tr2023-robot/server.py

import Robot
import traceback
import asyncio;
import json
import websockets;
import sys;
import Container
from PWMDriver import PWMDriver
from ServoDriver import ServoDriver

robot = Robot.Robot()
servo_driver = ServoDriver()
#robot = Robot.Robot()
#t = robot.Translation
#r = robot.Rotation
#sd = t.sd
#v = t.droit
#d = t.trv
class commandHandler:
    def ping(self):
        return "Pong"
    """def set_vector(self,vector_type:str,vector_args):
        print(f"{vector_type=}, {vector_args=}")
        for i in range(len(vector_args)):
            vector_args[i]= float(vector_args[i])
        if vector_type =='trans':
            if abs(vector_args[0])>=0.1 and abs(vector_args[1])<=0.1:
                v((vector_args[0]*10))
            if abs(vector_args[1])>=0.1 and abs(vector_args[0])<=0.1:
                sd((vector_args[1]*10))
            if abs(vector_args[1])>=0.1 and abs(vector_args[0])>=0.1:
                if vector_args[0]>0:
                    d((vector_args[0]+vector_args[1]//2)*10,True)
                elif vector_args[0]<0:
                    d((vector_args[0]+vector_args[1]//2)*10,False)
        if vector_type == 'rot':
            r(vector_args[1]*10)
        return f"{vector_type=},{vector_args=}"
        """
    speed=0
    def set_direction(self,arg):
        try:
            return robot.translation(arg,self.speed)
        except Exception as e:
            print(e)
            return 'error'
    def stop(self):
        robot.stop()
        return 'stopped'
    def init():
        robot.init()
        return 'initialised'
    def set_rotation(self, arg):
        try:
            print(arg, self.speed);
            robot.rotation(arg,self.speed)
        except Exception as e:
            print(e)
            raise e
    def set_speed(self,v):
        if v>=50:
            v = 50
        else:
            v=v
        self.speed=v
        return 'speed set to '+str(v)
    def set_range(self, name:str, mini:int, maxi:int):
        robot.set_range(name, mini, maxi)

    def turbine_souffler(self):
        robot.turbine_souffler()
        return 'Turbine souffler'

    def turbine_stop(self):
        robot.turbine_stop()
        return 'Turbine stopped'

    def turbine_aspirer(self):
        robot.turbine_aspirer()
        return 'Turbine aspirer'

    def telescope_deploy(self):
        # slot 4
        servo_driver.setAngle(4, 180, profileName='scope')
        return ''

    def telescope_zero(self):
        servo_driver.setAngle(4, 40, profileName='scope')
        # slot 4
        return ''

cmd_handler = commandHandler()
def commands(data):
    print('commands:')
    print(data)
    if not data:
        data = {
                }
    else:
        data = json.loads(data)
        if 'STOP' in data:
            if data['STOP']:
                sys.exit()
    try:
        if(data['cmd']=='set_direction'):
            res= cmd_handler.set_direction(data["args"]['direction'])
        elif(data['cmd']=='set_rotation'):
            res= cmd_handler.set_rotation(data["args"]['rotation'])
        elif(data['cmd']=='stop_robot'):
            res=cmd_handler.stop()
        elif(data['cmd']=='set_range'):
            res=cmd_handler.set_range(data['args']['name'],data['args']['min'],data['args']['max'])
        elif(data['cmd']=='init'):
            res=cmd_handler.init()
        elif(data['cmd']=='set_speed'):
            res=cmd_handler.set_speed(data["args"]["speed"])
        elif(data['cmd']=='turbine_aspirer'):
            res=cmd_handler.turbine_aspirer()
        elif(data['cmd']=='turbine_stop'):
            res=cmd_handler.turbine_stop()
        elif(data['cmd']=='turbine_souffler'):
            res=cmd_handler.turbine_souffler()
        elif(data['cmd']=='telescope_deploy'):
            res=cmd_handler.telescope_deploy()
        elif(data['cmd']=='telescope_zero'):
            res=cmd_handler.telescope_zero()
        else:
            return 'NOPE!!!'
    except Exception as e:
        traceback.print_exc()
        return str(e)
    return res
async def handler(websocket, path):
    print('new handler created  at path'+path)
    while True:
        try :
            data = await websocket.recv()
        except websockets.exceptions.ConnectionClosedOK:
            break
        try:
            res= commands(data)
        except Exception as e:
            await websocket.send(json.dumps({"type":"error","message":e}))
            print(e)
        await websocket.send(json.dumps({"type":"success","message":res}))
print('server running at 0.0.0.0 with port 1567')
start_server = websockets.serve(handler, "0.0.0.0", 1567)


# init motors
robot.init()

asyncio.get_event_loop().run_until_complete(start_server)

asyncio.get_event_loop().run_forever()