From 73c6e10a11b3f325e630f05007be708d43999660 Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Wed, 9 Nov 2022 11:12:03 +0100
Subject: [PATCH] Removed newline part of return strings from server side. Also
added max-speed function
---
src/omnibot/tcp.py | 18 ++++++++++-
test/testserver.py | 74 ++++++++++++++++++++++++++++++++++++++++++++++
2 files changed, 91 insertions(+), 1 deletion(-)
create mode 100644 test/testserver.py
diff --git a/src/omnibot/tcp.py b/src/omnibot/tcp.py
index 986ebd0..e35a8c7 100644
--- a/src/omnibot/tcp.py
+++ b/src/omnibot/tcp.py
@@ -52,7 +52,8 @@ class Connection(object):
# Receive confirmation
ret=self.sock.recv(1024).decode('utf-8')
- return ret
+ # Remove the end of the line to account for newline, which is required for julia socket implementation.
+ return ret[:-1]
def set_speed(self,i,v):
"""Set the speed of servo i (int) to v (int). Return a string with status of the operation from the omnibot.
@@ -147,3 +148,18 @@ class Connection(object):
theta = self.get_theta()
return [x,y,theta]
+
+ def get_max_speed(self):
+ """"Get maximum speed-setpoint for servos."""
+
+ if self.verbose:
+ print("Requesting theta")
+
+ ret = self._send_and_receive("rmaxspeed")
+ if ret[0] == "e":
+ raise Exception(ret)
+
+ if self.verbose:
+ print("max speed: "+ret)
+
+ return int(ret)
diff --git a/test/testserver.py b/test/testserver.py
new file mode 100644
index 0000000..ebe75b4
--- /dev/null
+++ b/test/testserver.py
@@ -0,0 +1,74 @@
+"""
+A python script that can run some tests on the client which mimics the behavior of the real system.
+"""
+
+from time import sleep
+import logging
+
+# TCP connection
+import socket
+
+from random import random
+
+
+def run_server(HOST,PORT=9998):
+
+
+ # Create socket s
+ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+ s.bind((HOST, PORT)) # Bind the socket to specified port and ip
+ s.listen(1) # Start listening for connections
+
+ # Loop "while true" to keep receiving new connections until the application closes.
+ while True:
+ logging.info("Waiting for connection")
+ conn, addr = s.accept() # Wait for connection
+ logging.info("Connection received from"+str(addr))
+ # Connection received. Closes automatically once the session ends, and then waits for a new connection.
+ with conn:
+ # Log info about the connection
+
+
+ while True:
+
+ # Receive a message
+ data = conn.recv(1024)
+
+ # If the message is empty, close the connection.
+ if not data:
+ logging.debug("Empty input, stopping connection")
+ break
+
+ try:
+ inp = data.decode('utf-8')
+ logging.debug(f"Received {inp}")
+ command_type = inp[0]
+
+ if command_type == 'w':
+ # Handle writing speed to servos
+ message = "Operation " + inp + " successful.\n"
+ conn.sendall(message.encode('utf-8'))
+ elif command_type == 'r':
+ # Handle reading from the crazyflie
+ message = str(round(random(),5))+"\n"
+ conn.sendall(message.encode('utf-8'))
+ except Exception as e:
+ # If an exception is encountered, send it to the client.
+ logging.exception(f"Exception encountered: {e}")
+ message = "e:"+str(e)
+ conn.sendall(message.encode('utf-8'))
+
+
+
+if __name__ == "__main__":
+
+ # Set IP (HOST) and port number (PORT)
+ # "" means listening to any available IP
+ HOST, PORT = "", 9998
+
+ # Define logging format
+ format = "%(asctime)s: %(message)s"
+ logging.basicConfig(format=format, level=logging.DEBUG,datefmt="%H:%M:%S")
+
+ run_server(HOST,PORT=PORT)
+
\ No newline at end of file
--
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