e2bfb79cdf
The port of the Wallaby client has kicked off and with it come lots of broken features. WallabyControl will have to be remade to incorporate piping and routes for sensor readouts as well as wi-fi network selection have to be added. As a quick piping demo the Hostname changer route was implemented which already works in the Sublime Text client.
123 lines
No EOL
3.4 KiB
Python
123 lines
No EOL
3.4 KiB
Python
from Highway import Route, Pipe, Client
|
|
import Logging
|
|
import Config
|
|
from Utils import is_wallaby, set_hostname, get_hostname
|
|
|
|
|
|
import socket
|
|
import time
|
|
import os
|
|
import sys
|
|
import subprocess
|
|
import _thread
|
|
|
|
CHANNEL = 2
|
|
IS_WALLABY = is_wallaby()
|
|
PATH = "/home/root/Documents/KISS/bin/" if IS_WALLABY else (sys.argv[1] if len(sys.argv) > 1 else None)
|
|
|
|
if not PATH:
|
|
Logging.error("No path specified. (Necessary on simulated Wallaby controllers.)")
|
|
exit(1)
|
|
|
|
if not IS_WALLABY:
|
|
Logging.warning("Binaries that were created for Wallaby Controllers will not run on a simulated Wallaby.")
|
|
|
|
|
|
class WallabyControl(Route):
|
|
def __init__(self, output_unbuffer):
|
|
self.output_unbuffer = output_unbuffer
|
|
self.actions_with_params = {"run" : self.run_program}
|
|
self.actions_without_params = {"disconnect" : self.disconnect,
|
|
"reboot" : self.reboot, "shutdown" : self.shutdown, "stop" : self.stop}
|
|
self.currently_running_program = None
|
|
|
|
def run(self, data, handler):
|
|
if type(data) is str:
|
|
if data in self.actions_without_params.keys():
|
|
self.actions_without_params[data](handler)
|
|
elif type(data) is dict:
|
|
for action in data:
|
|
if action in self.actions_with_params.keys():
|
|
_thread.start_new_thread(self.actions_with_params[action], (handler, data[action]))
|
|
|
|
|
|
def run_program(self, handler, program):
|
|
command = [self.output_unbuffer, "-i0", "-o0", "-e0"]
|
|
command.append("%s%s/botball_user_program" % (handler.sync.folder, program))
|
|
self.currently_running_program = subprocess.Popen(command, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
|
|
|
|
# Poll process for new output until finished
|
|
for line in iter(self.currently_running_program.stdout.readline, b""):
|
|
handler.sock.send(line.decode(), "std_stream")
|
|
|
|
self.currently_running_program.wait()
|
|
handler.sock.send({"return_code" : self.currently_running_program.returncode}, "std_stream")
|
|
self.currently_running_program = None
|
|
|
|
|
|
def stop(self, handler):
|
|
if self.currently_running_program != None:
|
|
Logging.info("Killing currently running programm.")
|
|
self.currently_running_program.kill()
|
|
else:
|
|
Logging.info("No program started by fl0w.")
|
|
|
|
|
|
def reboot(self, handler):
|
|
self.disconnect(handler)
|
|
os.system("reboot")
|
|
exit(0)
|
|
|
|
def shutdown(self, handler):
|
|
self.disconnect(handler)
|
|
os.system("shutdown -h 0")
|
|
|
|
def disconnect(self, handler):
|
|
self.stop(handler)
|
|
handler.sock.close()
|
|
|
|
|
|
|
|
class Subscribe(Route):
|
|
def start(self, handler):
|
|
handler.send({"name" : get_hostname(), "channel" : CHANNEL}, "subscribe")
|
|
|
|
|
|
class Hostname(Pipe):
|
|
def run(self, data, peer, handler):
|
|
if type(data) is dict:
|
|
if "set" in data:
|
|
set_hostname(str(data["set"]))
|
|
|
|
|
|
|
|
class Handler(Client):
|
|
def setup(self, routes, debug=False):
|
|
super().setup(routes, piping=True, debug=debug)
|
|
|
|
|
|
|
|
|
|
CONFIG_PATH = "wallaby.cfg"
|
|
|
|
config = Config.Config()
|
|
config.add(Config.Option("server_address", "ws://127.0.0.1:3077"))
|
|
config.add(Config.Option("debug", False, validator=lambda x: True if True or False else False))
|
|
config.add(Config.Option("output_unbuffer", "stdbuf"))
|
|
|
|
try:
|
|
config = config.read_from_file(CONFIG_PATH)
|
|
except FileNotFoundError:
|
|
config.write_to_file(CONFIG_PATH)
|
|
config = config.read_from_file(CONFIG_PATH)
|
|
|
|
|
|
try:
|
|
ws = Handler(config.server_address)
|
|
# setup has to be called before the connection is established
|
|
ws.setup({"subscribe" : Subscribe(), "hostname" : Hostname()},
|
|
debug=config.debug)
|
|
ws.connect()
|
|
ws.run_forever()
|
|
except KeyboardInterrupt:
|
|
ws.close() |