307 lines
No EOL
9.1 KiB
Python
307 lines
No EOL
9.1 KiB
Python
from Highway import Route, Pipe, Client
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import Logging
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import Config
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import Utils
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import socket
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import time
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import os
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import sys
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import subprocess
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from random import randint
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from _thread import start_new_thread
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CHANNEL = 2
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IS_WALLABY = Utils.is_wallaby()
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PATH = "/home/root/Documents/KISS/bin/" if IS_WALLABY else (sys.argv[1] if len(sys.argv) > 1 else None)
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LIB_WALLABY = "/usr/lib/libwallaby.so"
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WALLABY_PROGRAMS = "/root/Documents/KISS/bin/"
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if not PATH:
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Logging.error("No path specified. (Necessary on simulated Wallaby controllers.)")
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exit(1)
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if not IS_WALLABY:
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Logging.warning("Binaries that were created for Wallaby Controllers will not run on a simulated Wallaby.")
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class SensorReadout:
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ANALOG = 1
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DIGITAL = 2
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NAMED_MODES = {ANALOG : "analog", DIGITAL : "digital"}
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MODES = tuple(NAMED_MODES.keys())
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def __init__(self, handler, poll_rate=0.2):
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self.poll_rate = poll_rate
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self.handler = handler
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self.peers = {}
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self.readout_required = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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self.generate_random_values = False
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# Running on actual hardware?
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if Utils.is_wallaby():
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if not os.path.exists(LIB_WALLABY):
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Logging.error("The Wallaby library should normally exist on "
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"a Wallaby. You broke something, mate.")
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self.generate_random_values = True
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else:
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Logging.warning("Sensor data can not be read on a dev-system. "
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"Generating random values instead.")
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self.generate_random_values = True
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# Generate random values?
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if not self.generate_random_values:
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self.wallaby_library = cdll.LoadLibrary(LIB_WALLABY)
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self.get_sensor_value = self.__get_sensor_value
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else:
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self.get_sensor_value = self.__get_random_value
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start_new_thread(self._sensor_fetcher, ())
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def subscribe(self, port, mode, peer):
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if port not in self.readout_required[mode]:
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self.readout_required[mode].append(port)
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if not peer in self.peers:
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self.peers[peer] = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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self.peers[peer][mode].append(port)
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def unsubscribe(self, port, mode, peer):
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if peer in self.peers:
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if port in self.peers[peer][mode]:
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del self.peers[peer][mode][self.peers[peer][mode].index(port)]
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self.determine_required_readouts()
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def determine_required_readouts(self):
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readout_required = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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for peer in self.peers:
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for mode in (SensorReadout.ANALOG, SensorReadout.DIGITAL):
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for port in self.peers[peer][mode]:
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if not port in readout_required[mode]:
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readout_required[mode].append(port)
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self.readout_required = readout_required
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def unsubscribe_all(self, peer):
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if peer in self.peers:
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del self.peers[peer]
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self.determine_required_readouts()
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def __get_sensor_value(self, port, mode):
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if mode == SensorReadout.ANALOG:
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return self.wallaby_library.analog(port)
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elif mode == SensorReadout.DIGITAL:
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return self.wallaby_library.digital(port)
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def __get_random_value(self, port, mode):
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if mode == SensorReadout.ANALOG:
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return randint(0, 4095)
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elif mode == SensorReadout.DIGITAL:
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return randint(0, 1)
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def _sensor_fetcher(self):
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while True:
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current_values = {SensorReadout.ANALOG : {},
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SensorReadout.DIGITAL : {}}
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for mode in SensorReadout.MODES:
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for port in self.readout_required[mode]:
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current_values[mode][port] = self.get_sensor_value(port, mode)
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for peer in self.peers:
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response = {"analog" : {}, "digital" : {}}
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for mode in SensorReadout.NAMED_MODES:
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for port in self.peers[peer][mode]:
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response[SensorReadout.NAMED_MODES[mode]][port] = current_values[mode][port]
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self.handler.pipe(response, "sensor", peer)
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time.sleep(self.poll_rate)
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@staticmethod
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def valid_port(port, mode):
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if mode == SensorReadout.ANALOG:
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return port >= 0 and port <= 5
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elif mode == SensorReadout.DIGITAL:
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return port >= 0 and port <= 9
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return False
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class Identify(Pipe):
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def run(self, data, peer, handler):
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Utils.play_sound(config.identify_sound)
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if handler.debug:
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Logging.success("I was identified!")
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class ListPrograms(Pipe):
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def run(self, data, peer, handler):
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programs = []
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if IS_WALLABY:
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if os.path.isdir(WALLABY_PROGRAMS):
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for program in os.listdir(WALLABY_PROGRAMS):
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if "botball_user_program" in WALLABY_PROGRAMS + program:
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programs.append(programm)
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else:
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Logging.error("Harrogate folder structure does not exist. "
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"You broke something, mate.")
