def open(self):
"""Initializes sonar connection and sets default properties.
Raises:
SonarNotFound: Sonar port could not be opened.
"""
if not self.conn:
try:
self.conn = Socket(self.port)
except OSError as e:
raise exceptions.SonarNotFound(self.port, e)
# Update properties.
rospy.loginfo("Initializing sonar on %s", self.port)
self.initialized = True
# Reboot to make sure the sonar is clean.
self.send(Message.REBOOT)
self.update()
# Set default properties.
self.set(force=True)
# Wait for settings to go through.
while not self.has_cfg or self.no_params or not self.motor_on or not self.centred:
rospy.loginfo(
"Waiting for configuration: (HAS CFG: %s, NO PARAMS: %s)",
self.has_cfg, self.no_params
)
self.update()
rospy.loginfo("Sonar is ready for use")
def main():
sys.stdout.flush()
parser = argparse.ArgumentParser()
parser.add_argument('--port', '-p', default=2080, type=int,
help='Port to use')
args = parser.parse_args()
print(args.port)
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# does not work in python3 with -p
server_socket.bind(('0.0.0.0', args.port))
server_socket.listen(0)
print("server ready")
while True:
with server_socket.accept()[0] as connection_socket:
data_str = connection_socket.recv(1024).decode('ascii')
print(data_str)
connection_socket.send(http_handle(data_str).encode('ascii'))
connection_socket.close()
return 0
def run_server(server_port):
"""Run the UDP pinger server
"""
# Create the server socket (to handle UDP requests using ipv4), make sure
# it is always closed by using with statement.
with Socket(socket.AF_INET, socket.SOCK_DGRAM) as server_socket:
# The socket stays connected even after this script ends. So in order
# to allow the immediate reuse of the socket (so that we can kill and
# re-run the server while debugging) we set the following option. This
# is potentially dangerous in real code: in rare cases you may get junk
# data arriving at the socket.
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# Set the server port
server_socket.bind(('', server_port))
# Start accepting ping requests
print("Ping server ready on port", server_port)
while True:
# Receive message and send one back
_, client_address = server_socket.recvfrom(1024)
server_socket.sendto("".encode(), client_address)
return 0
def run(host: str, serv: int, username: str, password: str,
args: List[str]) -> None:
try:
opts, args = getopt(args, 's:e:')
except GetoptError:
usage()
if args:
usage()
start = EPOCH
end = datetime.now()
for opt, arg in opts:
if opt == '-s':
from dateparser import parse # type: ignore
start = parse(arg)
if start is None:
usage()
if opt == '-e':
from dateparser import parse # type: ignore
end = parse(arg)
if end is None:
usage()
conn = DVRIPClient(Socket(AF_INET, SOCK_STREAM))
conn.connect((host, serv), username, password)
try:
for entry in conn.log(start=start, end=end):
print('{:>8} {} {:>12} {}'.format(entry.number,
entry.time.isoformat(),
entry.type.name.lower(),
entry.data))
finally:
conn.logout()
def run_client(server_address, server_port):
# Measure RTT for 10 times
for i in range(0, 10):
# Create UDP socket
with Socket(socket.AF_INET, socket.SOCK_DGRAM) as client_socket:
# set timeout to 1s
client_socket.settimeout(1)
# Specify the addr and port to connect to
client_socket.connect((server_address, server_port))
print('#%d ' % i, end='')
# Measure RTT
start = time.time_ns()
# Send UDP ping packet
client_socket.send(b'ping!')
try:
recv_ = client_socket.recv(4096)
except socket.timeout:
recv_ = None
end = time.time_ns()
elapsed = end - start
# If pong packet is received normally
if recv_ == b'pong!':
print('RTT: %.2fms' % (elapsed / (10 ** 6)))
else:
print('Request Timeout')
def open(self):
"""Initializes sonar connection and sets default properties.
Raises:
SonarNotFound: Sonar port could not be opened.
