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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| from simple_websocket_server import WebSocketServer, WebSocket | ||
| import json | ||
| import argparse | ||
|
|
||
|
|
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| class RobusEmulator(WebSocket): | ||
| prev_node = None | ||
| ptpa = False # Linked to prev | ||
| ptpb = False # Linked to next | ||
| ptpa_poke = False | ||
| ptpb_poke = False | ||
| next_node = None | ||
| msg_index = 0 | ||
|
|
||
| def handle(self): | ||
| if isinstance(self.data, str): | ||
| # This is a PTP command | ||
| print("\nI receive : " + str(self.data) + | ||
| " from " + str(self.address)) | ||
|
|
||
| # PTP emulation: | ||
| # Because PTP have been designed for real time response, the Robus algorythm is not really friendly to PTP management over WebSocket. | ||
| # This broker have to drive data in a specific way allowing to make it work. | ||
| # Robus HAL will send messages only during PTP reset state and read line. | ||
| # Read_line mean Poke. When we have this we can set the line depending on the presence of another node and save this poke state on the line | ||
| # The next reset received will need to be send to the other node. | ||
| # | ||
| # if (ptp line read (PTP up) : | ||
| # if (a node is connected) : | ||
| # send state 1 to the other node | ||
| # send state 1 back | ||
| # pass this ptp to poking | ||
| # else : | ||
| # send state 0 back | ||
| # if (PTP down and ptp is poking) : | ||
| # send state to the other node | ||
|
|
||
| # PTPA | ||
| if self.data[3] == 'A': | ||
| # We get a PTPA data | ||
|
|
||
| if (self.data[4] == '1'): | ||
| if (self.prev_node != None): | ||
| print("\t\tPTPB1 val sent to the node", | ||
| str(self.prev_node.address)) | ||
| self.prev_node.send_message("PTPB1") | ||
| print("\t\tPTPA1 val sent back to the node", | ||
| str(self.address)) | ||
| self.send_message("PTPA1") | ||
| self.prev_node.ptpb_poke = True | ||
| self.ptpa_poke = True | ||
| else: | ||
| print("\t\tPTPA0 val sent back to the node", | ||
| str(self.address)) | ||
| self.send_message("PTPA0") | ||
|
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||
| if (self.data[4] == '0' and self.ptpa_poke == True and self.prev_node != None): | ||
| print("\t\tPTPB0 val sent to the node", | ||
| str(self.prev_node.address)) | ||
| self.prev_node.send_message("PTPB0") | ||
| self.prev_node.ptpb_poke = False | ||
| self.ptpa_poke = False | ||
|
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||
| # PTPB | ||
| if self.data[3] == 'B': | ||
| # We get a PTPB data | ||
|
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||
| if (self.data[4] == '1'): | ||
| if (self.next_node != None): | ||
| print("\t\tPTPA1 val sent to the node", | ||
| str(self.next_node.address)) | ||
| self.next_node.send_message("PTPA1") | ||
| print("\t\tPTPB1 val sent back to the node", | ||
| str(self.address)) | ||
| self.send_message("PTPB1") | ||
| self.next_node.ptpa_poke = True | ||
| self.ptpb_poke = True | ||
| else: | ||
| print("\t\tPTPB0 val sent back to the node", | ||
| str(self.address)) | ||
| self.send_message("PTPB0") | ||
|
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||
| if (self.data[4] == '0' and self.ptpb_poke == True and self.next_node != None): | ||
| print("\t\tPTPA0 val sent to the node", | ||
| str(self.next_node.address)) | ||
| self.next_node.send_message("PTPA0") | ||
| self.next_node.ptpa_poke = False | ||
| self.ptpb_poke = False | ||
|
|
||
| else: | ||
| # This is a broadcast message | ||
| print(str(self.msg_index)+" Data received from " + str(self.address)) | ||
| self.msg_index += 1 | ||
| for client in clients: | ||
| if client != self: | ||
| client.send_message(self.data) | ||
|
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||
| def connected(self): | ||
| print(self.address, 'connected') | ||
| clients.append(self) | ||
| # Save links to other nodes | ||
| if len(clients) >= 2: | ||
| self.prev_node = clients[-2] | ||
| self.prev_node.next_node = clients[-1] | ||
| print("connect PTPB of " + str(self.prev_node.address) + | ||
| " with PTPA of " + str(self.address)) | ||
|
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||
| def handle_close(self): | ||
| print(self.address, 'closed') | ||
| # Save links to other nodes | ||
| if self.next_node != None: | ||
| self.next_node.prev_node = self.prev_node | ||
| if self.prev_node != None: | ||
| self.prev_node.next_node = self.next_node | ||
| clients.remove(self) | ||
|
