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Server.py
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Server.py
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#!/usr/bin/env python3
# coding:utf-8
import socket
import serial
import time
import logging
import logging.handlers
import re
import fcntl
import struct
import traceback
import RPi.GPIO as GPIO
"""
Instructions for use:
Please update pymycobot to the latest version before use.
`pip install pymycobot --upgrade`
Please change the parameters passed in the last line of the Server.py file, MycobotServer, based on your model.
The default model is the 280PI.
The default parameters are:
serial_num: /dev/ttyAMA0
baud: 1000000
"""
has_return = [0x01,0x02,0x03,0x04,0x09,0x12, 0x14, 0x15, 0x17,0x1B, 0x20,0x23, 0x27, 0x2A,0x2B,0x2D,0x2E, 0x3B,0x3D, 0x40,0x42,0x43,0x44,0x4A, 0x4B,0x50,0x51,0x53,0x62,0x65,0x69,0x90,0x91,0x92,0xC0, 0xC3,0x82,0x84,0x86,0x88,0x8A,0xD0,0xD1,0xD5,0xE1,0xE2,0xE3,0xE4,0xE5,0XE6, 0xB0]
def get_logger(name):
logger = logging.getLogger(name)
logger.setLevel(logging.DEBUG)
LOG_FORMAT = "%(asctime)s - %(levelname)s - %(message)s"
#DATE_FORMAT = "%m/%d/%Y %H:%M:%S %p"
formatter = logging.Formatter(LOG_FORMAT)
console = logging.StreamHandler()
console.setFormatter(formatter)
save = logging.handlers.RotatingFileHandler(
"server.log", maxBytes=10485760, backupCount=1)
save.setFormatter(formatter)
logger.addHandler(save)
logger.addHandler(console)
return logger
class MycobotServer(object):
def __init__(self, host, port, serial_num = "/dev/ttyAMA0", baud = 1000000):
"""Server class
Args:
host: server ip address.
port: server port.
serial_num: serial number of the robot.The default is /dev/ttyAMA0.
baud: baud rate of the serial port.The default is 1000000.
"""
try:
GPIO.setwarnings(False)
except:
pass
self.logger = get_logger("AS")
self.mc = None
self.serial_num = serial_num
self.baud = baud
self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.s.bind((host, port))
print("Binding succeeded!")
self.s.listen(1)
self.mc = serial.Serial(self.serial_num, self.baud, timeout=0.1)
self.connect()
def connect(self):
while True:
try:
print("waiting connect!------------------")
conn, addr = self.s.accept()
while True:
try:
print("waiting data--------")
data = conn.recv(1024)
command = []
for v in data:
command.append(v)
if command == []:
print("close disconnect!")
break
if self.mc.isOpen() == False:
self.mc.open()
else:
self.logger.info("get command: {}".format([hex(v) for v in command]))
#command = self.re_data_2(command)
if command[3] == 170:
if command[4] == 0:
GPIO.setmode(GPIO.BCM)
else:
GPIO.setmode(GPIO.BOARD)
elif command[3] == 171:
if command[5]:
GPIO.setup(command[4], GPIO.OUT)
else:
GPIO.setup(command[4], GPIO.IN)
elif command[3] == 172:
GPIO.output(command[4], command[5])
elif command[3] == 173:
res = bytes(GPIO.input(command[4]))
self.write(command)
if command[3] in has_return:
res = self.read(command)
self.logger.info("return datas: {}".format([hex(v) for v in res]))
conn.sendall(res)
except Exception as e:
self.logger.error(traceback.format_exc())
conn.sendall(str.encode(traceback.format_exc()))
break
except Exception as e:
self.logger.error(traceback.format_exc())
conn.close()
self.mc.close()
def write(self, command):
self.mc.write(command)
self.mc.flush()
def read(self,command):
datas = b""
data_len = -1
k = 0
pre = 0
t = time.time()
wait_time = 0.1
while True and time.time() - t < wait_time:
data = self.mc.read()
k += 1
if data_len == 1 and data == b"\xfa":
datas += data
if [i for i in datas] == command:
datas = b''
data_len = -1
k = 0
pre = 0
continue
break
elif len(datas) == 2:
data_len = struct.unpack("b", data)[0]
datas += data
elif len(datas) > 2 and data_len > 0:
datas += data
data_len -= 1
elif data == b"\xfe":
if datas == b"":
datas += data
pre = k
else:
if k - 1 == pre:
datas += data
else:
datas = b"\xfe"
pre = k
else:
datas = b''
return datas
def re_data_2(self, command):
r2 = re.compile(r'[[](.*?)[]]')
data_str = re.findall(r2, command)[0]
data_list = data_str.split(",")
data_list = [int(i) for i in data_list]
return data_list
if __name__ == "__main__":
ifname = "wlan0"
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
HOST = socket.inet_ntoa(fcntl.ioctl(s.fileno(), 0x8915, struct.pack('256s', bytes(ifname,encoding="utf8")))[20:24])
PORT = 9000
print("ip: {} port: {}".format(HOST, PORT))
MycobotServer(HOST, PORT, "/dev/ttyAMA0", 1000000)