class IPCServer:
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.sd.register(self.status)
self.sd.register(self.command)
# create ipc sockets
context = zmq.Context()
context.linger = 0
self.context = context
# self.pubSocket = context.socket(zmq.PUB)
# self.pubSocket.bind('ipc://machinetalk-server.ipc')
# self.pubDsname = self.pubSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
# if self.debug:
# print('bound PUB socket to %s' % self.pubDsname)
self.zmqSocket = context.socket(zmq.ROUTER)
self.zmqSocket.bind('ipc://machinetalk-server.ipc')
self.zmqDsname = self.zmqSocket.get_string(zmq.LAST_ENDPOINT,
encoding='utf-8')
if self.debug:
print('bound ROUTER socket to %s' % self.zmqDsname)
self.zmqLock = threading.Lock()
self._tx = Message()
self._rx = Message()
self.threads.append(threading.Thread(target=self.socket_worker))
for thread in self.threads:
thread.start()
def send_msg(self, identity, msg_type):
with self.zmqLock:
self._tx.type = msg_type
txBuffer = self._tx.SerializeToString()
self.zmqSocket.send_multipart([identity, txBuffer], zmq.NOBLOCK)
self._tx.Clear()
def socket_worker(self):
poll = zmq.Poller()
poll.register(self.zmqSocket, zmq.POLLIN)
while not self.shutdown.is_set():
s = dict(poll.poll(200))
if self.zmqSocket in s and s[self.zmqSocket] == zmq.POLLIN:
self.process_msg(self.zmqSocket)
def process_msg(self, socket):
(identity, message) = socket.recv_multipart()
self._rx.ParseFromString(message)
if self.debug:
print("process message called, id: %s" % identity)
print(str(self._rx))
if self._rx.type == IPC_POSITION:
self._tx.x = (self.status.motion.position.x -
self.status.motion.g5x_offset.x -
self.status.motion.g92_offset.x -
self.status.io.tool_offset.x)
self._tx.y = (self.status.motion.position.y -
self.status.motion.g5x_offset.y -
self.status.motion.g92_offset.y -
self.status.io.tool_offset.y)
self.send_msg(identity, IPC_POSITION)
elif self._rx.type == IPC_JOG:
self.command.set_task_mode(application.EMC_TASK_MODE_MANUAL)
self.command.jog(self._rx.jog_type, self._rx.axis,
self._rx.velocity, self._rx.distance)
elif self._rx.type == IPC_CONNECTED:
self._tx.connected = self.status.synced and self.command.connected
self.send_msg(identity, IPC_CONNECTED)
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
self.shutdown.set()
for thread in self.threads:
thread.join()
self.threads = []
class IPCServer():
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
self.status = ApplicationStatus()
self.command = ApplicationCommand()
status_sd = ServiceDiscovery(service_type="_status._sub._machinekit._tcp", uuid=uuid)
status_sd.on_discovered.append(self.status_discovered)
status_sd.on_disappeared.append(self.status_disappeared)
status_sd.start()
self.status_sd = status_sd
command_sd = ServiceDiscovery(service_type="_command._sub._machinekit._tcp", uuid=uuid)
command_sd.on_discovered.append(self.command_discovered)
command_sd.on_disappeared.append(self.command_disappeared)
command_sd.start()
# create ipc sockets
context = zmq.Context()
context.linger = 0
self.context = context
# self.pubSocket = context.socket(zmq.PUB)
# self.pubSocket.bind('ipc://machinetalk-server.ipc')
# self.pubDsname = self.pubSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
# if self.debug:
# print('bound PUB socket to %s' % self.pubDsname)
self.zmqSocket = context.socket(zmq.ROUTER)
self.zmqSocket.bind('ipc://machinetalk-server.ipc')
self.zmqDsname = self.zmqSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
if self.debug:
print('bound ROUTER socket to %s' % self.zmqDsname)
self.zmqLock = threading.Lock()
self.tx = Message()
self.rx = Message()
self.threads.append(threading.Thread(target=self.socket_worker))
for thread in self.threads:
thread.start()
def send_msg(self, identity, msg_type):
with self.zmqLock:
self.tx.type = msg_type
txBuffer = self.tx.SerializeToString()
self.zmqSocket.send_multipart([identity, txBuffer], zmq.NOBLOCK)
self.tx.Clear()
def socket_worker(self):
poll = zmq.Poller()
poll.register(self.zmqSocket, zmq.POLLIN)
while not self.shutdown.is_set():
s = dict(poll.poll(200))
if self.zmqSocket in s and s[self.zmqSocket] == zmq.POLLIN:
self.process_msg(self.zmqSocket)
def process_msg(self, socket):
(identity, message) = socket.recv_multipart()
