def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('station server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(1)
server.settimeout(3) # timeout: 3s
while self.running:
try:
conn, address = server.accept()
conn.settimeout(3)
log.debug('new station connection from: %s' % str(address))
self.got_client(conn, str(address))
except socket.timeout:
pass
self.check_new_connections()
# clean up
server.close()
self.disconnect()
log.info('station server thread: bye')
except Exception as e:
log.error('station server thread error: %s' % e)
self.running = False
self.disconnect()
def start_rtk_threads(self, entries):
"""停止某 rtk 线程，不等待
之后需要调用 wait_for_thread
Args:
entries (dict[str, dict]): 各组 rtk 转发配置
"""
if isinstance(entries, dict):
# start threads from config
for name, config in entries.items():
# start one thread
try:
if name in self.rtk_threads.keys():
# 如果已有
rtk_group = self.rtk_threads[name]
# 判断配置是否发生改变，如果不变并且在运行，就跳过
if rtk_group.is_alive() and rtk_group.config == config:
continue
self.stop_and_wait_for_thread(name)
rtk_group = RtkGroup(name, self.thread_count, config, self.status_queue)
self.thread_count += 1
rtk_group.start()
self.rtk_threads[name] = rtk_group
except Exception as e:
log.error('main: failed to start thread %s: %s' % (name, e))
# stop threads not in config
for name in self.rtk_threads.keys():
if name not in entries.keys():
self.stop_and_wait_for_thread(name)
del self.rtk_threads[name]
def start_rtk_threads(self, entries):
"""根据配置文件启动 rtk 线程
Args:
entries (dict[str, Entry]): 各组 rtk 转发配置
"""
if isinstance(entries, dict):
# stop threads not in config
for name in sorted(self.rtk_threads.keys()):
if name not in entries.keys():
self.stop_and_wait_for_thread(name)
# start threads from config
for name, config in entries.items():
if isinstance(config, Entry):
# start one thread
try:
if name in self.rtk_threads.keys():
# 如果已有
rtk_group = self.rtk_threads[name]
# 判断配置是否发生改变，如果不变并且在运行，就跳过
if rtk_group.is_alive(
) and rtk_group.config == config:
continue
self.stop_and_wait_for_thread(name)
rtk_group = RtkGroup(name, self.thread_count, config,
self.status_queue)
self.thread_count += 1
rtk_group.start()
self.rtk_threads[name] = rtk_group
except Exception as e:
log.error('main: failed to start thread %s: %s' %
(name, e))
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('station server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(1)
server.settimeout(3) # timeout: 3s
while self.running:
try:
conn, address = server.accept()
conn.settimeout(3)
log.debug('new station connection from: %s' % str(address))
self.got_client(conn, str(address))
except socket.timeout:
pass
self.check_new_connections()
# clean up
server.close()
self.disconnect()
log.info('station server thread: bye')
except Exception as e:
log.error('station server thread error: %s' % e)
self.running = False
self.disconnect()
def run(self):
"""线程主函数
循环运行，接受到控制端口的 socket 连接（唯一），接收命令。
"""
if self.port is None:
return
log.info('control thread: start, port: %d' % self.port)
try:
# 开始监听
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(1)
server.settimeout(3) # timeout: 3s
# 循环运行，监听端口，接收命令
while self.running:
self.accept_client(server)
self.receive_command()
self.resolve_command()
self.send_message()
server.close()
self.disconnect_client()
log.info('control thread: bye')
except Exception as e:
log.error('control thread error: %s' % e)
self.running = False
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(100) # 并发
server.settimeout(1) # timeout: 1s
while self.running:
# 接受连接
try:
conn, address = server.accept()
conn.settimeout(3)
self.dispatcher.add_client(conn, address)
log.debug('new client from: %s' % str(address))
except socket.timeout:
pass
# 分发数据
self.dispatcher.dispatch()
server.close()
self.dispatcher.close_all_clients()
log.info('server thread: bye')
except Exception as e:
log.error('server thread error: %s' % e)
self.running = False
def load_config(self):
"""载入配置文件
先读入 conf/config.json 中的配置，再读入 conf/ 中其他 json 文件里的 entry
"""
config_dir = os.path.join(sys.path[0], 'conf')
configs = {}
# main config
config_file_name = os.path.join(config_dir, 'config.json')
try:
with open(config_file_name) as config_fp:
configs = json.load(config_fp)
except Exception as e:
