base.py
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#!/usr/bin/env python3
"""Socket Client Telescope (abstract) implementation
To be used as a base class (interface) for any concrete socket client telescope class
"""
# Standard library imports
#from enum import Enum
import functools
import logging
import socket
import sys
import threading
import time
# Third party imports
# from sockets_tele/
sys.path.append("..")
# from src_socket/client/
sys.path.append("../../..")
sys.path.append("../../../..")
#import src.core.pyros_django.utils.celme as celme
import src.core.celme as celme
from device_controller.logs import *
# Local application imports
#sys.path.append('../..')
#from src.client.socket_client_abstract import UnknownCommandException, SocketClientAbstract
##from src_socket.client.socket_client_abstract import *
##from src_device.client.client_channel import *
from device_controller.channels.client_channel_socket import ClientChannelSocket
from device_controller.channels.client_channel_serial import ClientChannelSerial
from device_controller.channels.client_channel_usb import ClientChannelUSB
# Execute also "set" and "do" commands
GET_ONLY=False
# Execute only "get" commands
#GET_ONLY=True
# Default timeouts
TIMEOUT_SEND = 10
TIMEOUT_RECEIVE = 10
'''
class c(Enum):
# GET, SET
DEC = 'DEC'
RA = 'RA'
RA_DEC = 'RA_DEC'
# DO
PARK = 'PARK'
WARM_START = 'WARM_START'
'''
# DECORATOR
def generic_cmd(func):
#def wrapper_generic_cmd(*args, **kwargs):
@functools.wraps(func)
def wrapper_generic_cmd(self, values_to_set=None):
#print("func name is", func.__name__)
return self.execute_generic_cmd(func.__name__, values_to_set)
return wrapper_generic_cmd
class DeviceCommand:
full_name = None
name = None
type = None
args = None
def __init__(self, cmd_full_name:str, cmd_type:str=None, cmd_args:str=None):
self.full_name = cmd_full_name
self.name = cmd_full_name
self.type = cmd_type
self.args = cmd_args
if self.is_generic():
cmd_type,cmd_name,cmd_args = self.get_full_name_parts()
self.name = cmd_name
if cmd_type: self.type = cmd_type
if cmd_args: self.args = cmd_args
def __str__(self):
return (f"Commmand '{self.full_name}'")
def is_generic(self):
return self.name.startswith('do_') or self.name.startswith('get_') or self.name.startswith('set_')
@property
def name_and_args(self):
cmd_name_and_args = self.full_name
if '.' in cmd_name_and_args:
cmd_name_and_args = cmd_name_and_args.split('.')[1]
return cmd_name_and_args
def get_full_name_parts(self):
cmd_name = self.full_name
cmd_type = None
cmd_args = None
if '.' in cmd_name:
cmd_type, cmd_name = cmd_name.split('.')
if ' ' in cmd_name:
cmd_name, *cmd_args = cmd_name.split(' ')
return cmd_type, cmd_name, cmd_args
class GenericResult:
''' Usage:
res = execute(command)
print("result is", res)
if res.ko: raise UnexpectedReturnCode()
if res.ok:
...
