def YCallBack(value): # Forward
if trainerIP in conns.keys():
msg = server_pb2.server()
msg.sequence_number = 999
msg.uid = "server"
msg.mCmd.ctl_msg.direction = 9
message_queues[conns[trainerIP]].put(msg)
def readMessage(self,sock):
data, size, position = self.read_socket(sock)
try:
msg = server_pb2.server()
msg.ParseFromString(data[position:position + size])
return msg
except:
self.msgs_dropped += 1
print 'Message Dropped! Last sequence number = ', self.sn
return None
def test_extra_bytes(self):
msg = server_pb2.server()
msg.sequence_number = 101
msg.uid = "server"
msg.mCmd.ctl_msg.direction = 1
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + "FAILURE" + msg.SerializeToString() + "}}}"
self.conn.sendall(z)
data = self.readMessage(self.conn)
if(data.HasField('again')):
return True
return False
def sendButton(xboxControlId, value):
if(value != 0):
if(mode > 0):
print 'Controller ID: ', xboxControlId
print 'Value: ', value
print ''
# send to GUI only
if guiIP in conns.keys():
msg = server_pb2.server()
msg.sequence_number = 999
msg.uid = "server"
msg.ctl.btn.button_id = xboxControlId
msg.ctl.btn.value = int(value)
message_queues[conns[trainerIP]].put(msg)
def movementCallBack(value):
# Compute direction, giving preference to vertical
global prevDirection
global prevMovementVal
val = 0
toMove = False
if(value[1] == 1 and prevDirection != 2): # North
val = 1
elif(value[1] == -1 and prevDirection != 1): # South
val = 2
elif(value[0] == 1 and prevDirection != 4) : # East
val = 3
elif(value[0] == -1 and prevDirection != 3): # West
val = 4
if(val != 0 and not freeze):
if(mode > 0):
print 'Previous: ', prevDirection
print 'Value: ', val
print ''
# Create message
msg = server_pb2.server()
msg.sequence_number = 999
msg.uid = "server"
msg.ctl.go.direction = val
if trainerIP in conns.keys():
message_queues[conns[trainerIP]].put(msg)
elif guiIP in conns.keys():
message_queues[conns[guiIP]].put(msg)
prevDirection = val
if (val == 0):
prevMovementVal = 0
else:
prevMovementVal = 1
def test_sendall_messages(self):
sn = 1
dict = {}
try:
msg = server_pb2.server()
msg.sequence_number = sn
msg.uid = "server"
msg.mCmd.ctl_msg.direction = 1
msg.mCmd.ctl_msg.adj = 0
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
dict.update({msg.sequence_number: z})
sn += 1
## msg = server_pb2.server()
## msg.sequence_number = sn
## msg.uid = "server"
## msg.mCmd.data.right_ticks = 10
## msg.mCmd.data.right_dir = 5
## msg.mCmd.data.left_ticks = 5
## msg.mCmd.data.left_dir = 5
##
## size = msg.ByteSize()
## z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
## dict.update({msg.sequence_number: z})
## sn += 1
""" Motor messages complete, begin IR Sensor"""
msg = server_pb2.server()
msg.sequence_number = sn
msg.uid = "server"
msg.sCmd.dist_data.distance = 5
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
dict.update({msg.sequence_number: z})
sn += 1
msg = server_pb2.server()
msg.sequence_number = sn
msg.uid = "server"
msg.sCmd.color_data.color_code = 255
msg.sCmd.color_data.x = 255
msg.sCmd.color_data.y = 255
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
dict.update({msg.sequence_number: z})
sn += 1
""" Sensor messages complete, begin Emulator"""
msg = server_pb2.server()
msg.sequence_number = sn
msg.uid = "server"
msg.bCmd.battle_ctl.player_status = True
msg.bCmd.battle_ctl.match_inProgress = True
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
dict.update({msg.sequence_number: z})
sn += 1
## msg = server_pb2.server()
## msg.sequence_number = sn
## msg.uid = "server"
## msg.bCmd.battle_move.trainer = True
## msg.bCmd.battle_move.hit_miss = True
## size = msg.ByteSize()
## z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
## dict.update({msg.sequence_number: z})
## sn += 1
""" Final status messages"""
msg = server_pb2.server()
msg.sequence_number = sn
msg.uid = "server"
msg.again.sequence_number = sn
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
dict.update({msg.sequence_number: z})
sn += 1
msg = server_pb2.server()
msg.sequence_number = sn
msg.uid = "server"
msg.done.sequence_number = sn
size = msg.ByteSize()
z = "~~~" + _VarintBytes(size) + msg.SerializeToString()+ "}}}"
dict.update({msg.sequence_number: z})
sn += 1
for k,v in dict.items():
self.conn.sendall(v)
data = self.readMessage(self.conn)
if(data.HasField('done')):
if(dict.has_key(data.sequence_number)):
del dict[data.sequence_number]
## print 'removed', data.sequence_number, 'from dict'
if len(dict) == 0:
return True
else:
return False
except:
return False
def test_loopback(self):
print 'Entering loopback...'
cond = False
while 1:
try:
# TODO Update to have GUI to Rover comms
try:
next_msg = self.msgQ.get_nowait()
except Queue.Empty:
# No messages waiting so stop checking for writability
print >>sys.stderr, 'output queue for', self.conn.getpeername(), 'is empty'
else:
print >>sys.stderr, 'sending "%s" to %s' % (next_msg, self.conn.getpeername())
size = next_msg.ByteSize()
next_msg.sequence_number = self.sn
self.sn += 1
z = "~~~" + _VarintBytes(size) + next_msg.SerializeToString() + "}}}"
self.conn.sendall(z)
if self.sn > 127:
self.sn = 1
self.dict.update({next_msg.sequence_number: z})
if(cond == False):
data = self.readMessage(self.conn)
# recv returns 0 if peer closes connection
if not data:
print ("connection closed from " + self.ip + str(self.port))
conns.remove(self.conn)
self.conn.close()
self.status= 'crashed'
## break
test = server_pb2.server()
test.sequence_number = self.sn
test.uid = "server"
test.done.sequence_number = test.sequence_number
# turn data into binary
#print ':'.join(x.encode('hex') for x in test.SerializeToString())
self.msgQ.put(test)
cond = True
else:
data = self.readMessage(self.conn)
#Check for empty message
if not data:
print ("connection closed from " + self.ip + str(self.port))
del conns[self.conn]
self.conn.close()
self.status = 'crashed'
break
if(data.HasField('done')):
if(self.dict.has_key(data.done.sequence_number)):
del self.dict[data.done.sequence_number]
print 'removed', data.done.sequence_number, 'from dict'
# TODO Parse out all message types
if(self.mode == 2):
print("data: " + str(data))
## Construct response for loopback test
if(self.mode > 0):
test = server_pb2.server()
test.sequence_number = self.sn
test.uid = "server"
test.done.sequence_number = test.sequence_number
# print ':'.join(x.encode('hex') for x in test.SerializeToString())
self.msgQ.put(test)
except socket.timeout:
self.status = 'crashed'
print 'socket_timeout'
break
self.status = 'crashed'
return True