log.error('main: failed to load config from conf/config.json: %s' % e)
if 'entry' not in configs.keys():
configs['entry'] = {}
# other entries
for dir_path, dir_names, file_names in os.walk(config_dir):
for file_name in file_names:
if file_name != 'config.json' and file_name.endswith('.json'):
# load sub config
config_file_name = os.path.join(config_dir, file_name)
try:
with open(config_file_name) as config_fp:
sub_configs = json.load(config_fp)
# insert into main config
for name, config in sorted(sub_configs['entry'].items()):
if name not in configs['entry'].keys():
configs['entry'][name] = config
except Exception as e:
log.error('main: failed to load config from conf/%s: %s' % (file_name, e))
return configs
def run(self):
"""线程主函数
循环运行，接受新的客户端的连接。
"""
log.info('server thread: start, port: %d' % self.port)
try:
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if os.name != 'nt':
server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
server.bind(('0.0.0.0', self.port))
server.listen(100) # 并发
server.settimeout(1) # timeout: 1s
while self.running:
# 接受连接
try:
conn, address = server.accept()
conn.settimeout(3)
self.dispatcher.add_client(conn, address)
log.debug('new client from: %s' % str(address))
except socket.timeout:
pass
# 分发数据
self.dispatcher.dispatch()
server.close()
self.dispatcher.close_all_clients()
log.info('server thread: bye')
except Exception as e:
log.error('server thread error: %s' % e)
self.running = False
def disconnect(self):
"""断开连接"""
try:
self.client_socket.close()
except socket.error:
pass
except Exception as e:
log.error('station connection thread exception when close: %s' % e)
def disconnect(self):
"""断开连接"""
try:
self.client_socket.close()
except socket.error:
pass
except Exception as e:
log.error('sender thread %d exception when close: %s' % (self.sender_id, e))
def disconnect(self):
"""断开连接"""
try:
self.client_socket.close()
except socket.error:
pass
except Exception as e:
log.error('station connection thread exception when close: %s' % e)
def push_back(self, data):
"""加入新收到的数据 (list)
Args:
data (list): 新收到的数据
"""
try:
self.data.extend(data)
except Exception as e:
log.error('checker error when add: %s' % e)
def push_back(self, data):
"""加入新收到的数据 (list)
Args:
data (list): 新收到的数据
"""
try:
self.data.extend(data)
except Exception as e:
log.error("checker error when add: %s" % e)
def stop_thread(self, name, thread_to_stop):
"""结束指定线程
Args:
name (str): 要结束的线程名，名字仅用于 log
thread_to_stop (threading.Thread): 要结束的线程
"""
try:
thread_to_stop.running = False
thread_to_stop.join()
except Exception as e:
log.error('rtk thread: failed to stop thread %s: %s' % (name, e))
def stop_thread(self, name, thread_to_stop):
"""结束指定线程
Args:
name (str): 要结束的线程名，名字仅用于 log
thread_to_stop (threading.Thread): 要结束的线程
"""
try:
thread_to_stop.running = False
thread_to_stop.join()
except Exception as e:
log.error('rtk thread: failed to stop thread %s: %s' % (name, e))
def receive_command(self):
"""从控制端口接收数据
并在发生异常时进行处理。
"""
if self.client is not None:
try:
self.receive_data()
except socket.timeout: # 允许超时
pass
except Exception as e:
log.error('control client error: %s' % e)
self.disconnect_client()
def run(self):
"""线程主函数
循环运行，接收来自客户端的数据并丢弃，向客户端发送 data_queue 中的数据包。
当 data_queue 过长时，丢弃旧的数据包。
"""
log.info('station connection thread: start, %s' % self.address)
self.update_status_cb(RtkStatus.S_CONNECTED)
try:
self.send_and_receive_data()
except Exception as e:
log.error('station connection thread error: %s' % e)
self.update_status_cb(RtkStatus.S_DISCONNECTED)
log.info('station connection thread: bye')
def run(self):
"""线程主函数
启动定时器，用于检查心跳超时
循环运行，接受新的客户端的连接。
"""
log.info("http thread: start, port: %d" % self.port)
try:
self.server = ThreadingHTTPServer(("", self.port), RequestHandler)
self.server.serve_forever()
except Exception as e:
log.error("http thread error: %s" % e)
time.sleep(0.5)
log.info("http thread: bye")
def stop_thread(self, name):
"""停止某 rtk 线程，不等待
之后需要调用 wait_for_thread
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
rtk_thread.stop()
log.info('main: require stop thread %d %s.' % (rtk_thread.thread_id, name))
except Exception as e:
log.error('main: failed to stop thread %s: %s' % (name, e))
def run(self):
"""线程主函数