"""
if not self.conn:
try:
self.conn = Socket(self.port)
except OSError as e:
raise exceptions.SonarNotFound(self.port, e)
# Update properties.
rospy.loginfo("Initializing sonar on %s", self.port)
self.initialized = True
# Reboot to make sure the sonar is clean.
self.send(Message.REBOOT)
self.update()
# Set default properties.
self.set(force=True)
# Wait for settings to go through.
while not self.has_cfg or self.no_params:
rospy.loginfo(
"Waiting for configuration: (HAS CFG: %s, NO PARAMS: %s)",
self.has_cfg, self.no_params
)
self.update()
rospy.loginfo("Sonar is ready for use")
def main():
# 相应网页的内容
# Create the server socket (to handle tcp requests using ipv4), make sure
# it is always closed by using with statement.
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
# The socket stays connected even after this script ends. So in order
# to allow the immediate reuse of the socket (so that we can kill and
# re-run the server while debugging) we set the following option. This
# is potentially dangerous in real code: in rare cases you may get junk
# data arriving at the socket.
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
#设置连接及端口号
server_socket.bind(('', args.port))
server_socket.listen(10)
print("服务器就绪，等待连接")
while 1:
#得到响应信息
conn, addr = server_socket.accept()
task = threading.Thread(target=soc, args=(conn, addr))
task.start()
server_socket.close()
return 0
def run(host: str, # pylint: disable=too-many-branches,too-many-locals
serv: int,
username: str,
password: str,
args: List[str]
) -> None:
if args:
usage()
conn = DVRIPClient(Socket(AF_INET, SOCK_STREAM))
conn.connect((host, serv), username, password)
info = conn.systeminfo()
line = [info.chassis, info.board, info.serial]
for attr in ('hardware', 'eeprom', 'software', 'build', 'videoin',
'videoout', 'commin', 'commout', 'triggerin',
'triggerout', 'audioin', 'views'):
value = getattr(info, attr)
if value:
line.append('{} {}'.format(attr, value))
print(' '.join(line)) # system line
for disk in conn.storageinfo():
print('disk {}:'.format(disk.number)) # disk group
for i, part in zip(range(disk.parts), disk.partinfo):
line = [' part {}'.format(i)]
if part.current:
line.append('current')
line.append('size {}M free {}M'
.format(part.size, part.free))
for attr in ('viewedstart', 'viewedend',
'unviewedstart', 'unviewedend'):
date = getattr(part, attr)
line.append('{} {}'
.format(attr, date.isoformat()))
print(' '.join(line)) # partition line
actv = conn.activityinfo()
line = []
for i, chan in zip(range(info.videoin), actv.channels):
print('channel {} bitrate {}K/s'.format(i, chan.bitrate) +
(' recording' if chan.recording else ''))
line = []
line.append(conn.time().isoformat())
minutes = info.uptime
hours, minutes = divmod(minutes, 60)
days, hours = divmod(hours, 24)
if days:
line.append("up P{}dT{:02}h{:02}m".format(days, hours, minutes))
else:
line.append("up PT{}h{:02}m".format(hours, minutes))
line.append('triggers')
for attr in ('in_', 'out', 'obscure', 'disconnect', 'motion'):
value = getattr(actv.triggers, attr)
if value:
line.append('{} {}'.format(attr.rstrip('_'), value))
if len(line) <= 3:
line.append('none')
print(' '.join(line)) # status line
def start_client():
# Client (Player) Setup
# import needed libraries
from socket import socket as Socket
from socket import AF_INET, SOCK_STREAM
HOSTNAME = 'localhost' # on same host
PORTNUMBER = 11267 # same port number
BUFFER = 80 # size of the buffer
SERVER = (HOSTNAME, PORTNUMBER)
PLAYER = Socket(AF_INET, SOCK_STREAM)
PLAYER.connect(SERVER)
print(f'PLAYER >> Connected to SERVER over port {PORTNUMBER}.')
while True:
GUESS = input('PLAYER >> Guess the password: '******'SERVER >>', ANSWER)
if ANSWER == 'You chose wisely.':
break
PLAYER.close()
def start_client():
# Client Setup
# import needed libraries
from socket import socket as Socket
from socket import AF_INET, SOCK_STREAM
HOSTNAME = 'localhost' # on same host
PORTNUMBER = 12345 # same port number as server
BUFFER = 1024 # size of the buffer
SERVER = (HOSTNAME, PORTNUMBER) # create tuple of server address
CLIENT2 = Socket(AF_INET, SOCK_STREAM) # create client socket
CLIENT2.connect(SERVER) # connect client socket to server socket
print(f'CLIENT2 >> Connected to SERVER over port {PORTNUMBER}.'
