class AT2Controller:
robot1ctrl_wrapper= RobotCtrl_Wrapper()
robot1coordinator_wrapper= Robot1Coordinator_Wrapper()
SERVER_ADDRESS = "/tmp/at2.sock"
def __init__(self):
self.unix_server = UnixServer(self.SERVER_ADDRESS)
self.unix_server.start()
print("\n \n Unix Server of Assembly task2 has just started \n \n")
def start_working(self):
while True:
try:
message_received= self.unix_server.read_data()
if message_received!='' :
message = json.loads(message_received)
sender_address = message['sender']
print(message)
if sender_address == "coordinator": # mono start mporei na steilei o coordinator
self.robot1ctrl_wrapper.create_client()
self.robot1ctrl_wrapper.connect_2_unix_server(RobotCtrl_Wrapper.SERVER_ADDRESS)
self.robot1ctrl_wrapper.send_2_robotctrl(self.robot1ctrl_wrapper.START_MESSAGE_PickAndPlace)
while True:
message = self.unix_server.read_data()
print(str(message))
if message == '{"PickAndPlace_MS": "FINISHED"}':
print("\n pick and place has completed \n")
self.robot1ctrl_wrapper.unix_client.close_client()
break
print(" PICK AND PLACE FINISHED . LETS START PICK AND INSERT NOW")
self.robot1ctrl_wrapper.create_client()
self.robot1ctrl_wrapper.connect_2_unix_server(RobotCtrl_Wrapper.SERVER_ADDRESS)
self.robot1ctrl_wrapper.send_2_robotctrl(self.robot1ctrl_wrapper.START_MESSAGE_PickAndFlipAndPress)
while True:
message = self.unix_server.read_data()
print(str(message))
if message == '{"PickAndFlipAndPress_MS": "FINISHED"}':
print("\n \n \n \n pick and flip and press has completed \n \n \n \n")
self.robot1ctrl_wrapper.unix_client.close_client()
break
print("PICK AND FLIP AND PRESS FINISHED")
print("controller free to service another call")
self.robot1coordinator_wrapper.create_client()
self.robot1coordinator_wrapper.connect_2_unix_server(Robot1Coordinator_Wrapper.SERVER_ADDRESS)
self.robot1coordinator_wrapper.send_2_robot_coordinator(Robot1Coordinator_Wrapper.COMPLETED_MESSAGE)
self.robot1coordinator_wrapper.unix_client.close_client()
except (ConnectionResetError, OSError) as e:
print(e)
class W2Controller:
SERVER_ADDRESS = "/tmp/w2ctrl.sock"
w1_wrapper = W2Coordinator_Wrapper()
def __init__(self):
self.unix_server = UnixServer(self.SERVER_ADDRESS)
self.unix_server.start()
print("\n \n Unix Server of W2 Controller has just started \n \n")
#########################################################
# CALL MICROSERVICES
#########################################################
def call_hold(self, device):
hold = Hold()
return hold.start_working(device)
def call_release(self, device):
release = Release()
return release.start_working(device)
def start_controller(self, device):
while True:
try:
message_received = self.unix_server.read_data()
print(message_received)
if "HOLD" in message_received:
response = self.call_hold(device)
if "FINISHED" in response:
print("controller free to service another call")
self.w1_wrapper.create_client()
self.w1_wrapper.connect_2_unix_server(
W2Coordinator_Wrapper.SERVER_ADDRESS)
self.w1_wrapper.send_2_coordinator(response)
self.w1_wrapper.unix_client.close_client()
if "RELEASE" in message_received:
response = self.call_release(device)
if "FINISHED" in response:
print("controller free to service another call")
self.w1_wrapper.create_client()
self.w1_wrapper.connect_2_unix_server(
W2Coordinator_Wrapper.SERVER_ADDRESS)
self.w1_wrapper.send_2_coordinator(response)
self.w1_wrapper.unix_client.close_client()
except (ConnectionResetError, OSError) as e:
print(e)
class AT3Controller:
robot2ctrl_wrapper = RobotCtrl_Wrapper()
robot2coordinator_wrapper = Robot2Coordinator_Wrapper()
SERVER_ADDRESS = "/tmp/at3.sock"
def __init__(self):
self.unix_server = UnixServer(self.SERVER_ADDRESS)
self.unix_server.start()
print("\n \n Unix Server of Assembly Task3 has just started \n \n")
def start_working(self):
while True:
try:
message_received = self.unix_server.read_data()
if message_received != '':
message = json.loads(message_received)
sender_address = message['sender']
print(message)
if sender_address == "coordinator": # mono start mporei na steilei o coordinator
self.robot2ctrl_wrapper.create_client()
self.robot2ctrl_wrapper.connect_2_unix_server(
RobotCtrl_Wrapper.SERVER_ADDRESS)
self.robot2ctrl_wrapper.send_2_robotctrl(
self.robot2ctrl_wrapper.START_MESSAGE_PickAndInsert
)
while True:
message = self.unix_server.read_data()
print(str(message))
if message == '{"PickAndInsert_MS": "FINISHED"}':
print(
"\n \n \n \n pick and insert has completed \n \n \n \n"
)
self.robot2ctrl_wrapper.unix_client.close_client(
)
break
print(
" PICK AND INSERT FINISHED . LETS START SCREW PICK AND FASTEN NOW"
)
self.robot2ctrl_wrapper.create_client()
self.robot2ctrl_wrapper.connect_2_unix_server(
RobotCtrl_Wrapper.SERVER_ADDRESS)
self.robot2ctrl_wrapper.send_2_robotctrl(
self.robot2ctrl_wrapper.
