eive-obsw/thirdparty/libcsp/examples/python_bindings_example_server.py

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2020-11-19 18:24:03 +01:00
#!/usr/bin/python
# libcsp must be build with at least these options to run this example server:
# ./waf distclean configure build --enable-bindings --enable-crc32 --enable-rdp --enable-if-zmq --with-driver-usart=linux --enable-if-kiss --enable-xtea --enable-if-can --enable-can-socketcan --enable-hmac --enable-examples
# Can be run from root of libcsp like this:
# LD_LIBRARY_PATH=build PYTHONPATH=bindings/python:build python examples/python_bindings_example_server.py
#
import os
import time
import sys
import libcsp as csp
import subprocess
if __name__ == "__main__":
# start a zmqproxy to transport messages to and from the client
zmqp = subprocess.Popen('build/zmqproxy')
# init csp
csp.buffer_init(10, 300)
csp.init(27)
csp.zmqhub_init(27, "localhost")
csp.rtable_set(28, 5, "ZMQHUB")
csp.route_start_task()
# set identity
csp.set_hostname("test_service")
csp.set_model("bindings")
csp.set_revision("1.2.3")
# and read it back
print (csp.get_hostname())
print (csp.get_model())
print (csp.get_revision())
# start listening for packets...
sock = csp.socket()
csp.bind(sock, csp.CSP_ANY)
csp.listen(sock)
while True:
conn = csp.accept(sock)
if not conn:
continue
print ("connection: source=%i:%i, dest=%i:%i" % (csp.conn_src(conn),
csp.conn_sport(conn),
csp.conn_dst(conn),
csp.conn_dport(conn)))
while True:
packet = csp.read(conn)
if not packet:
break
if csp.conn_dport(conn) == 10:
data = bytearray(csp.packet_get_data(packet))
length = csp.packet_get_length(packet)
print ("got packet, len=" + str(length) + ", data=" + ''.join('{:02x}'.format(x) for x in data))
data[0] = data[0] + 1
reply_packet = csp.buffer_get(1)
if reply_packet:
csp.packet_set_data(reply_packet, data)
csp.sendto_reply(packet, reply_packet, csp.CSP_O_NONE)
csp.buffer_free(packet)
else:
csp.service_handler(conn, packet)
csp.close(conn)