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||
|
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| ## Parse arguments ## | ||
| parser = argparse.ArgumentParser(description='Robus WebSocket emulator broker\n', | ||
| formatter_class=argparse.RawTextHelpFormatter) | ||
| # General arguments | ||
| parser.add_argument("-p", "--port", metavar="PORT", action="store", | ||
| help="The port used by the websocket.\n" | ||
| "By default port = 8000.\n", | ||
| default=8000) | ||
| parser.add_argument("--ip", metavar="IP", action="store", | ||
| help="The ip used by the websocket.\n" | ||
| "By default ip = '127.0.0.1'.\n", | ||
| default='127.0.0.1') | ||
|
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| args = parser.parse_args() | ||
| clients = [] | ||
|
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| server = WebSocketServer(args.ip, args.port, RobusEmulator) | ||
| print("WebSocket Robus emulation is deprecaated since Luos_engine 3.1.0, please consider using a WebSocket network instead.\n") | ||
| print("WebSocket Robus emulation opened on " + | ||
| str(args.ip) + ":" + str(args.port)) | ||
| server.serve_forever() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,85 @@ | ||
| from simple_websocket_server import WebSocketServer, WebSocket | ||
| import json | ||
| import argparse | ||
|
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||
| PING = 0 | ||
| END = 1 | ||
| OK = 2 | ||
| NOK = 3 | ||
|
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| class WsBroker(WebSocket): | ||
| pinged = False | ||
| next_node = None | ||
| global pinger | ||
|
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||
| def handle(self): | ||
| if len(self.data) == 1: | ||
| if len(pinger) == 0: | ||
| # Data should be a ping | ||
| if self.data[0] != PING: | ||
| print("Error: received data is not a ping, received data is " + str(self.data[0])) | ||
| else: | ||
| pinger.append(self) | ||
| find_someone = False | ||
| # This is a ping command, find the next unpinged node and ping it | ||
| for client in clients: | ||
| if client != self and client.pinged == False: | ||
| # We have someone to ping | ||
| find_someone = True | ||
| client.pinged = True | ||
| client.send_message([PING]) | ||
| # ack the ping to the sender | ||
| self.send_message([OK]) | ||
| break | ||
| if find_someone == False: | ||
| # We have no one to ping, this branch is finished, we can send a NOK to this ping and reset the pinged state of all nodes | ||
| self.send_message([NOK]) | ||
| pinger.remove(pinger[0]) | ||
| for client in clients: | ||
| client.pinged = False | ||
| else: | ||
| # Data should be an end | ||
| if self.data[0] != END: | ||
| print("Error: received data is not an end, received data is " + str(self.data[0]) + " from " + str(self.address)) | ||
| else: | ||
| # send the end to the pinger | ||
| pinger[0].send_message([END]) | ||
| #remove the pinger | ||
| pinger.remove(pinger[0]) | ||
| else: | ||
| # This is a broadcast message | ||
| #print(str(len(self.data)) + str(" Data received from " + str(self.address))) | ||
| for client in clients: | ||
| if client != self: | ||
| client.send_message(self.data) | ||
|
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||
| def connected(self): | ||
| print(self.address, 'connected\n') | ||
| clients.append(self) | ||
|
|
||
| def handle_close(self): | ||
| print(self.address, 'closed') | ||
| clients.remove(self) | ||
|
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|
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||
| ## Parse arguments ## | ||
| parser = argparse.ArgumentParser(description='Luos_engine WebSocket network broker\n', | ||
| formatter_class=argparse.RawTextHelpFormatter) | ||
| # General arguments | ||
| parser.add_argument("-p", "--port", metavar="PORT", action="store", | ||
| help="The port used by the websocket.\n" | ||
| "By default port = 8000.\n", | ||
| default=8000) | ||
| parser.add_argument("--ip", metavar="IP", action="store", | ||
| help="The ip used by the websocket.\n" | ||
| "By default ip = '127.0.0.1'.\n", | ||
| default='127.0.0.1') | ||
|
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| args = parser.parse_args() | ||
| clients = [] | ||
| pinger = [] | ||
|
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| server = WebSocketServer(args.ip, args.port, WsBroker) | ||
| print("Luos_engine WebSocket network broker opened on " + | ||
| str(args.ip) + ":" + str(args.port)) | ||
| server.serve_forever() |
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