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else:
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for program in os.listdir("/bin"):
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programs.append(program)
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handler.pipe(programs, handler.reverse_routes[self], peer)
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class Sensor(Pipe):
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"""
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->
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{"subscribe" : {"analog" : [1, 2, 3], "digital" : [1, 2, 3]}}
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{"unsubscribe" : {"analog" : [1, 2, 3], "digital" : [1, 2, 3]}}
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{"poll_rate" : 10}
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<-
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{"analog" : {1 : 1240}, "digital" : {1 : 0, 2 : 0}}
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"""
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def run(self, data, peer, handler):
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if type(data) is dict:
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if "poll_rate" in data:
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if type(data["poll_rate"]) in (int, float) and data["poll_rate"] >= 0.1:
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self.sensor_readout.poll_rate = data["poll_rate"]
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for event in ("subscribe", "unsubscribe"):
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if event in data:
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for mode in ("analog", "digital"):
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if mode in data[event]:
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for port in data[event][mode]:
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if type(port) is int:
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if mode == "analog":
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mode = SensorReadout.ANALOG
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elif mode == "digital":
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mode = SensorReadout.DIGITAL
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if SensorReadout.valid_port(port, mode):
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if event == "subscribe":
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self.sensor_readout.subscribe(port, mode, peer)
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elif event == "unsubscribe":
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self.sensor_readout.unsubscribe(port, mode, peer)
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elif type(data) is str:
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if data == "unsubscribe":
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self.sensor_readout.unsubscribe_all(peer)
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def start(self, handler):
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self.sensor_readout = SensorReadout(handler)
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class WallabyControl(Route):
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def __init__(self, output_unbuffer):
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self.output_unbuffer = output_unbuffer
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self.actions_with_params = {"run" : self.run_program}
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self.actions_without_params = {"disconnect" : self.disconnect,
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"reboot" : self.reboot, "shutdown" : self.shutdown, "stop" : self.stop}
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self.currently_running_program = None
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def run(self, data, handler):
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if type(data) is str:
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if data in self.actions_without_params.keys():
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self.actions_without_params[data](handler)
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elif type(data) is dict:
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for action in data:
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if action in self.actions_with_params.keys():
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_thread.start_new_thread(self.actions_with_params[action], (handler, data[action]))
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def run_program(self, handler, program):
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command = [self.output_unbuffer, "-i0", "-o0", "-e0"]
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command.append("%s%s/botball_user_program" % (handler.sync.folder, program))
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self.currently_running_program = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
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# Poll process for new output until finished
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for line in iter(self.currently_running_program.stdout.readline, b""):
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handler.sock.send(line.decode(), "std_stream")
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self.currently_running_program.wait()
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handler.sock.send({"return_code" : self.currently_running_program.returncode}, "std_stream")
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self.currently_running_program = None
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def stop(self, handler):
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if self.currently_running_program != None:
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Logging.info("Killing currently running programm.")
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self.currently_running_program.kill()
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else:
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Logging.info("No program started by fl0w.")
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def reboot(self, handler):
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self.disconnect(handler)
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os.system("reboot")
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exit(0)
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def shutdown(self, handler):
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self.disconnect(handler)
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os.system("shutdown -h 0")
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def disconnect(self, handler):
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self.stop(handler)
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handler.sock.close()
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class Subscribe(Route):
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def start(self, handler):
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handler.send({"name" : Utils.get_hostname(), "channel" : CHANNEL}, "subscribe")
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class Hostname(Pipe):
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def run(self, data, peer, handler):
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if type(data) is dict:
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if "set" in data:
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Utils.set_hostname(str(data["set"]))
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class Processes(Pipe):
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def run(self, data, peer, handler):
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handler.pipe(
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subprocess.check_output(["ps", "aux"]).decode().split("\n")[1:-1],
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"processes", peer)
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class Handler(Client):
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def setup(self, routes, debug=False):
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super().setup(routes, debug=debug)
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def peer_unavaliable(self, peer):
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if self.debug:
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Logging.info("Unsubscribing '%s' from all sensor updates." % peer)
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self.routes["sensor"].sensor_readout.unsubscribe_all(peer)
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CONFIG_PATH = "wallaby.cfg"
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config = Config.Config()
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config.add(Config.Option("server_address", "ws://127.0.0.1:3077"))
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config.add(Config.Option("debug", False, validator=lambda x: True if True or False else False))
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config.add(Config.Option("output_unbuffer", "stdbuf"))
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config.add(Config.Option("identify_sound", "Wallaby/identify.wav",
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validator=lambda x: os.path.isfile(x)))
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try:
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config = config.read_from_file(CONFIG_PATH)
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except FileNotFoundError:
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config.write_to_file(CONFIG_PATH)
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config = config.read_from_file(CONFIG_PATH)
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try:
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ws = Handler(config.server_address)
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# setup has to be called before the connection is established
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ws.setup({"subscribe" : Subscribe(), "hostname" : Hostname(),
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"processes" : Processes(), "sensor" : Sensor(),
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"identify" : Identify(), "list_programs" : ListPrograms()},
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debug=config.debug)
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ws.connect()
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ws.run_forever()
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except KeyboardInterrupt:
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ws.close() |