Update

testfield/legacy/server/host.py

@@ -0,0 +1,163 @@
+import yaml
+
+__dummy_mode__ = 1
+cfg = None
+if not __dummy_mode__:
+    import sys, os
+    sys.path.append("arduino_api")
+    sys.path.append("termux_lib")
+    import termux_lib as lib
+    import socket
+    import json
+    import os
+    import time
+    import threading
+else:
+    import sys
+    sys.path.append("dummy_all")
+    import dummy_lib as lib
+    import socket
+    import json
+    import os
+    import time
+    import threading
+
+    def hwinit():
+        global hw
+        hw = dict()
+        hw["aile_left"] = lib.Flank("左副翼", "al")
+        hw["aile_right"] = lib.Flank("右副翼", "ar")
+        #hw["tail_vert"] = lib.Flank("垂直尾翼", "tv")
+        hw["tail_left"] = lib.Flank("左尾翼", "tl")
+        hw["tail_right"] = lib.Flank("右尾翼", "tr")
+        hw["engine_main"] = lib.Engine("一号引擎", "e1")
+        
+
+    def check():
+        for i in hw.values():
+            i.selfchk()
+        print("操纵面与引擎自检完成, 等待远程指令")
+
+    def proc(data):
+        global hw
+        #print(data)
+        inf = json.loads(data.replace('\n', ';'))
+        print("DT"+data + "DT")
+        if inf["type"] == "cmd":
+            #print(f"执行命令")
+            exec(inf["cmd"])
+        elif inf["type"] == "syscmd":
+            #print(f"执行系统级命令")
+            os.system(inf["cmd"])
+        elif inf["type"] == "reset":
+            pass
+            #print(f"系统重置")
+        elif inf["type"] == "stop":
+            #print(f"退出系统")
+            return 1
+        else:
+            pass
+            #print(f"未知命令")
+        return 0
+    global isx
+    isx = 0
+    def stat():
+        global isx
+        status = dict()
+        status["devices"] = dict()
+        for i in hw.items():
+            status["devices"][i[0]] = i[1].status()
+        status["name"] = name
+        status["sensors"] = lib.Sensor.stat()
+        status["time"] = time.asctime()
+        isx+=1
+        return status
+    def debug_shell():
+        lib.Sensor.pseudo_gui()
+
+def init_hardware():
+    global hwobj
+    hwobj = dict()
+    print("注册传感器")
+    for i in hw["surfaces"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+    print("注册操纵面")
+    for i in hw["surfaces"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+    print("注册引擎")
+    for i in hw["engines"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册机炮")
+    for i in hw["cannons"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册供能系统")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册机轮制动")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册雷达")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册挂架")
+    for i in hw[""]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册布尔元件")
+    for i in hw["bools"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+def selfchk():
+    print("开始自检")
+    for i in hw:
+        print(f"{i}")
+    for i in hw["engines"]:
+            print(f"{j} ", end="")
+
+
+if __name__ == "__main__":
+    name = "零号侧卫"
+    global hw
+    hw = dict()
+    port = 40808
+    print(f"Commdore 飞行控制系统 服务端")
+    print("正在加载配置文件")
+    with open("config.yaml") as cfg_file:
+        cfg = yaml.safe_load(cfg_file)
+    name = cfg["name"]
+    model = cfg["model"]
+    hw = cfg["hardware"]
+    print(f"型号: {model}")
+    print(f"名称: {name}")
+    print("正在初始化硬件")
+    print("启动 socket 网络通信")
+    print("启动备用 socket 网络通信")
+    dummy = socket.socket()
+    dummy.bind(("localhost", port)) # 端口监听
+    dummy.listen(1)
+    print(f"监听端口 " + str(port))
+    conn, address = dummy.accept()
+    print(f"来自 {address} 的连接已接收")
+    msg = json.dumps(stat()) # 状态回传
+    size = len(msg.encode())
+    conn.send(msg.encode("UTF-8").ljust(2048))
+    np = threading.Thread(target=debug_shell, name='Debugging')
+    np.start()
+    while True:
+        # 接收消息
+        print(lib.Sensor.data)
+        data: str = conn.recv(2048).decode("UTF-8")
+        if data == "" or data == None:
+            continue
+        print(f"命令接收: {data}")
+        ret = proc(data)
+        if ret == 1:
+            break
+        msg = json.dumps(stat()) # 状态回传
+        size = len(msg.encode())
+        conn.send(msg.encode("UTF-8").ljust(2048 - size))  # encode将字符串编码为字节数组对象
+        #print(msg.encode("UTF-8").decode('unicode_escape'))
+        #print(f"当前状态已回传")
+
+    # 关闭连接
+    conn.close()
+    dummy.close()
+    np.join()