循环运行，接收来自客户端的数据并丢弃，向客户端发送 data_queue 中的数据包。
当 data_queue 过长时，丢弃旧的数据包。
"""
log.info('station connection thread: start, %s' % self.address)
self.update_status_cb(RtkStatus.S_CONNECTED)
try:
self.send_and_receive_data()
except Exception as e:
log.error('station connection thread error: %s' % e)
self.update_status_cb(RtkStatus.S_DISCONNECTED)
self.running = False
log.info('station connection thread: bye')
def run(self):
"""线程主函数
启动定时器，用于检查心跳超时
循环运行，接受新的客户端的连接。
"""
log.info('http thread: start, port: %d' % self.port)
try:
self.server = ThreadingHTTPServer(('', self.port), RequestHandler)
self.server.serve_forever()
except Exception as e:
log.error('http thread error: %s' % e)
time.sleep(0.5)
log.info('http thread: bye')
def get_parsed_data(self):
"""解析数据
Returns:
return (bytes): 解析了的完整报文
"""
# 拷贝
self.rtcm_checker.push_back(self.data)
self.data.clear()
try:
# 解析
return self.rtcm_checker.get_parsed_data()
except Exception as e:
log.error('checker error when parse msg: %s' % e)
return None
def get_parsed_data(self):
"""解析数据
Returns:
return (bytes): 解析了的完整报文
"""
# 拷贝
self.rtcm_checker.push_back(self.data)
self.data.clear()
try:
# 解析
return self.rtcm_checker.get_parsed_data()
except Exception as e:
log.error('checker error when parse msg: %s' % e)
return None
def stop_thread(self, name):
"""停止某 rtk 线程，不等待
之后需要调用 wait_for_thread
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
rtk_thread.stop()
log.info('main: require stop thread %d %s.' %
(rtk_thread.thread_id, name))
except Exception as e:
log.error('main: failed to stop thread %s: %s' % (name, e))
def wait_for_thread(self, name):
"""等待某 rtk 线程完全退出
在 stop_thread 之后调用
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
# wait
rtk_thread.join()
log.info('main: thread %d %s has stopped.' % (rtk_thread.thread_id, name))
# remove
del self.rtk_threads[name]
except Exception as e:
log.error('main: error when wait for thread %s: %s' % (name, e))
def run(self):
"""线程主函数
循环运行，建立连接、接收数据，并在连接出错时重连。
"""
log.info('station client thread: start')
while self.running:
try:
# 建立连接
conn = self.connect()
log.info('station client thread: connected')
# 开启数据接收线程
self.run_receive_data_thread(conn)
except Exception as e:
log.error('station client thread error: %s' % e)
time.sleep(3)
# disconnect
self.disconnect()
log.info('station client thread: bye')
def disconnect_client(self):
"""断开连接并清理"""
if self.client is not None:
# say goodbye
try:
self.client.sendall(b'bye')
except:
pass
# close socket
try:
self.client.close()
except socket.error:
pass
except Exception as e:
log.error('control client exception when close: %s' % e)
# clean up
self.client = None
self.buffer.clear()
self.is_in_command = False
def wait_for_thread(self, name):
"""等待某 rtk 线程完全退出
在 stop_thread 之后调用
Args:
name (str): rtk 线程名
"""
try:
if name in self.rtk_threads.keys():
rtk_thread = self.rtk_threads[name]
if isinstance(rtk_thread, RtkGroup):
# wait
rtk_thread.join()
log.info('main: thread %d %s has stopped.' %
(rtk_thread.thread_id, name))
# remove
del self.rtk_threads[name]
except Exception as e:
log.error('main: error when wait for thread %s: %s' % (name, e))
def pop_front(self, len_to_remove):
"""从 data 开头移除数据 (bytes)
Args:
len_to_remove (int): 要删除的数据长度
Returns:
ret_data (list): 被删除的数据
"""
ret_data = None
try:
if len_to_remove > 0:
if len_to_remove < len(self.data):
ret_data = self.data[:len_to_remove]
self.data = self.data[len_to_remove:]
else:
ret_data = self.data[:]
self.data.clear()
except Exception as e:
log.error('checker error when remove data: %s' % e)
return ret_data
def pop_front(self, len_to_remove):
"""从 data 开头移除数据 (bytes)
Args:
len_to_remove (int): 要删除的数据长度
Returns:
ret_data (list): 被删除的数据
"""
ret_data = None
try:
if len_to_remove > 0:
if len_to_remove < len(self.data):
ret_data = self.data[:len_to_remove]
self.data = self.data[len_to_remove:]
else:
ret_data = self.data[:]
self.data.clear()
except Exception as e:
log.error("checker error when remove data: %s" % e)
return ret_data
def start_threads_from_config(self):
"""读取配置文件，启动所有 rtk 线程"""
# config
configs = self.load_config()
self.configs = configs
# web 管理界面
try:
port = configs['webInterface']['port']
if configs['webInterface']['allow'].lower() == 'true':
self.start_web_interface(port)
