forked from zietzm/Helmholtz_Test_Bench
147 lines
6.3 KiB
Python
147 lines
6.3 KiB
Python
import globals as g
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from User_Interface import ui_print
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import cage_func as cage_controls
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from threading import Thread
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import socket
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import numpy as np
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# --- Definition of TCP interface ---
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#
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# Clients should by default initialize a TCP connection to port 6677
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# The commands shown must be terminated with a single \n (newline) char
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# Commands may be split across multiple packets.
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# Before useful commands can be sent, declare_api_version must be called.
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#
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# A description of the TCP api (safety limits are always enforced):
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#
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# set_raw_field [X comp.] [Y comp.] [Z comp.]
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# Returns: 0 or 1 for success
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# Accepts decimal point formatted floats, with or without scientific notation. The float() cast must understand it.
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# The field units are Tesla
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# This causes an additional field of the given strength to be generated, without regard for the pre-existing
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# geomagnetic/external fields.
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#
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# set_compensated_field [X comp.] [Y comp.] [Z comp.]
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# Returns: 0 or 1 for success
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# Accepts decimal point formatted floats, with or without scientific notation. The float() cast must understand it.
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# The field units are Tesla
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# This causes a field of exactly the given magnitude to be generated by compensating external factors such as the
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# geomagnetic field.
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#
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# set_coil_currents [X comp.] [Y comp.] [Z comp.]
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# Returns: 0 or 1 for success
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# Accepts decimal point formatted floats, with or without scientific notation. The float() cast must understand it.
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# The field units are Ampere
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# This establishes the requested current in the individual coils.
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#
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# get_api_version
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# Returns: a string uniquely identifying each API version.
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# This function can be called before declare_api_version.
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# Please dont put
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#
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# declare_api_version [version]
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# Returns: 0 or 1 (terminated with newline)
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# Declare the api version the client application was programmed for. It must be compatible with the current
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# API version. This prevents unexpected behaviour by forcing programmers to specify which API they are expecting.
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# This function must be called before sending HW commands.
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SOCKET_INTERFACE_API_VERSION = "1"
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class ClientConnectionThread(Thread):
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def __init__(self, client_socket, address):
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Thread.__init__(self)
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self.client_socket = client_socket
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self.client_address = address
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self.api_compat = False # Indicates whether the client has a compatible API version
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def run(self):
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msg = ''
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while True:
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raw_msg = self.client_socket.recv(2048).decode()
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for char in raw_msg:
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if char == '\n':
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msg = msg.rstrip() # Some systems will try to send \r characters... looking at you windows O_O
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try:
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response = self.handle_msg(msg)
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except Exception as e:
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ui_print("An error occurred while processing a client message")
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ui_print("Msg: {}".format(msg))
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ui_print(e)
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response = "err"
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self.client_socket.sendall((response + '\n').encode('utf-8'))
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msg = ''
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else:
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msg += char
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def handle_msg(self, message):
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""" Executes command logic and returns string response (for client). """
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tokens = message.split(" ")
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if tokens[0] == "get_api_version":
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return SOCKET_INTERFACE_API_VERSION
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elif tokens[0] == "declare_api_version":
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if tokens[1] == SOCKET_INTERFACE_API_VERSION:
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self.api_compat = True
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return "1"
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else:
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ui_print("Declared socket API version ({}) is incompatible with current version ({})!".format(tokens[1], SOCKET_INTERFACE_API_VERSION))
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return "0"
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else:
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# api_compat indicates we have checked the api version and are ready to accept commands
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if self.api_compat:
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if tokens[0] == "set_raw_field":
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x = float(tokens[1])
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y = float(tokens[2])
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z = float(tokens[3])
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field_vec = np.array([x, y, z], dtype=np.float32)
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# uncompensated
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cage_controls.set_field_simple(field_vec)
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return "1"
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elif tokens[0] == "set_compensated_field":
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x = float(tokens[1])
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y = float(tokens[2])
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z = float(tokens[3])
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field_vec = np.array([x, y, z], dtype=np.float32)
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# compensated
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cage_controls.set_field(field_vec)
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return "1"
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elif tokens[0] == "set_coil_currents":
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x = float(tokens[1])
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y = float(tokens[2])
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z = float(tokens[3])
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current_vec = np.array([x, y, z], dtype=np.float32)
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cage_controls.set_current_vec(current_vec)
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return "1"
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else:
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# The message given is unknown. The programmer probably did not intend for this, so display an error
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# even if is not inherently problematic.
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raise Exception("The command '{}' is unknown".format(tokens[0]))
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else:
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raise Exception("The command '{}' may not be called before 'declare_api_version'".format(tokens[0]))
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class SocketInterfaceThread(Thread):
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def __init__(self):
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Thread.__init__(self)
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self.server_socket = None
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# Can throw exception, which should be passed on to the instantiator of this class
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self.configure_tcp_port()
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def run(self):
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while True:
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(client_socket, address) = self.server_socket.accept()
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new_thread = ClientConnectionThread(client_socket, address)
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new_thread.start()
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ui_print("Accepted connection from {}".format(address))
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def configure_tcp_port(self):
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# Creates and configures the listening port
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self.server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.server_socket.bind(('', g.SOCKET_PORT))
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self.server_socket.listen(5) # Limit to max. 5 simultaneous connections
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ui_print("Listening for TCP connections on port {}".format(g.SOCKET_PORT))
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