) # print verification string
# loop until 'QUIT' is sent and received
while True:
MESSAGE2 = input(
'CLIENT2 >> Enter data you want to send or "QUIT" to exit-> '
) # message to send to server
CLIENT2.send(MESSAGE2.encode()) # send the encoded message to server
REPLY2 = CLIENT2.recv(BUFFER).decode() # receive the servers reply
print('SERVER >>', REPLY2) # print out the reply from server
# break out of loop if QUIT is received
if REPLY2 == 'QUIT':
break
print("CLIENT2 >> Closing Socket, GOODBYE."
) # print out break out of loop verification string
CLIENT2.close() # close the socket
async def async_setup_platform(hass,
config,
async_add_entities,
discovery_info=None):
host = str(config.get(CONF_HOST))
port = int(config.get(CONF_PORT))
username = str(config.get(CONF_USERNAME))
password = str(config.get(CONF_PASSWORD))
if (password is None):
password = ''
_LOGGER.info("Connecting to %s:%i using %s:%s" %
(host, port, username, password))
from dvrip.io import DVRIPClient
client = DVRIPClient(Socket(AF_INET, SOCK_STREAM))
client.connect((host, port), username, password)
info = client.systeminfo()
_LOGGER.info("Connected to %s. It has %i video-in. Will add %i cameras" %
(info.board, info.videoin, info.videoin))
cameras = []
for camera in range(int(info.videoin)):
_LOGGER.info("Detected video-in nr %i" % (camera))
cameras.append(XMEye_Camera(hass, client, camera, (host, port)))
async_add_entities(cameras)
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--port',
'-p',
default=2000,
type=int,
help='port to use')
args = parser.parse_args()
server_socket = Socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind(('', args.port))
server_socket.listen(1)
print "server running"
while True:
connection_socket = server_socket.accept()[0]
request = connection_socket.recv(1024)
reply = http_handler(request)
connection_socket.send("HTTP/1.1 200 OK\n")
connection_socket.send("\n")
connection_socket.send(reply)
connection_socket.close()
print "received request"
print "reply sent"
return 0
def __init__(
self,
email: Optional[str] = None,
model_name: Optional[str] = None,
callback: Optional[Callable] = None,
job_config: JobConfig = JobConfig(),
address: Tuple[str, int] = ("sybl.tech", 7000),
) -> None:
self.email: Optional[str] = email
self.model_name: Optional[str] = model_name
self._access_token: Optional[str] = None
self._model_id: Optional[str] = None
if email and model_name:
self._access_token, self._model_id = load_access_token(
email, model_name)
self._sock: Socket = Socket(socket.AF_INET, socket.SOCK_STREAM)
self._state: State = State.AUTHENTICATING
self._address: Tuple[str, int] = address
if callback:
self.register_callback(callback)
else:
self.callback: Optional[Callable] = None
self.config: JobConfig = job_config
self.recv_job_config: Optional[Dict] = None
self._message_stack: List[Dict] = []
def main():
sys.stdout.flush()
parser = argparse.ArgumentParser()
parser.add_argument('--port', '-p', default=2080, type=int,
help='Port to use')
args = parser.parse_args()
print(args.port)
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# does not work in python3 with -p
server_socket.bind(('', args.port))
server_socket.listen(0)
print("server ready")
while True:
connection_socket, address = server_socket.accept()
while (threading.activeCount() >= 20):
continue
Thread(target = http_handle, args = (connection_socket, address) ).start()
return 0
def redirector():
"""
Redirects all incoming traffic through the proxy.
