def handle(self):
global COORDINATOR_IP
global LR_IP
global FOLLOWER_IP
global SENSOR_IP
global BROOKELAPTOP_IP
last_message_number = 0
sent_messages = 0
inter_count = 0
prev_count = 0
prev_time = 0
inter_time = 0
goodMsgTotal = 0
badMsgTotal = 0
msgTotal = 0
minuteCount = 0
minuteTick = 0
prevSensorData = 0
message = ''
cur_thread = threading.current_thread()
print("we have a connection from {0}".format(self.request.getpeername()))
#IDENTIFY YOURSELF!
name = "DEFAULT"
if SENSOR_IP in self.request.getpeername():
print("The sensor has connected.")
name = "SENSOR"
txrate = EXPECTED_SA_SEND
rxrate = EXPECTED_SA_RECEIVE
elif COORDINATOR_IP in self.request.getpeername():
print("The coordinator has connected.")
name = "COORD"
txrate = EXPECTED_CD_SEND
rxrate = EXPECTED_CD_RECEIVE
elif LR_IP in self.request.getpeername():
print("The lead rover has connected.")
name = "LEAD"
txrate = EXPECTED_LR_SEND
rxrate = EXPECTED_LR_RECEIVE
elif FOLLOWER_IP in self.request.getpeername():
print("The follower rover has connected.")
name = "FOLLOW"
txrate = EXPECTED_FR_SEND
rxrate = EXPECTED_FR_RECEIVE
elif BROOKELAPTOP_IP in self.request.getpeername():
print("Brooke has connected.")
name = "BROOKE"
txrate = EXPECTED_SA_SEND
rxrate = EXPECTED_SA_RECEIVE
while True:
data = self.request.recv(1) #96
if data == MESSAGE_START_BYTE:
#Account for messages with count byte = '~'
if len(message) == 2:
type = message[1] #hex(ord(message[1]))
if self.typesAndBytes.has_key(type):
if self.typesAndBytes[type] == 125:
message = message + data
continue
message = MESSAGE_START_BYTE
elif DANIEL_IP in self.request.getpeername():
if data == 'g':
print("GO")
elif data == 's':
print("STOP")
elif data == 't':
print("TOKEN")
elif data == MESSAGE_STOP_BYTE:
if len(message) == 0:
continue
message = message + data
type = message[1] #hex(ord(message[1]))
#Account for messages with count byte = MESSAGE_STOP_BYTE
if len(message) == 3:
if self.typesAndBytes.has_key(type):
if self.typesAndBytes[type] == 45:
continue
#inter_count = total_count - prev_count
#prev_count = total_count
#Print out message receive data
if type == TYPE_RECEIVE_STAT:
#print >>sys.stderr, " ".join(hex(ord(n)) for n in message)
#print(inter_count - ord(message[8]))
#Test accuracy of receive timer callback, calculate receive rate
inter_time = time.time() - prev_time
prev_time = time.time()
if inter_time != 0 and len(message) > 8:
if COORDINATOR_IP in self.request.getpeername():
minuteTick = minuteTick + 1
if minuteTick == 6:
minuteTick = 0
minuteCount = minuteCount + 1
print("Runtime: {0} minutes.\n".format(minuteCount))
goodMsg = ord(message[8]) + ord(message[7])*16
badMsg = ord(message[6]) + ord(message[5])*16
goodMsgTotal = goodMsgTotal + goodMsg
badMsgTotal = badMsgTotal + badMsg
msgTotal = msgTotal + badMsg + goodMsg
goodrate = goodMsg/inter_time
badrate = badMsg/inter_time
totalrate = (goodMsg+badMsg)/inter_time
pushrate = sent_messages/inter_time
#uncommented by brooke 3/3/16
receiverate = abs((totalrate-rxrate)/(rxrate+0.000001))
if rxrate != 0:
receiverate = totalrate/rxrate
if totalrate == 0 and rxrate == 0:
rxreport = "RX Rate - GOOD!"
elif receiverate > 0.9 and receiverate < 1.1:
rxreport = "RX Rate - GOOD!"
elif receiverate > 1.1:
rxreport = "RX RATE FAST - {0:.3g}x SPEED".format(receiverate)
else:
rxreport = "RX RATE SLOW - {0:.3g}x SPEED".format(receiverate)
#sendcomp = abs((pushrate - txrate)/(txrate+0.000001))
if txrate != 0:
sendcomp = pushrate/txrate
if pushrate == 0 and txrate == 0:
txreport = "TX Rate - GOOD!"
elif sendcomp > 0.9 and sendcomp < 1.1:
txreport = "TX Rate - GOOD!"
elif sendcomp > 1.1:
txreport = "TX RATE FAST - {0:.3g}x SPEED".format(sendcomp)
else:
txreport = "TX RATE SLOW - {0:.3g}x SPEED".format(sendcomp)
if goodMsg == 0 and badMsg != 0:
errport = "BAD DATA"
elif goodMsg == 0:
errport = ""
elif badMsg == 0:
errport = "GOOD DATA"
elif (badMsg*10) < goodMsg:
errport = "MOSTLY GOOD DATA"
else:
errport = "ERRORS IN DATA"
#block commented OUT by John 4/13/16
"""
if badMsg+goodMsg > 0 or sent_messages > 0:
print("<{0}> Messages received: {1} ({2:.3g}/s) Sent: {3} ({4:.3g}/s) Errors Reported: {5}".format(name, goodMsg, goodrate, sent_messages, pushrate, badMsg))
print(" {0} || {1} || {2}".format(rxreport, txreport, errport))
#print(" Rate/sec - Received: {0:.3g} Sent: {1:.3g}".format(totalrate, pushrate))
else:
print("<{0}> received and sent 0 messages in {1:.3g}s. Expecting {2} received and {3} sent.".format(name, inter_time, txrate, rxrate))
print("")
"""
message = ''
sent_messages = 0
continue
if COORDINATOR_IP in self.request.getpeername():
processCoordinatorMsg(type, message)
elif BROOKELAPTOP_IP in self.request.getpeername():
processBrookeMsg(type, message)
elif SENSOR_IP in self.request.getpeername():
processSensorMsg(type, message)
else:
sendToCoordinator(message)
if message[1] == TYPE_LR_SENSOR and message[3] == chr(88):
print("Sensor reads {0} cm".format(ord(message[8])))
#print(" ".join(hex(ord(n)) for n in MESSAGE))
sent_messages = sent_messages + 1
if len(message) > 2:
num = ord(message[2])
#added by brooke
if type == 0:
print message
#end added by brooke
self.trackIncoming(type, int(num))
message = ''
else:
message = message + data
print("closing the connection")
