Init

communication/server.py

@@ -0,0 +1,106 @@
+import logging
+import socket
+from select import select
+from communication.world_parser import WorldParser
+
+logger = logging.getLogger(__file__)
+
+
+class Server:
+    def __init__(self, host: str, port: int, world_parser: WorldParser):
+        self.world_parser: WorldParser = world_parser
+        self.__host: str = host
+        self.__port: str = port
+        self.__socket: socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.__socket.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
+        self.__send_buff = []
+        self.__rcv_buffer_size = 1024
+        self.__rcv_buffer = bytearray(self.__rcv_buffer_size)
+
+    def connect(self) -> None:
+        logger.info("Connecting to server at %s:%d...", self.__host, self.__port)
+        while True:
+            try:
+                self.__socket.connect((self.__host, self.__port))
+                break
+            except ConnectionRefusedError:
+                logger.error(
+                    "Connection refused. Make sure the server is running and listening on {self.__host}:{self.__port}."
+                )
+
+        logger.info(f"Server connection established to {self.__host}:{self.__port}.")
+
+    def shutdown(self) -> None:
+        self.__socket.close()
+        self.__socket.shutdown(socket.SHUT_RDWR)
+
+    def send_immediate(self, msg: str) -> None:
+        """
+        Sends only the desired message, without the buffer
+        """
+        try:
+            self.__socket.send(
+                (len(msg)).to_bytes(4, byteorder="big") + msg.encode()
+            )  # Add message length in the first 4 bytes
+        except BrokenPipeError:
+            print("\nError: socket was closed by rcssserver3d!")
+            exit()
+
+    def send(self) -> None:
+        """
+        Send all committed messages
+        """
+        if len(select([self.__socket], [], [], 0.0)[0]) == 0:
+            self.send_immediate(("".join(self.__send_buff)))
+        else:
+            logger.info("Server_Comm.py: Received a new packet while thinking!")
+        self.__send_buff = []
+
+    def commit(self, msg: str) -> None:
+        """
+        Appends message to buffer
+        """
+        self.__send_buff.append(msg)
+
+    def commit_and_send(self, msg: str = "") -> None:
+        """
+        Appends a message to buffer and then sends the buffer
+        """
+        self.commit(msg)
+        self.send()
+
+    def receive(self) -> None:
+        """
+        Receive the next message from the TCP/IP socket and updates world
+        """
+
+        # Receive message length information
+        if (
+            self.__socket.recv_into(
+                self.__rcv_buffer, nbytes=4, flags=socket.MSG_WAITALL
+            )
+            != 4
+        ):
+            raise ConnectionResetError
+
+        msg_size = int.from_bytes(self.__rcv_buffer[:4], byteorder="big", signed=False)
+
+        # Ensure receive buffer is large enough to hold the message
+        if msg_size > self.__rcv_buffer_size:
+            self.__rcv_buffer_size = msg_size
+            self.__rcv_buffer = bytearray(self.__rcv_buffer_size)
+
+        # Receive message with the specified length
+        if (
+            self.__socket.recv_into(
+                self.__rcv_buffer, nbytes=msg_size, flags=socket.MSG_WAITALL
+            )
+            != msg_size
+        ):
+            raise ConnectionResetError
+
+        self.world_parser.parse(message=self.__rcv_buffer[:msg_size].decode())
+
+    def commit_beam(self, pos2d: list, rotation: float) -> None:
+        assert len(pos2d) == 2
+        self.commit(f"(beam {pos2d[0]} {pos2d[1]} {rotation})")