_time_sec >
handshake_timeout_second) or time_sec < established_time_sec:
# 超时
connection_thread.running = False # 不用等待
connection_thread.got_data_cb = lambda data: None
connection_thread.update_status_cb = lambda status: None
self.new_connections.remove(
(connection_thread, established_time_sec))
if len(self.new_connections) == 0 and \
self.connection_thread is not None and not self.connection_thread.running:
# 没有新连接，旧连接有过但也断了，那么判为断开状态
self.update_status_cb(RtkStatus.S_DISCONNECTED)
def run(self):
"""线程主函数
循环运行，建立连接、接收数据，并在连接出错时重连。
"""
log.info('station client thread: start')
while self.running:
try:
# 建立连接
conn = self.connect()
log.info('station client thread: connected')
# 开启数据接收线程
self.run_receive_data_thread(conn)
except Exception as e:
log.error('station client thread error: %s' % e)
time.sleep(3)
# disconnect
self.disconnect()
log.info('station client thread: bye')
def run(self):
"""线程主函数
循环运行，接收来自客户端的数据并丢弃，向客户端发送 data_queue 中的数据包。
当 data_queue 过长时，丢弃旧的数据包。
"""
log.info('sender thread %d: start, %s' % (self.sender_id, self.address))
try:
while self.running:
# ignore old data
while self.data_queue.qsize() > 10:
self.data_queue.get(block=False)
# send data
try:
data = self.data_queue.get(timeout=1)
self.client_socket.settimeout(5)
self.client_socket.sendall(data)
self.send_count += 1
self.data_queue.task_done()
except queue.Empty:
pass
# rcv useless data
try:
self.client_socket.settimeout(0.1)
rcv_buf = self.client_socket.recv(256)
if len(rcv_buf) == 0:
log.info('sender thread %d has disconnected.' % self.sender_id)
# 退出
break
except socket.timeout:
pass
except Exception as e:
log.error('sender thread %d error: %s' % (self.sender_id, e))
self.disconnect()
self.running = False
log.info('sender thread %d: bye' % self.sender_id)