'''
# By default, bad result
ok = True
ko = False
def __init__(self, native_result:str, ok=True):
self.txt = native_result
self.ok = ok
self.ko = not ok
def __str__(self):
return self.txt
'''
def __repr__(self):
return self.txt
def __get__(self, instance, owner):
return self.b
def __set__(self, instance, value):
self.b = value
'''
class UnexpectedCommandReturnCode(Exception):
pass
class TimeoutException(Exception):
pass
class UnknownCommandException(Exception):
pass
'''
def __init__(self,*args,**kwargs):
super().__init__(self,*args,**kwargs)
'''
#TODO: remove ClientChannelAbstract, and set instead a ClientChannel
#class DeviceControllerAbstract(SocketClientAbstract):
##class DeviceControllerAbstract(ClientChannel):
class DeviceControllerAbstract():
_device_simulator = None
_thread_device_simulator = None
_device_host = "localhost"
_device_port = None
# ClientChannel used by the device controller (to be set during __init__ via set_client_channel())
my_channel = None
# @abstract (to be overriden)
_cmd_device_concrete = {}
_cmd_device_abstract = {}
_cmd = {
# GET-SET commands:
'get_timezone': [],
'set_timezone': [],
'get_date': [],
'set_date': [],
'get_time': [],
'set_time': [],
# DO commands:
'do_init': ['do_init'],
'do_park': [],
}
##def __init__(self, device_host:str="localhost", device_port:int=11110, PROTOCOL:str="TCP", buffer_size=1024, DEBUG=False):
def __init__(self, device_host:str="localhost", device_port:int=11110, PROTOCOL:str="SOCKET-TCP", buffer_size=1024, DEBUG=False, device_sim=None):
'''
:param device_host: server IP or hostname
:param device_port: server port
:param PROTOCOL: "SOCKET-TCP", "SOCKET-UDP", "SERIAL", or "USB"
'''
self._device_host = device_host
self._device_port = device_port
##super().__init__(device_host, device_port, PROTOCOL, buffer_size, DEBUG)
set_logger(DEBUG)
log_d("Logger configured")
# If LOCALHOST, launch the device SIMULATOR
if device_host=="localhost":
self._device_simulator = device_sim
self._thread_device_simulator = threading.Thread(target=self.device_simulator_run)
self._thread_device_simulator.start()
if PROTOCOL.startswith("SOCKET"): self.my_channel:ClientChannel = ClientChannelSocket(device_host, device_port, PROTOCOL, buffer_size, DEBUG)
elif PROTOCOL == "SERIAL": self.my_channel:ClientChannel = ClientChannelSerial(device_host, device_port, buffer_size, DEBUG)
elif PROTOCOL == "USB": self.my_channel:ClientChannel = ClientChannelUSB(device_host, device_port, buffer_size, DEBUG)
else: raise Exception("Unknown Channel", PROTOCOL)
# overwrite abstract _cmd dictionary with subclass native _cmd_native dictionary:
#self._cmd = {**self._cmd, **self._cmd_native}
self._cmd = {**self._cmd, **self._cmd_device_abstract, **self._cmd_device_concrete}
# So that we can use this with the "with" statement (context manager)
def __enter__(self):
return self
def __exit__(self, type, value, traceback):
self.my_channel.__exit__(type, value, traceback)
'''
def set_logger(self, DEBUG):
self.my_channel.set_logger(DEBUG)
'''
def device_simulator_run(self):
#HOST, PORT = "localhost", 11110
#with get_SocketServer_UDP_TCP(HOST, PORT, "UDP") as myserver:
print("Starting device simulator on (host:port): ", self._device_host+':'+str(self._device_port))
self._device_simulator.serve_forever(self._device_port)
#with get_SocketServer_UDP_TCP(self.HOST, self.PORT, "UDP") as myserver: myserver.serve_forever()
'''
myserver = get_SocketServer_UDP_TCP(self.HOST, self.PORT, "UDP")
myserver.serve_forever()
'''
def _connect_to_device(self):
self.my_channel._connect_to_server()
def get_celme_longitude(self, longitude):
return celme.Angle(longitude).sexagesimal("d:+0180.0")
def get_celme_latitude(self, latitude):
return celme.Angle(latitude).sexagesimal("d:+090.0")
#@override ClientChannel send_data
def send_data(self, data:str):
data_encapsulated = self.format_data_to_send(data)
self.my_channel.send_data(data_encapsulated)
'''
The chosen way to send data is this:
# - :GD#
b'00030000:GD#\x00'
Another way to send data (which also works), is it better ?
# - :GD#
###tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x44\x23\x00', (HOST, PORT))
# - :GR#
###tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x3A\x47\x52\x23\x00', (HOST, PORT))
# - ACK 06 OK !!! :
tsock.mysock.sendto(b'\x00\x00\x00\x01\x00\x00\x00\x00\x00\x06\x00\x00', (HOST, PORT))
Which one is the best method ?
