67 lines
2.1 KiB
Python
67 lines
2.1 KiB
Python
import socket
|
|
import threading
|
|
import socketserver
|
|
import time
|
|
|
|
class RequestHandler(socketserver.BaseRequestHandler):
|
|
#def __init__(self, *args, **kwargs):
|
|
#print(self, *args, **kwargs)
|
|
#print("Got connection from {}".format( self.client_address[0]) )
|
|
#socketserver.BaseRequestHandler.__init__(self, *args, **kwargs)
|
|
|
|
def handle(self):
|
|
while True:
|
|
data = str(self.request.recv(1024), 'ascii')
|
|
cur_thread = threading.current_thread()
|
|
print("{} received {} from {}".format(cur_thread.name, data, self.client_address) )
|
|
if data == "":
|
|
return
|
|
|
|
#when this methods returns, the connection to the client closes
|
|
|
|
def setup(self):
|
|
print("Got new connection from {}".format( self.client_address) )
|
|
self.server.handlers.append(self)
|
|
|
|
def finish(self):
|
|
print("Connection from {} lost".format( self.client_address) )
|
|
self.server.handlers.remove(self)
|
|
|
|
class Server(socketserver.ThreadingMixIn, socketserver.TCPServer):
|
|
def init(self):
|
|
"""
|
|
__init__ should not be overriden
|
|
"""
|
|
self.handlers = []
|
|
|
|
def cleanup(self):
|
|
for handler in self.handlers:
|
|
handler.request.shutdown(socket.SHUT_RDWR)
|
|
handler.request.close()
|
|
self.shutdown()
|
|
|
|
|
|
|
|
|
|
if __name__ == "__main__":
|
|
# Port 0 means to select an arbitrary unused port
|
|
host, port = "localhost", 30002 # this is the standard secondary port for a UR robot
|
|
|
|
server = Server((host, port), RequestHandler)
|
|
server.init()
|
|
server_thread = threading.Thread(target=server.serve_forever)
|
|
server_thread.daemon = True
|
|
server_thread.start()
|
|
print("Fake Universal robot running at ", host, port)
|
|
try:
|
|
f = open("packet.bin", "rb")
|
|
packet = f.read()
|
|
f.close()
|
|
while True:
|
|
time.sleep(0.09) #The real robot published data 10 times a second
|
|
for handler in server.handlers:
|
|
handler.request.sendall(packet)
|
|
finally:
|
|
print("Shutting down server")
|
|
server.cleanup()
|