"""
PROXY_HOST = environ.get("PROXY_HOST")
PROXY_PORT = environ.get("PROXY_PORT", 1080)
setdefaultproxy(PROXY_TYPE_SOCKS5, PROXY_HOST, PROXY_PORT)
server = Socket(AF_INET, SOCK_STREAM)
server.bind(("127.0.0.1", 42000))
server.listen(5)
while True:
client_socket, (src_host, src_port) = server.accept()
(dst_host, dst_port) = get_original_destination(client_socket)
logger.info(
f"Intercepted connection from {src_host}:{src_port} to {dst_host}:{dst_port}"
)
proxy_socket = SocksSocket()
proxy_socket.connect((dst_host, dst_port))
bidirectional_copy(client_socket, proxy_socket)
def main():
# Argumentos da linha de comando. Use a porta 8080 por padrão: amplamente usado para proxys
# e > 1024, então não precisamos de sudo para rodar.
parser = argparse.ArgumentParser()
parser.add_argument('--porta', '-p', default=8080, type=int, help='porta para usar')
args = parser.parse_args()
# Crie o sockete do servidor (para manipular solicitações tcp usando ipv4), certifique-se
# é sempre fechado usando a instrução
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
# O socket permanece conectado mesmo depois que este script terminar
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server_socket.bind(('', args.port))
server_socket.listen(1)
# sem multithread ainda, precisaria configurar atualizações atômicas para dict.
# Criar um dicionario vazio para páginas em cache
cache_dict = {}
print("servidor proxy pronto")
while True:
# Aceite a conexão TCP do cliente
with server_socket.accept()[0] as connection_socket:
return 0
def update(self):
"""Get data from the oscilloscope.
:returns: the trace data
:rtype: numpy.array dtype='(*number_channels*,*number_samples*)int16'
"""
self._scope = Socket(AF_INET, SOCK_STREAM)
self._scope.settimeout(5.0)
self._scope.connect((self._ip_address, 4000))
#self._activate_acquisition()
field = '{}-trace'.format(self.__class__.__name__)
type_ = '({:d},{:d})int16'.format(len(self._channels),
self._record_length)
data = np.zeros((1, ), dtype=[(field, type_)])
print('transfering waveform... ', end='')
sys.stdout.flush()
for channel, active in enumerate(self._channels):
if not active:
continue
self._request_curve(channel + 1)
trace = self._receive_curve()
data[field][0][channel] = trace
self._scope.close()
print('done')
return data.copy()
def main():
# Command line arguments. Use a port > 1024 by default so that we can run
# without sudo, for use as a real server you need to use port 80.
parser = argparse.ArgumentParser()
parser.add_argument('--port',
'-p',
default=2080,
type=int,
help='Port to use')
args = parser.parse_args()
# Create the server socket (to handle tcp requests using ipv4), make sure
# it is always closed by using with statement.
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
# The socket stays connected even after this script ends. So in order
# to allow the immediate reuse of the socket (so that we can kill and
# re-run the server while debugging) we set the following option. This
# is potentially dangerous in real code: in rare cases you may get junk
# data arriving at the socket.
# Set socket options
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# Bind socket to port
print("Using the port: ", args.port)
server_socket.bind(('', args.port))
# Have socket listen
server_socket.listen(0)
print("server ready")
while True:
# Use the server socket as the connection socket and accept incoming requests
# This is like file IO and you need to open the server socket as the connection socket
with server_socket.accept()[0] as connection_socket:
# Save the request received from the connection and decode as ascii
data_str = connection_socket.recv(1024).decode('ascii')
request = data_str
reply = http_handle(request)
# Generate a reply by sending the request received to http_handle()
# See function http_handle()
# Use the connection socket to send the reply encoded as bytestream
reply = reply.rstrip()
reply_encoded = reply.encode('ascii')
print("\n\nReceived request")
print("======================")
print(request.rstrip())
print("======================")
print("\n\nReplied with")
print("======================")
print(reply)
connection_socket.send(reply_encoded)
print("======================")
def main():
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# Bind the socket to address
# (arg1, arg2) HOST, PORT
server_socket.bind(('', 2080))
# Enable a server to accept connections
# (arg) number of unaccepted connections
server_socket.listen(1)
print("Server On")
while True:
# Get the clientSocket and end it when it is done
with server_socket.accept()[0] as clientSocket:
# Keeps the connection awake while the client is on
print("\nNew Client")
while True:
# HTTP requests
request = clientSocket.recv(1024)
request = request.decode()
if not request: break
print("\nRequest", request)
(method, fileName, contentSize) = httpHandle(request)
if (method == "GET"):
# Check if file exists
exists = os.path.isfile(fileName)
if not exists:
method = "404"
if (method == 'GET'):
responseHeader = \
"HTTP/1.1 200 OK\n"+\
"Content-Length: " + str(fileSize(fileName)) +'\n'
sendHeader(responseHeader, clientSocket)
clientSocket.recv(1024)
sendFile(fileName, clientSocket)
print("File ", fileName, " sent to client!")