'''
#log_d("NATIVE Command to send is "+repr(data))
##encapsulated_data = self.encapsulate_data_to_send(data)
#print("before _send", encapsulated_data)
#print("before _send", repr(encapsulated_data))
##self._send_data(encapsulated_data)
##self.my_channel.send_data(encapsulated_data)
#log_i(f'Sent: {encapsulated_data}')
'''
def _send_data(self, data):
self.my_channel._send_data(data)
'''
#@override ClientChannel receive_data
def receive_data(self)->str:
##data_received_bytes = self._receive_data()
data_received = self.my_channel.receive_data()
#log_d("Received (all data): {}".format(data_received))
#log_d("data in bytes: "+str(bytes(data_received, "utf-8")))
data = self.unformat_received_data(data_received)
log_i("RECEIVED (useful data): {}".format(data))
return data
'''
def _receive_data(self):
return self.my_channel._receive_data()
'''
# Encapsulate useful data to be ready for sending
# By default, do nothing
#@abstract
def format_data_to_send(self, data:str):
return self.encapsulate_data_to_send(data)
#@deprecated
def encapsulate_data_to_send(self, data:str):
return data
# Extract useful data from received raw data
# By default, do nothing
#@abstract
def unformat_received_data(self, data:str):
return self.uncap_received_data(data)
#@deprecated
def uncap_received_data(self, data:str):
#return data_received.decode()
return data
'''
def encapsulate_data_to_send(self, command:str):
return self.my_channel.encapsulate_data_to_send(command)
def uncap_received_data(self, data_received:str):
return self.my_channel.uncap_received_data(data_received)
'''
def get_utc_date(self):
return celme.Date("now").iso(0)
#return celme.Date("now").ymdhms()
def close(self):
self.my_channel.close()
# Stop device simulator (only if used)
if self._device_host=="localhost":
print("Stopping device simulator")
self._device_simulator.stop()
'''
def is_generic_cmd(self, raw_input_cmd:str) -> bool:
print("raw_input_cmd is", raw_input_cmd)
# Using Google documentation format (https://www.sphinx-doc.org/en/master/usage/extensions/example_google.html#example-google)
#"" Is this a generic command ?
Args:
raw_input_cmd: a command in string format (like 'set_state active' or 'get_ra' or 'set_ra 20:00:00' or 'set_radec 20:00:00 90:00:00" or 'do_park'...)
Returns:
either False or (cmd, [args]) with cmd like "get_ra" and [args] like ['20:00:00', '90:00:00']
#""
#return cmd.startswith('get_') or cmd.startswith('set_') or cmd.startswith('do_')
#cmds = ['get ', 'get_', 'set ', 'set_', 'do ', 'do_']
#''
seps = (" ", "_")
#cmds = list(x+y for x in cmd for y in sep)
for cmd in cmds:
for sep in seps:
generic_cmd = cmd+sep
if raw_input_cmd.startswith(generic_cmd):
# Is there value(s) passed ?
if len(raw_input_cmd) > len(generic_cmd):
values = raw_input_cmd[len(generic_cmd):]
values = values.split(' ')
# return cmd like "get_ra", [and values]
return generic_cmd.replace(' ','_'), values
return False, False
#''
##cmds = ("get","set","do")
#''
# ex: "set radec" => "set_radec"
raw_input_cmd = raw_input_cmd.strip()
cmd_splitted = raw_input_cmd.split(' ')
if len(cmd_splitted) == 1: return False,False
generic_cmd = cmd_splitted[0] + '_' + cmd_splitted[1]
#''
# Ex: "set_radec 15 30", "do_init", "get_radec", "set_state active", "do_goto_radec 15 45"...
tokens = raw_input_cmd.split(' ')
generic_cmd = tokens[0]