START_MESSAGE_ScrewPickAndFasten)
while True:
message = self.unix_server.read_data()
print(str(message))
if message == '{"ScrewPickAndFasten_MS": "FINISHED"}':
print(
"\n \n \n \n screw pick and fasten has completed \n \n \n \n"
)
self.robot2ctrl_wrapper.unix_client.close_client(
)
break
print("SCREW PICK AND FASTEN FINISHED")
print("controller free to service another call")
self.robot2coordinator_wrapper.create_client()
self.robot2coordinator_wrapper.connect_2_unix_server(
Robot2Coordinator_Wrapper.SERVER_ADDRESS)
self.robot2coordinator_wrapper.send_2_robot_coordinator(
Robot2Coordinator_Wrapper.COMPLETED_MESSAGE)
self.robot2coordinator_wrapper.unix_client.close_client(
)
except (ConnectionResetError, OSError) as e:
print(e)
class RobotController:
SERVER_ADDRESS = "/tmp/robot2ctrl.sock"
def __init__(self):
self.unix_server = UnixServer(self.SERVER_ADDRESS)
self.unix_server.start()
print("\n \n Unix Server of Robot Controller has just started \n \n")
#########################################################
# CALL MICROSERVICES
#########################################################
def call_pick_and_place(self, device):
pickandplace = PickAndPlace()
return pickandplace.start_working(device) # pick and place service
def call_pick_and_insert(self, device):
pickandinsert = PickAndInsert()
return pickandinsert.start_working(device) # pick and insert service
def call_screw_pick_and_fasten(self, device):
screwpickandfasten = ScrewPickAndFasten()
return screwpickandfasten.start_working(
device) # screw pick and fasten service
def call_pick_and_press(self, device):
return "screw pick and press service " # pick and press service
def call_move(self, message, device):
move = Move()
return move.start_working(message, device) # move service
def call_pick_and_flip_and_press(self, device):
pickandflipandpress = PickAndFlipAndPress()
return pickandflipandpress.start_working(
device) # pick and flip and press service
def stop_controller(self):
return " ad"
def wrong_message_response(self):
return "wrong messsage received"
@staticmethod
def call_microservice(self, service):
switcher = {
"pick_and_place": self.call_pick_and_place(),
"pick_and_insert": self.call_pick_and_insert(),
"screw_pick_And_fasten": self.call_screw_pick_and_fasten(),
"pick_and_press": self.call_pick_and_press(),
"move": self.call_move(),
"pick_and_flip_press": self.call_pick_and_flip_press(),
}
return switcher.get(service, self.wrong_message_response())
def start_controller(self, device):
while True:
try:
message_received = self.unix_server.read_data()
print(message_received)
sender_address = message_received["sender"]
print(sender_address)
if "PickAndPlace" in message_received:
response = self.call_pick_and_place(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
print("\n \n \n \n ok")
if "PickAndInsert" in message_received:
response = self.call_pick_and_insert(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "ScrewPickAndFasten" in message_received:
response = self.call_screw_pick_and_fasten(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "PickAndFlipAndPress" in message_received:
response = self.call_pick_and_flip_and_press(device)
if "FINISHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
if "Move" in message_received:
position = message_received["Move"]
response = self.call_move(position, device)
print("\n \n \n \n \n " + str(position) +
"\n \n \n \n \n ")
if "REACHED" in response:
print("controller free to service another call")
self.unix_client = UnixClient(str(sender_address))
self.unix_client.connect_client(str(sender_address))
self.unix_client.send_data(response)
self.unix_client.close_client()
except (ConnectionResetError, OSError) as e:
print(e)
