def broadcast(cls, message):
"""
Broadcasts a dict-ified ROS message (message) to all sockets that care about that topic.
The dict message should contain metadata about what topic it was
being sent on: message["_topic_name"], message["_topic_type"].
"""
try:
if message[0] == ROSBoardSocketHandler.MSG_TOPICS:
json_msg = json.dumps(message, separators=(',', ':'))
for socket in cls.sockets:
if socket.ws_connection and not socket.ws_connection.is_closing():
socket.write_message(json_msg)
elif message[0] == ROSBoardSocketHandler.MSG_MSG:
topic_name = message[1]["_topic_name"]
json_msg = None
for socket in cls.sockets:
if topic_name not in socket.node.remote_subs:
continue
if socket.id not in socket.node.remote_subs[topic_name]:
continue
t = time.time()
if t - socket.last_data_times_by_topic.get(topic_name, 0.0) < \
socket.update_intervals_by_topic.get(topic_name) - 2e-4:
continue
if socket.ws_connection and not socket.ws_connection.is_closing():
if json_msg is None:
json_msg = json.dumps(message, separators=(',', ':'))
socket.write_message(json_msg)
socket.last_data_times_by_topic[topic_name] = t
except Exception as e:
print("Error sending message: %s" % str(e))
traceback.print_exc()
def run_race(racers, number_of_laps, socket):
global FINISH_RACE
if not FINISH_RACE:
for racer in racers:
if has_finished_lap(racer.track_number, racer.lap_times[-1]):
racer.lap_times.append(time.time())
print vars(racer)
socket.write_message(vars(racer))
check_for_race_completion(racers, number_of_laps, socket)
threading.Timer(SENSOR_CHECK_FREQUENCY, run_race, [racers, number_of_laps, socket]).start()
def check_for_race_completion(racers, number_of_laps, socket):
global FINISH_RACE
min_lap = number_of_laps + 1
for racer in racers:
print "lap times length is " + str(len(racer.lap_times))
min_lap = min(min_lap, len(racer.lap_times))
if min_lap > number_of_laps:
if FINISH_RACE == False:
print "Race complete!"
socket.write_message("COMPLETE")
FINISH_RACE = True
def send_pings(cls):
"""
Send pings to all sockets. When pongs are received they will be used for measuring
latency and clock differences.
"""
for socket in cls.sockets:
try:
socket.last_ping_times[socket.ping_seq % 1024] = time.time() * 1000
if socket.ws_connection and not socket.ws_connection.is_closing():
socket.write_message(json.dumps([ROSBoardSocketHandler.MSG_PING, {
ROSBoardSocketHandler.PING_SEQ: socket.ping_seq,
}], separators=(',', ':')))
socket.ping_seq += 1
except Exception as e:
print("Error sending message: %s" % str(e))
def broadcastMessage(topic, msg):
try:
if not msg:
return
msgPOD = {}
msgPOD['time'] = datetime.datetime.now().strftime("%I:%M:%S.%f %p on %B %d, %Y")
msgPOD['topic'] = topic
msgPOD['data'] = msg
print "[WS] broadcast %s to %d client(s)" \
% (topic,
len(MyWebSocketHandler.clientConnections))
for socket in MyWebSocketHandler.clientConnections:
socket.write_message(json.dumps(msgPOD))
except:
return
def SendCurrentState():
global connections, colorBlue, colorRed, isGameStart, isGameReady
for socket in connections:
if isGameStart:
if socket.state == 'playing':
socket.write_message({
'state': 'playing',
'blue': colorBlue,
'red': colorRed,
'flag': True,
'secs': timer
})
else:
socket.write_message({
'state': 'playing',
'flag': False,
'secs': timer
})
elif isGameReady:
if socket.state == 'pending':
socket.write_message({
'state': 'pending',
'flag': True,
'secs': timer
})
else:
socket.write_message({
'state': 'pending',
'flag': False,
'secs': timer
})
else:
socket.write_message({
'state': 'waiting',
'currentPlayer': queuedPlayer
})
def run(self, path, socket):
index = 0
while self._running:
print "location of log file ", path
fh = open(path, "r")
dd = fh.readlines()
data = dd[index:]
index = len(dd)
if index == 0:
socket.write_message("--BLANK--")
fh.close()
break
if len(data) != 0:
try:
while len(data[:5000]) >0:
socket.write_message("".join(data[:5000]))
data = data[5000:]
if 'END OF LOGS' in data[-1]:
break
else:
time.sleep(1)
except:
pass
fh.close()
def SeperateTeam():
global connections
sz = 0
for socket in connections:
if socket.state == 'pending':
sz += 1
sz = sz / 2
cnt = 0
for socket in connections:
if not socket.state == 'pending':
continue
if cnt < sz:
socket.color = RED
else:
socket.color = BLUE
socket.write_message({'state': 'init', 'color': socket.color})
cnt += 1