# Check this generic command exists
#if (generic_cmd not in self._cmd.keys()): return False,False
if generic_cmd not in self._cmd: return False,False
# Is there value(s) passed ?
###if len(cmd_splitted) > 2: values_to_set = cmd_splitted[2:]
args = tokens[1:] if len(tokens)>1 else None
# ex: return "set_radec", ["20:00:00", "90:00:00"]
return generic_cmd, args
'''
#def execute_cmd(self, cmd:DeviceCommand)->GenericResult:
def execute_cmd(self, raw_input_cmd:str)->GenericResult:
'''
:param raw_input_cmd:
'''
#generic_cmd, args = self.is_generic_cmd(raw_input_cmd)
cmd = DeviceCommand(raw_input_cmd)
# GENERIC command
#if generic_cmd is not False:
if cmd.is_generic():
print("GENERIC COMMAND")
#return self.execute_generic_cmd(generic_cmd, args)
return self.execute_generic_cmd(cmd.name, cmd.args)
# NATIVE command
'''
if cmd.startswith('get_'):
#generic_cmd,_ = request[4:].split('(')
generic_cmd = cmd[4:]
if (generic_cmd not in self._cmd_getset.keys()) and (generic_cmd not in self._cmd_do.keys()):
#eval(request)
return self.get_radec()
print("cmd is", generic_cmd)
return self._get(generic_cmd)
return
'''
# NATIVE command
print("NATIVE COMMAND")
#res_native = self.execute_native_cmd(raw_input_cmd)
res_native = self.execute_native_cmd(cmd.name_and_args)
return GenericResult(res_native)
#def execute_native_cmd(self, request:str, awaited_res_if_ok=None)->GenericResult:
def execute_native_cmd(self, native_cmd:str) -> str:
""" Execute a native command
Args:
native_cmd: a native command
Returns:
the command result
"""
print("NATIVE Command to send is "+ repr(native_cmd))
#self.send_request(native_cmd)
self.send_native_cmd(native_cmd)
native_res = self.receive_data()
return native_res
'''
ok = True if not awaited_res_if_ok else (native_res == awaited_res_if_ok)
return GenericResult(native_res, ok)
'''
'''
def execute_native_cmd_OLD(self, request:str)->str:
self.send_request(request)
native_res = self.receive_data()
return native_res
'''
def execute_unformated_native_cmd(self, request:str) -> str:
request = self.formated_cmd(request)
#return self.execute_native_cmd_OLD(request)
return self.execute_native_cmd(request)
def send_native_cmd(self, native_cmd:str)->str:
return self.send_data(native_cmd)
#@deprecated
def send_request(self, request:str)->str:
return self.send_native_cmd(request)
def print_available_commands(self):
print("\nAvailable commands are:")
print("- GET commands:")
#print (list(cmd.replace('_',' ') for cmd in self._cmd.keys() if cmd.startswith('get_')))
print (list(cmd for cmd in self._cmd.keys() if cmd.startswith('get_')))
print("- SET commands:")
print (list(cmd for cmd in self._cmd.keys() if cmd.startswith('set_')))
print("- DO commands:")
print (list(cmd for cmd in self._cmd.keys() if cmd.startswith('do_')))
def available_commands(self):
return list(self._cmd.keys())
# @abstract
def formated_cmd(self, cmd:str, value:str=None)->str:
return cmd
#def run_func(self, func, arg=None):
def run_func(self, func, *args):
#print("args", args)
if args:
return getattr(self, func)(*args)
else:
return getattr(self, func)()
'''
TELESCOPE COMMANDS (abstract methods)
'''
#def execute_generic_cmd(self, generic_cmd:DeviceCommand)->str:
def execute_generic_cmd(self, generic_cmd:str, values_to_set:str=None)->str:
''' Execute a generic command
:param generic_cmd: str like "get_ra" or "set_ra" or "do_park"...