elif (method == 'SEND'):
responseHeader = "HTTP/1.1 200 OK\n"
clientSocket.send(responseHeader.encode())
receiveFile(fileName, int(contentSize), clientSocket)
print("File ", fileName, " saved in folder files!")
else:
responseHeader = "HTTP/1.1 404 Not Found\n"
contentLength = "Content-Length: 0\n"
clientSocket.sendall(responseHeader.encode())
clientSocket.sendall(contentLength.encode())
clientSocket.close()
print("Client has left")
return 0
def _mode(self, wave):
with Socket(AF_INET, SOCK_STREAM) as socket:
socket.settimeout(5)
socket.connect((self.urb.ip_address, self.urb.port))
socket.send(
bytes("Wave {} {}\r\n".format(self.stacknum, wave),
encoding='ascii'))
query = literal_eval(recv_end(socket))
socket.shutdown(SHUT_RDWR)
self.mode = query['mode']
def main():
print 'Starting...'
socket = Socket(AF_INET, SOCK_DGRAM)
packetID = 1
while packetID:
socket.sendto('{}, {:.9f}'.format(packetID, time()),
('192.168.1.2', 41724))
print 'Packet with ID {} sent.'.format(packetID)
sleep(1)
packetID += 1
def _tryInitSocket() -> None:
"""
Initializes the underlying ping socket,
if not already initialized.
"""
if not Pinger._socket:
Pinger._socket = Socket(AF_INET, SOCK_RAW,
socket.getprotobyname('icmp'))
Pinger._socket.setblocking(False)
def remote(cls, port, environment, max_episode_timesteps=None, **kwargs):
socket = Socket()
socket.bind(('', port))
socket.listen(1)
connection, address = socket.accept()
socket.close()
super().remote(connection=connection,
environment=environment,
max_episode_timesteps=max_episode_timesteps,
**kwargs)
def start_server():
# import needed libraries
from random import randint
from socket import socket as Socket
from socket import AF_INET, SOCK_STREAM
# Server Setup
HOSTNAME = '' # blank so any address can be used
PORTNUMBER = 12345 # number for the port
BUFFER = 1024 # size of the buffer
SERVER_ADDRESS = (HOSTNAME, PORTNUMBER) # make the server address a tuple
SERVER = Socket(AF_INET, SOCK_STREAM) # create the server socket
print("SERVER >> Socket successfully created") # print out socket successfully created
SERVER.bind(SERVER_ADDRESS) # bind the socket to the address
print("SERVER >> Socket binded to 12345") # print out socket successfully binded
SERVER.listen(2) # start listening on the socket for connections
print("SERVER >> Socket is listening") # print out verification that socket is listening
# receive client connections
CLIENT1, CLIENT1_ADDRESS = SERVER.accept() # receive the connection from client1 and save the socket and client address
CLIENT2, CLIENT2_ADDRESS = SERVER.accept() # receive the connection from client2 and save the socket and client address
print('SERVER >> Got connection from ', CLIENT1_ADDRESS) # print connection1 verification string
print('SERVER >> Got connection from ', CLIENT2_ADDRESS) # print connection2 verification string
# loop until message received is "QUIT"
while True:
MESSAGE1 = CLIENT1.recv(BUFFER).decode() # receive message1 from client1 and decode it
REPLY1 = "" # instantiate reply1 as an empty string
MESSAGE2 = CLIENT2.recv(BUFFER).decode() # receive message2 from client2 and decode it
REPLY2 = "" # instantiate reply2 as an empty string
# if receive "QUIT" from client1, send "QUIT back to both clients and break out of loop to close the socket"
if MESSAGE1 == "QUIT":
REPLY1 = "QUIT"
CLIENT1.send(REPLY1.encode())
CLIENT2.send(REPLY1.encode())
break
# if receive "QUIT" from client2, send "QUIT back to both clients and break out of loop to close the socket"
elif MESSAGE2 == "QUIT":
REPLY2 = "QUIT"
CLIENT2.send(REPLY2.encode())
CLIENT1.send(REPLY2.encode())
break
