Telescope.py
3.56 KB
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import socket
from enum import Enum
import time
import os
import sys
PACKAGE_PARENT = '..'
SCRIPT_DIR = os.path.dirname(os.path.realpath(os.path.join(os.getcwd(), os.path.expanduser(__file__))))
sys.path.append(os.path.normpath(os.path.join(SCRIPT_DIR, PACKAGE_PARENT)))
from device.Device import Device
DOORS_TIME = 5
MOVE_TIME = 5
class Telescope(Device):
def __init__(self):
super().__init__("Telescope")
''' I will just fill the attributes with their names and params without regarding them '''
self.attributes = {}
self.doors_status = "True"
self.status = "IDLE"
def loop(self):
move_timer = 0
doors_timer = 0
while True:
try:
conn, addr = self.sock.accept()
except socket.error as e:
print("There was a socket error: " + repr(e))
break
data = conn.recv(128).decode()
# print("Received: " + data)
'''
Pour le moment, les messages sont de taille variable, contenant :
CMD_TYPE CMD ARG1 ARG2 ...
On considère que ce qu'on reçoit peut être faux, mais que dans tous les cas, on recoit le message au complet.
Pas de souci s'async puisqu'on prend une connection à la fois.
'''
answer = ""
cut_data = data.split(" ")
if move_timer != 0 and time.time() > move_timer:
move_timer = 0
status = "IDLE"
print("Stopped movement")
if doors_timer != 0 and time.time() > doors_timer:
doors_timer = 0
print("Stopped doors")
if len(cut_data) < 2:
print("Invalid message: " + data)
else:
cmd_type = cut_data[0]
cmd = cut_data[1]
args = cut_data[2:]
if cmd_type == "SET":
self.attributes[cmd] = args
elif cmd_type == "GET":
if cmd == "POSITION":
answer = "101.287 -16.716"
elif cmd == "STATUS":
answer = self.status
elif cmd == "SETUP":
answer = "GET SETUP answer not implemented"
else:
answer = "Invalid cmd for GET: " + cmd
print(answer)
elif cmd_type == "DO":
if cmd == "START":
print("Start movement")
move_timer = time.time() + MOVE_TIME
elif cmd == "STOP":
move_timer = 0
elif cmd == "ABORT":
move_timer = 0
elif cmd == "HOMING":
print("Start movement (homing)")
move_timer = time.time() + MOVE_TIME
elif cmd == "DOORS":
if len(args) > 0:
if args[0] != self.doors_status:
print("Start door")
self.doors_status = args[0]
doors_timer = time.time() + DOORS_TIME
else:
print("Invalid cmd for DO: " + cmd)
else:
print("Invalid message: " + data)
if len(answer) > 0:
conn.send(bytes(answer, "UTF-8"))
# print("send: " + answer)
conn.close()
tel = Telescope()
tel.loop()