130 lines
4.0 KiB
Python
130 lines
4.0 KiB
Python
import logging
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import socket
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import time
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from select import select
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from communication.world_parser import WorldParser
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logger = logging.getLogger(__file__)
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class Server:
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def __init__(self, host: str, port: int, world_parser: WorldParser):
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self.world_parser: WorldParser = world_parser
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self.__host: str = host
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self.__port: int = port
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self.__socket: socket.socket = self._create_socket()
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self.__send_buff = []
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self.__rcv_buffer_size = 1024
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self.__rcv_buffer = bytearray(self.__rcv_buffer_size)
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def _create_socket(self) -> socket.socket:
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sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
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return sock
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def connect(self) -> None:
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logger.info("Connecting to server at %s:%d...", self.__host, self.__port)
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# Always reconnect with a fresh socket object.
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try:
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self.__socket.close()
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except OSError:
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pass
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self.__socket = self._create_socket()
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while True:
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try:
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self.__socket.connect((self.__host, self.__port))
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break
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except ConnectionRefusedError:
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logger.error(
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"Connection refused. Make sure the server is running and listening on {self.__host}:{self.__port}."
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)
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time.sleep(0.05)
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logger.info(f"Server connection established to {self.__host}:{self.__port}.")
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def shutdown(self) -> None:
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try:
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self.__socket.shutdown(socket.SHUT_RDWR)
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except OSError:
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pass
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try:
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self.__socket.close()
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except OSError:
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pass
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def send_immediate(self, msg: str) -> None:
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"""
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Sends only the desired message, without the buffer
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"""
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try:
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self.__socket.send(
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(len(msg)).to_bytes(4, byteorder="big") + msg.encode()
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) # Add message length in the first 4 bytes
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except BrokenPipeError:
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print("\nError: socket was closed by rcssserver3d!")
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exit()
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def send(self) -> None:
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"""
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Send all committed messages
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"""
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if not self.__send_buff:
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return
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if len(select([self.__socket], [], [], 0.0)[0]) != 0:
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logger.debug("Socket is readable while sending; keeping full-duplex command send.")
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self.send_immediate(("".join(self.__send_buff)))
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self.__send_buff = []
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def commit(self, msg: str) -> None:
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"""
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Appends message to buffer
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"""
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self.__send_buff.append(msg)
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def commit_and_send(self, msg: str = "") -> None:
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"""
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Appends a message to buffer and then sends the buffer
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"""
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self.commit(msg)
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self.send()
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def receive(self):
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while True:
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if (
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self.__socket.recv_into(
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self.__rcv_buffer, nbytes=4, flags=socket.MSG_WAITALL
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) != 4
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):
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raise ConnectionResetError
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msg_size = int.from_bytes(self.__rcv_buffer[:4], byteorder="big", signed=False)
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if msg_size > self.__rcv_buffer_size:
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self.__rcv_buffer_size = msg_size
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self.__rcv_buffer = bytearray(self.__rcv_buffer_size)
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if (
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self.__socket.recv_into(
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self.__rcv_buffer, nbytes=msg_size, flags=socket.MSG_WAITALL
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) != msg_size
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):
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raise ConnectionResetError
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self.world_parser.parse(
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message=self.__rcv_buffer[:msg_size].decode()
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)
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# 如果socket没有更多数据就退出
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if len(select([self.__socket], [], [], 0.0)[0]) == 0:
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break
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def commit_beam(self, pos2d: list, rotation: float) -> None:
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assert len(pos2d) == 2
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self.commit(f"(beam {pos2d[0]} {pos2d[1]} {rotation})")
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