# otherwise, reverse the messages received and send them back to clients
else:
length1 = len(MESSAGE1) # get MESSAGE1 length
length2 = len(MESSAGE2) # get MESSAGE2 length
REPLY1 = MESSAGE1[length1::-1] # make REPLY1 the MESSAGE1 reversed
REPLY2 = MESSAGE2[length2::-1] # make REPLY2 the MESSAGE2 reversed
CLIENT1.send(REPLY1.encode()) # send encoded REPLY1 to CLIENT1
CLIENT2.send(REPLY2.encode()) # send encoded REPLY2 to CLIENT2
print('SERVER >> Closing Socket, GOODBYE.') # print out break out of loop verification string
SERVER.close() # close out the socket
def _open_new_socket(server_hostname: str, server_port: int,
logger: Logger) -> Union[ssl.SSLSocket, Socket]:
if server_port != 443:
# only for library testing
logger.info(
f"Using non-ssl socket to connect ({server_hostname}:{server_port})"
)
sock = Socket(socket.AF_INET, socket.SOCK_STREAM)
sock.settimeout(3)
return sock
sock = Socket(type=ssl.SOCK_STREAM)
sock = ssl.SSLContext(ssl.PROTOCOL_SSLv23).wrap_socket(
sock,
do_handshake_on_connect=True,
suppress_ragged_eofs=True,
server_hostname=server_hostname,
)
sock.settimeout(5)
return sock
def run(host: str, serv: int, username: str, password: str,
args: List[str]) -> None:
if args:
from dateparser import parse # type: ignore
time = parse(args[0])
if len(args) > 2 or time is None or time.tzinfo is not None:
usage()
conn = DVRIPClient(Socket(AF_INET, SOCK_STREAM))
conn.connect((host, serv), username, password)
print((conn.time(time) if args else conn.time()).isoformat())
def main():
# create
with Socket(socket.AF_INET, socket.SOCK_STREAM) as server_socket:
# connect
server_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
# connect to localhost port 2080
server_socket.bind(('', 2080))
server_socket.listen(1)
print("server ready")
while True:
# connection, client_address = server_socket.accept()
with server_socket.accept()[0] as connection_socket:
# receive --command and --content
message = connection_socket.recv(1024).decode()
print("I receive " + message)
command = message.split('-')[0]
if command == "GET" or command == "GETPROG":
idx = len(command) + 1
request = message[idx:]
elif command == "POST":
toFile = message.split('-')[1]
idx = len(command) + len(toFile) + 2
request = message[idx:]
print("File to save: " + toFile)
print("Command: " + command)
print("Request: " + request)
if command == "GET" or command == "GETPROG":
reply = http_handle(
request) # read archive and returns its content
connection_socket.send(reply) # send message
print("Success")
elif command == "POST":
path = "filesPOST/" + toFile
with open(path,
"wb") as f: # save contents in output files
f.write(request.encode())
while request:
request = connection_socket.recv(1024)
f.write(request)
print("Success")
else:
print("Command not supported")
return 0
def connectToServer(url, request, domain):
hostIP = socket.gethostbyname(domain)
with Socket(socket.AF_INET, socket.SOCK_STREAM) as outside_socket:
outside_socket.connect((hostIP, 80))
outside_socket.sendall(bytearray(request, 'utf-8'))
response = outside_socket.recv(1024)
outside_socket.close()
return response
def open(self):
"""
Initializes sonar connection and sets default properties.
:raises: SonarNotFound: Sonar port could not be opened.
"""
print 'open'
if not self.conn:
try:
self.conn = Socket(self.port)
except OSError as e:
raise exceptions.SonarNotFound(self.port, e)
# Update properties.
rospy.loginfo("Initializing sonar on %s", self.port)
self.initialized = True
# Reboot to make sure the sonar is clean.
self.send(Message.REBOOT)
self.update()
self.send(Message.REBOOT)
#rospy.loginfo('Sending Version Data request...')