:param value: only for a "set_" cmd
'''
#log_d("\n\nGENERIC Command to send is "+generic_cmd)
print("\n\nGENERIC Command to send is ", generic_cmd)
# Check if generic_param exists
#if generic_cmd not in self._cmd.keys(): raise UnknownCommandException()
# if this generic command has no corresponding native command, raise NotImplementedError
native_cmd_infos = self._cmd[generic_cmd]
if not native_cmd_infos: raise NotImplementedError
# Get corresponding native command:
native_cmd = native_cmd_infos[0]
if not native_cmd: raise NotImplementedError
# MACRO-COMMAND (ex: native_cmd == "do_goto", "do_init", "get_radec")
if native_cmd == generic_cmd:
print("MACRO-COMMAND")
#print("cmd,val", native_cmd, values_to_set)
#res:GenericResult = self.run_func(native_cmd, *values_to_set)
if values_to_set:
print("with args")
res = self.run_func(native_cmd, *values_to_set)
#res = getattr(self, native_cmd)(values_to_set)
else:
res = self.run_func(native_cmd)
#res = getattr(self, native_cmd)()
#if res is None: res = 'ok'
# res should be a GenericResult
if not isinstance(res, GenericResult): raise Exception("Should be a GenericResult", res)
return res
# NATIVE COMMAND (ex: native_cmd == "GR")
native_cmd = self.formated_cmd(native_cmd, values_to_set)
awaited_res_if_ok = None
if len(native_cmd_infos) > 1: awaited_res_if_ok = native_cmd_infos[1]
#native_res = self.execute_native_cmd(self.formated_cmd(native_cmd,value), awaited_res_ok)
native_res = self.execute_native_cmd(native_cmd)
ok = True if not awaited_res_if_ok else (native_res == awaited_res_if_ok)
return GenericResult(native_res, ok)
'''
****************************
****************************
GENERIC TELESCOPE COMMANDS (abstract methods)
****************************
****************************
'''
'''
****************************
GENERIC GET & SET commands
****************************
'''
@generic_cmd
def get_timezone(self): pass
#def get_timezone(self): return self.execute_generic_cmd('get_timezone')
@generic_cmd
def set_timezone(self, hh): pass
#def set_timezone(self, hh): return self.execute_generic_cmd('set_timezone', hh)
@generic_cmd
def get_date(self): pass
@generic_cmd
def set_date(self, mmddyy): pass
@generic_cmd
def get_time(self): pass
@generic_cmd
def set_time(self, hhmmss): pass
'''
****************************
GENERIC DO commands
****************************
'''
# @abstract
#def do_INIT(self): return self._do("INIT")
''' do_PARK() (p103)
- STARTUP position = CWD
- :hC#
- position required for a Cold or Warm Start, pointing to the celestial pole of the given hemisphere (north or south),
with the counterweight pointing downwards (CWD position). From L4, V1.0 up
- HOME position parking => par defaut, c'est CWD, mais ca peut etre different
- :hP#
- defaults to the celestial pole visible at the given hemisphere (north or south) and can be set by the user
'''
# @abstract
def do_PARK(self): pass
#def do_PARK(self): return self._do("PARK")
# @abstract
def do_start(self): pass
def do_stop(self): pass
# @abstract MACRO
def do_init(self): return NotImplementedError
# TODO: empecher de creer une instance de cette classe abstraite
# Avec ABC ?
'''
if __name__ == "__main__":
#HOST, PORT = "localhost", 9999
#HOST, PORT = "localhost", 20001
HOST, PORT = "localhost", 11110
# Classic usage:
#tsock = SocketClient_UDP_TCP(HOST, PORT, "UDP")
# More elegant usage, using "with":
with SocketClient_ABSTRACT(HOST, PORT, "UDP") as tsock:
# 0) CONNECT to server (only for TCP, does nothing for UDP)
tsock._connect_to_server()
while True:
# 1) SEND REQUEST data to server
# saisie de la requête au clavier et suppression des espaces des 2 côtés
data = input("REQUEST TO SERVER [ex: ':GD#' (Get Dec), ':GR#' (Get RA)']: ").strip()
# test d'arrêt
if data=="": break
#data_to_send = bytes(data + "\n", "utf-8")
tsock.send_data(data)
#mysock.sendto("%s" % data, (HOST, PORT))
#print("Sent: {}".format(data))
# 2) RECEIVE REPLY data from server
data_received = tsock.receive_data()
#reponse, adr = mysock.recvfrom(buf)
#print("Received: {}".format(data_received))
#print("Useful data received: {}".format(data_useful))
print('\n')
#tsock.close()
'''