def create_motor(char):
index = motor_chars.index(char)
motor = silverpak.Silverpak()
motor.baudRate = settings['MOTOR_%s_BAUD_RATE' % char]
motor.driverAddress = settings['MOTOR_%s_DRIVER_ADDRESS' % char]
motor.enableLimitSwitches = settings['MOTOR_%s_ENABLE_LIMIT_SWITCHES' % char]
motor.enablePositionCorrection = settings['MOTOR_%s_ENABLE_POSITION_CORRECTION' % char]
motor.velocity = settings['MOTOR_%s_VELOCITY' % char]
motor.acceleration = settings['MOTOR_%s_ACCELERATION' % char]
motor.maxPosition = admin.motor_bounds()[index][1]
if not settings['MOTOR_%s_SET_HOLDING_CURRENT' % char]:
motor.holdingCurrent = None
if settings['MOTOR_%s_FAKE' % char]:
motor.setFake()
motor.name = char
motor.stoppedMovingHandlers.append(motorStoppedMovingHandler)
return motor
def handle_ConnectionRequest(msg):
global user, server, motor_chars
debug("Got connection request message")
debug("protocol supported: {0}".format(str(msg.newest_protocol_supported)))
this_protocol_version = 0
if msg.newest_protocol_supported < this_protocol_version:
server.send_message(ConnectionResult(ConnectionResult.UnsupportedProtocol))
server.close()
return
try:
user = admin.login(msg.username, msg.password)
except (admin.UserDoesNotExist, admin.BadPassword):
warning("Invalid login: "******", Password: <hidden>")
server.send_message(ConnectionResult(ConnectionResult.InvalidLogin))
server.close()
return
# if they request hardware to turn on, make sure they have privileges
if msg.hardware_flag and not user.has_privilege(Privilege.OperateHardware):
warning(msg.username + " requested hardware access but doesn't have permission")
server.send_message(ConnectionResult(ConnectionResult.InsufficientPrivileges, user.privileges()))
server.close()
return
elif not msg.hardware_flag and not user.has_privilege(Privilege.ManageUsers):
warning(msg.username + " tried to manage users but doesn't have permission")
server.send_message(ConnectionResult(ConnectionResult.InsufficientPrivileges, user.privileges()))
server.close()
return
debug("Successful login for user " + msg.username)
motor_bounds = admin.motor_bounds()
server.send_message(ConnectionResult(ConnectionResult.Success, this_protocol_version, user.privileges()))
if msg.hardware_flag:
server.send_message(InitializationInformation(motor_bounds, admin.static_bookmarks(), user.bookmarks()))
if msg.hardware_flag:
initialize_hardware()
def on_connection_close():
debug("connection closing")
# send motors home
if motors is not None:
# leave A alone
# send B to its min so that it's upright
motor_b = motors['B']
motor_b_home = admin.motor_bounds()[1][0]
debug("sending motor " + repr(motor_b.name) + " home to " + repr(motor_b_home))
# send X, Y, Z to 0
for char in "XYZ":
motor = motors[char]
motor.stoppedMovingHandlers.remove(motorStoppedMovingHandler)
debug("sending motor " + repr(motor.name) + " home to 0")
move_motor(motor, 0)
# clean up
global finished
finished = True
if live_view_thread is not None:
debug("waiting for live view thread to join")
live_view_thread.join()
if motors_thread is not None:
debug("waiting for motors thread to join")
motor_movement_queue.put({})
motors_thread.join()
if monitor_thread is not None:
debug("waiting for monitor thread to join")
monitor_thread.join()
if message_thread is not None:
debug("waiting for message thread to join")
message_queue.put(DummyCloseConnection())
message_thread.join()
if motors is not None:
debug("shutting down motors")
motor_disposer_threads = []
def shutdown_motor(motor):
debug("waiting for motor " + repr(motor.name) + " to stop moving")
for _ in range(settings['MOTOR_MOVEMENT_TIMEOUT']):
if motor.isReady():
break
time.sleep(1)
else:
error("timed out waiting for motor " + repr(motor.name) + " to stop moving")
debug("disposing motor " + repr(motor.name))
motor.dispose()
for motor in motors.values():
thread = make_thread(shutdown_motor, "motor " + repr(motor.name) + " disposer", args=[motor])
thread.start()
motor_disposer_threads.append(thread)
for thread in motor_disposer_threads:
thread.join()
set_power_switch(on=False)
debug("done with life. comitting seppuku")
os._exit(0)