#self.send(Message.SEND_VERSION)
#self.get(Message.VERSION_DATA, 1)
#rospy.loginfo('Version Data message received')
#self.send(Message.SEND_BB_USER)
#self.get(Message.BB_USER_DATA)
# Set default properties.
self.set(force=True)
# Wait for settings to go through.
while not self.has_cfg or self.no_params:
rospy.loginfo(
"Waiting for configuration: (HAS CFG: %s, NO PARAMS: %s)",
self.has_cfg, self.no_params)
self.update()
rospy.loginfo("Sonar is ready for use")
def start( self ):
Thread( target = self.readStdIn ).start( )
socket = Socket( AF_INET, SOCK_STREAM )
try:
socket.connect( self.remotePeer.addr )
socket.send( 'CLIENT' )
self.remotePeer.onConnect( socket )
except SocketError:
print 'failed to connect to server'
os._exit( 1 )
def main():
HOSTNAME = 'localhost' # on same host
PORTNUMBER = 11267 # same port number
BUFFER = 80 # size of the buffer
DEALER = (HOSTNAME, PORTNUMBER)
PLAYER = Socket(AF_INET, SOCK_STREAM)
PLAYER.connect(DEALER)
playGame(PLAYER, BUFFER)
PLAYER.close()
class RegistryClient(object, IRegistryClient):
def __init__(self, update_period=10, refresh_callback=None, server_uri=None):
if server_uri:
self.server_uri = server_uri
else:
self.server_uri = SERVER_URI
self.__refresh_callback = refresh_callback
self.__update_period = update_period
self.__socket = Socket(self.server_uri)
self.__registry = Registry()
self.refresh()
self.__update_thread = UpdateThread(self, update_period)
self.__update_thread.daemon = True
self.__update_thread.start()
def get(self, key):
return self.__registry.get(key)
def set(self, key, value):
return self.__registry.set(key, value)
def remove(self, key):
return self.__registry.remove(key)
def refresh(self):
current_version = self.__socket.send('get_version')
if self.__registry.get_version() != current_version:
self._load()
if self.__refresh_callback:
self.__refresh_callback(self)
def _load(self):
try:
(version, values) = self.__socket.send('get_values')
self.__registry.set_values(values, version)
except Exception, err:
print "Ops:", err
pass
def __init__(self, update_period=10, refresh_callback=None, server_uri=None):
if server_uri:
self.server_uri = server_uri
else:
self.server_uri = SERVER_URI
self.__refresh_callback = refresh_callback
self.__update_period = update_period
self.__socket = Socket(self.server_uri)
self.__registry = Registry()
self.refresh()
self.__update_thread = UpdateThread(self, update_period)
self.__update_thread.daemon = True
self.__update_thread.start()
class TritechMicron(object):
"""Tritech Micron sonar.
In order for attribute changes to immediately be reflected on the device,
use the set() method with the appropriate keyword.
For example, to setup a 20 m sector scan:
with TritechMicron() as sonar:
sonar.set(continuous=False, range=20)
All angles are in radians and headings are relative to the blue LED. So, if
the sonar were not inverted, 0 radians would be facing forward.
Attributes:
ad_high: Amplitude in db to be mapped to max intensity (0-80 db).
ad_low: Amplitude in dB to be mapped to 0 intensity (0-80 db).
adc8on: True if 8-bit resolution ADC, otherwise 4-bit.
centred: Whether the sonar motor is centred.
clock: Sonar time of the day.
conn: Serial connection.
continuous: True if continuous scan, otherwise sector scan.
gain: Initial gain percentage (0.00-1.00).
has_cfg: Whether the sonar has acknowledged with mtBBUserData.
heading: Current sonar heading in radians.
initialized: Whether the sonar has been initialized with parameters.
inverted: Whether the sonar is mounted upside down.
left_limit: Left limit of sector scan in radians.
mo_time: High speed limit of the motor in units of 10 microseconds.
motoring: Whether the sonar motor is moving.
motor_on: Whether device is powered and motor is primed.
nbins: Number of bins per scan line.
no_params: Whether the sonar needs parameters before it can scan.
up_time: Sonar up time.
port: Serial port.
range: Scan range in meters.
recentering: Whether the sonar is recentering its motor.
right_limit: Right limit of sector scans in radians.
scanning: Whether the sonar is scanning.
scanright: Whether the sonar scanning direction is clockwise.
speed: Speed of sound in medium.
step: Mechanical resolution (Resolution enumeration).