self.rx.ParseFromString(message)
if self.debug:
print("process message called, id: %s" % identity)
print(str(self.rx))
if self.rx.type == IPC_POSITION:
self.tx.x = self.status.motion.position.x - \
self.status.motion.g5x_offset.x - \
self.status.motion.g92_offset.x - \
self.status.io.tool_offset.x
self.tx.y = self.status.motion.position.y - \
self.status.motion.g5x_offset.y - \
self.status.motion.g92_offset.y - \
self.status.io.tool_offset.y
self.send_msg(identity, IPC_POSITION)
elif self.rx.type == IPC_JOG:
self.command.set_task_mode(application.TASK_MODE_MANUAL)
self.command.jog(self.rx.jog_type, self.rx.axis,
self.rx.velocity, self.rx.distance)
elif self.rx.type == IPC_CONNECTED:
self.tx.connected = self.status.synced and self.command.connected
self.send_msg(identity, IPC_CONNECTED)
def status_discovered(self, data):
if self.debug:
print('discovered %s %s' % (data.name, data.dsn))
self.status.status_uri = data.dsn
self.status.ready()
#self.timer = threading.Timer(0.1, self.status_timer)
#self.timer.start()
def status_disappeared(self, data):
if self.debug:
print('%s disappeared' % data.name)
self.status.stop()
def command_discovered(self, data):
if self.debug:
print('discovered %s %s' % (data.name, data.dsn))
self.command.command_uri = data.dsn
self.command.ready()
def command_disappeared(self, data):
if self.debug:
print('%s disappeared' % data.name)
self.command.stop()
def stop(self):
if self.status is not None:
self.status.stop()
if self.command is not None:
self.command.stop()
self.shutdown.set()
for thread in self.threads:
thread.join()
self.threads = []
class IPCServer:
def __init__(self, uuid, debug=True):
self.debug = debug
self.threads = []
self.shutdown = threading.Event()
sd_filter = ServiceDiscoveryFilter(txt_records={'uuid': uuid})
self.sd = ServiceDiscovery(filter_=sd_filter)
self.status = ApplicationStatus()
self.command = ApplicationCommand()
self.sd.register(self.status)
self.sd.register(self.command)
# create ipc sockets
context = zmq.Context()
context.linger = 0
self.context = context
# self.pubSocket = context.socket(zmq.PUB)
# self.pubSocket.bind('ipc://machinetalk-server.ipc')
# self.pubDsname = self.pubSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
# if self.debug:
# print('bound PUB socket to %s' % self.pubDsname)
self.zmqSocket = context.socket(zmq.ROUTER)
self.zmqSocket.bind('ipc://machinetalk-server.ipc')
self.zmqDsname = self.zmqSocket.get_string(zmq.LAST_ENDPOINT, encoding='utf-8')
if self.debug:
print('bound ROUTER socket to %s' % self.zmqDsname)
self.zmqLock = threading.Lock()
self._tx = Message()
self._rx = Message()
self.threads.append(threading.Thread(target=self.socket_worker))
for thread in self.threads:
thread.start()
def send_msg(self, identity, msg_type):
with self.zmqLock:
self._tx.type = msg_type
txBuffer = self._tx.SerializeToString()
self.zmqSocket.send_multipart([identity, txBuffer], zmq.NOBLOCK)
self._tx.Clear()
def socket_worker(self):
poll = zmq.Poller()
poll.register(self.zmqSocket, zmq.POLLIN)
while not self.shutdown.is_set():
s = dict(poll.poll(200))
if self.zmqSocket in s and s[self.zmqSocket] == zmq.POLLIN:
self.process_msg(self.zmqSocket)
def process_msg(self, socket):
(identity, message) = socket.recv_multipart()
self._rx.ParseFromString(message)
if self.debug:
print("process message called, id: %s" % identity)
print(str(self._rx))
if self._rx.type == IPC_POSITION:
self._tx.x = (
self.status.motion.position.x
- self.status.motion.g5x_offset.x
- self.status.motion.g92_offset.x
- self.status.io.tool_offset.x
)
self._tx.y = (
self.status.motion.position.y
- self.status.motion.g5x_offset.y
- self.status.motion.g92_offset.y
- self.status.io.tool_offset.y
)
self.send_msg(identity, IPC_POSITION)
elif self._rx.type == IPC_JOG:
self.command.set_task_mode(application.EMC_TASK_MODE_MANUAL)
self.command.jog(
self._rx.jog_type, self._rx.axis, self._rx.velocity, self._rx.distance
)
elif self._rx.type == IPC_CONNECTED:
self._tx.connected = self.status.synced and self.command.connected
self.send_msg(identity, IPC_CONNECTED)
def start(self):
self.sd.start()
def stop(self):
self.sd.stop()
self.shutdown.set()
for thread in self.threads:
thread.join()
self.threads = []