except Exception as e:
log.error('main: failed to start web interface: %s' % e)
# rtk 转发服务
try:
if 'entry' in configs.keys():
self.start_rtk_threads(configs['entry'])
except Exception as e:
log.error('main: failed to start rtk threads: %s' % e)
# web 管理界面的配置
try:
if configs['webInterface']['allow'].lower() == 'true':
self.update_web_interface(sorted(configs['entry'].keys()))
except Exception as e:
log.error('main: failed to update web interface: %s' % e)
def get_parsed_data(self):
"""解析数据
Returns:
return (bytes): 解析了的完整报文
"""
if len(self.data) <= 0:
return None
# 拷贝
data = self.data[:]
if self.is_acceptable_msg_type is None:
# 如果不用解析
self.data.clear()
return bytes(data)
try:
# 解析
index, len_message, msg_type = try_parse(data)
if index > 0:
# 删除无法解析的数据
log.debug('unknown data size: %d' % index)
# print unknown data
# print([hex(x) for x in data[:index]])
# print(bytes(data[:index]).decode('utf-8', errors='ignore'))
self.pop_front(index)
if len_message > 0:
# 删除解析后的数据
log.debug('pkg size: %d, msg size: %d, msg type: %d' % (len_message, len_message - 6, msg_type))
# print([hex(x) for x in data[:index + len_message]])
# print(bytes(data[:index + len_message]).decode('utf-8', errors='ignore'))
parsed_data = bytes(self.pop_front(len_message))
if self.is_acceptable_msg_type(msg_type):
return parsed_data
except Exception as e:
log.error('checker error when parse msg: %s' % e)
return None
def run(self):
"""线程主函数
循环运行，接收来自客户端的数据并丢弃，向客户端发送 data_queue 中的数据包。
当 data_queue 过长时，丢弃旧的数据包。
"""
log.info('sender thread %d: start, %s' % (self.sender_id, self.address))
try:
while self.running:
# ignore old data
while self.data_queue.qsize() > 10:
self.data_queue.get(block=False)
# send data
try:
data = self.data_queue.get(timeout=1)
self.client_socket.settimeout(5)
self.client_socket.sendall(data)
self.send_count += 1
self.data_queue.task_done()
except queue.Empty:
pass
# rcv useless data
try:
self.client_socket.settimeout(0.1)
rcv_buf = self.client_socket.recv(256)
if len(rcv_buf) == 0:
log.info('sender thread %d has disconnected.' % self.sender_id)
# 退出
break
except socket.timeout:
pass
except Exception as e:
log.error('sender thread %d error: %s' % (self.sender_id, e))
self.disconnect()
self.running = False
log.info('sender thread %d: bye' % self.sender_id)
def load_config():
"""载入配置文件
先读入 conf/config.json 中的配置，再读入 conf/ 中其他 json 文件里的 entry
"""
config_dir = os.path.join(sys.path[0], 'conf')
configs = {}
# main config
config_file_name = os.path.join(config_dir, 'config.json')
try:
with open(config_file_name) as config_fp:
configs = json.load(config_fp)
except Exception as e:
log.error('main: failed to load config from conf/config.json: %s' % e)
if 'entry' not in configs.keys():
configs['entry'] = {}
# other entries
for dir_path, dir_names, file_names in os.walk(config_dir):
for file_name in file_names:
if file_name != 'config.json' and file_name.endswith('.json'):
# load sub config
config_file_name = os.path.join(config_dir, file_name)
try:
with open(config_file_name) as config_fp:
sub_configs = json.load(config_fp)
# insert into main config
for name, config in sorted(sub_configs['entry'].items()):
if name not in configs['entry'].keys():
configs['entry'][name] = config
except Exception as e:
log.error('main: failed to load config from conf/%s: %s' %
(file_name, e))
# convert
entries = {}
for name, json_entry in configs['entry'].items():
try:
entries[name] = Entry(json_entry)
except Exception as e:
log.error('failed to parse config %s: %s' % (name, e))
configs['entry'] = entries
return configs
def start_threads_from_config(self, configs):
"""读取配置文件，启动所有 rtk 线程"""
# web 管理界面
try:
port = configs['webInterface']['port']
if configs['webInterface']['allow'].lower() == 'true':
self.start_web_interface(port)
except Exception as e:
log.error('main: failed to start web interface: %s' % e)
# rtk 转发服务
try:
if 'entry' in configs.keys():
self.start_rtk_threads(configs['entry'])
except Exception as e:
log.error('main: failed to start rtk threads: %s' % e)
# web 管理界面的配置
try:
if configs['webInterface']['allow'].lower() == 'true':
self.update_web_interface(sorted(configs['entry'].keys()))
except Exception as e:
log.error('main: failed to update web interface: %s' % e)