"""
def __init__(self, port="/dev/sonar", **kwargs):
"""Constructs Sonar object.
Args:
port: Serial port (default: /dev/sonar).
kwargs: Key-word arguments to pass to set() on initialization.
"""
# Parameter defaults.
self.ad_high = 80.0
self.ad_low = 0.00
self.adc8on = True
self.continuous = True
self.gain = 0.50
self.inverted = False
self.left_limit = to_radians(2400)
self.mo_time = 250
self.nbins = 400
self.range = 10.00
self.right_limit = to_radians(4000)
self.scanright = True
self.speed = 1500.0
self.step = Resolution.LOW
# Override defaults with key-word arguments or ROS parameters.
for key, value in self.__dict__.iteritems():
if key in kwargs:
self.__setattr__(key, value)
else:
param = "{}/{}".format(rospy.get_name(), key)
if rospy.has_param(param):
self.__setattr__(key, rospy.get_param(param))
# Connection properties.
self.port = port
self.conn = None
self.initialized = False
# Head info.
self.centred = False
self.has_cfg = False
self.heading = None
self.motor_on = False
self.motoring = False
self.no_params = True
self.up_time = datetime.timedelta(0)
self.recentering = False
self.scanning = False
# Additional properties.
self.clock = datetime.timedelta(0)
self._time_offset = datetime.timedelta(0)
self.preempted = False
def __enter__(self):
"""Initializes sonar for first use.
Raises:
SonarNotFound: Sonar port could not be opened.
"""
self.open()
return self
def __exit__(self, type, value, traceback):
"""Cleans up."""
self.close()
def open(self):
"""Initializes sonar connection and sets default properties.
Raises:
SonarNotFound: Sonar port could not be opened.
"""
if not self.conn:
try:
self.conn = Socket(self.port)
except OSError as e:
raise exceptions.SonarNotFound(self.port, e)
# Update properties.
rospy.loginfo("Initializing sonar on %s", self.port)
self.initialized = True
# Reboot to make sure the sonar is clean.
self.send(Message.REBOOT)
self.update()
# Set default properties.
self.set(force=True)
# Wait for settings to go through.
while not self.has_cfg or self.no_params:
rospy.loginfo(
"Waiting for configuration: (HAS CFG: %s, NO PARAMS: %s)",
self.has_cfg, self.no_params
)
self.update()
rospy.loginfo("Sonar is ready for use")
def close(self):
"""Closes sonar connection."""
# Reboot first to clear sonar of all parameters.
self.send(Message.REBOOT)
self.conn.close()
self.initialized = False
rospy.loginfo("Closed sonar socket")
def get(self, message=None, wait=2):
"""Sends command and returns reply.
Args:
message: Message to expect (default: first to come in).
wait: Seconds to wait until received if a specific message is
required (default: 2).
Returns:
Reply.
Raises:
SonarNotInitialized: Attempt reading serial without opening port.
TimeoutError: Process timed out while waiting for specific message.
"""
# Verify sonar is initialized.
if not self.initialized:
raise exceptions.SonarNotInitialized()
expected_name = None
if message:
expected_name = Message.to_string(message)
rospy.logdebug("Waiting for %s message", expected_name)
# Determine end time.
end = datetime.datetime.now() + datetime.timedelta(seconds=wait)
# Wait until received if a specific message ID is requested, otherwise
# wait forever.
while message is None or datetime.datetime.now() < end:
try:
reply = self.conn.get_reply()
# Update state if mtAlive.
if reply.id == Message.ALIVE:
self.__update_state(reply)
# If first was asked, respond immediately.
if message is None:
return reply
# Otherwise, verify reply ID.
if reply.id == message:
rospy.logdebug("Found %s message", expected_name)
return reply
elif reply.id != Message.ALIVE:
rospy.logwarn(
"Received unexpected %s message",
reply.name
)
except exceptions.PacketCorrupted, serial.SerialException:
# Keep trying.
continue
# Timeout.
rospy.logerr("Timed out before receiving message: %s", expected_name)
raise exceptions.TimeoutError()
