feat: added classes for work motors, added class FormResponse, added logic for motor control in service; docs: updated .env.example for commands motors

robot_pi_service/robot_pi_service.py

@@ -1,79 +1,84 @@
 import asyncio
+from socket import gethostbyname
 from websockets import serve, exceptions
 from websockets.legacy.server import WebSocketServerProtocol
-from json import loads, JSONDecodeError
+from json import loads, dumps, JSONDecodeError
 
 from settings import settings
-from gpio_control import LedLineGpio
+from gpio_control import RobotControl
+from response_data import FormResponse
 
 
-async def robot_control_gpio(websocket: WebSocketServerProtocol):
+async def robot_control_gpio(websocket: WebSocketServerProtocol) -> None:
     """
     Асинхронная функция для управлением gpio робота (через websocket)
     """
 
     try:
-        led_line_gpio = LedLineGpio(line=6)
-        action = None
+        robot_control = RobotControl()
+        commands_status = FormResponse
 
         while True:
             try:
                 command = await asyncio.wait_for(websocket.recv(), timeout=30.0)
                 data = loads(command)
+                command_name = data.get('command')
             except asyncio.TimeoutError as err:
                 print('Таймаут ожидания команды от клиента')
                 continue  # продолжение цикла, чтобы не закрывать соединение
             except JSONDecodeError:
-                print("Ошибка при декодировании JSON")
+                print('Ошибка при декодировании JSON!')
                 continue
-            
-            match next(iter(data), None):
+
+            match command_name:
                 case settings.commands_robot.forward:
-                    if data.get(settings.commands_robot.forward):
-                        action = 'Робот едет вперёд'
-                        led_line_gpio.on()
-                    else:
-                        action = 'Команда вперёд стоп'
-                        led_line_gpio.off()
-                    print(action)
-                    await websocket.send(message=action)
+                    robot_control.forward()
                 case settings.commands_robot.backward:
-                    action = 'Робот едет назад'
-                    print(action)
-                    await websocket.send(message=action)
+                    robot_control.backward()
                 case settings.commands_robot.left:
-                    action = 'Робот едет налево'
-                    print(action)
-                    await websocket.send(message=action)
+                    robot_control.left()
                 case settings.commands_robot.right:
-                    action = 'Робот едет направо'
-                    print(action)
-                    await websocket.send(message=action)
+                    robot_control.right()
+                case settings.commands_robot.stop:
+                    robot_control.stop()
+                case _:
+                    data.update(commands_status.NOT_FOUND_COMMAND.response)
+                    await websocket.send(message=dumps(data))
+
+            if settings.commands_robot.is_command(command=command_name):
+                data.update(commands_status.OK_COMMAND.response)
+                await websocket.send(message=dumps(data))
     except exceptions.ConnectionClosed:
         pass
     except (exceptions.ConnectionClosedOK, exceptions.InvalidMessage, exceptions.InvalidState) as err:
         message_err = f'{err.__class__.__name__}: {err}'
         print(message_err)
-        await websocket.send(message=message_err)
-    except Exception as err:
-        message_err = f'{err.__class__.__name__}: {err}'
-        print(message_err)
-        await websocket.send(message=message_err)
+        data.update(
+            commands_status.SERVER_ERR.get_response_err(
+                name_err=err.__class__.__name__, 
+                message_err=err
+            )
+        )
+        await websocket.send(message=dumps(data))
     finally:
-        led_line_gpio.close()
+        robot_control.close()
 
 
-async def start():
+async def start() -> None:
     """Асинхронная функция запуска вебсокета и бесконечного цикла"""
 
     print('Старт сервиса робота для приёма команд.')
 
-    async with serve(handler=robot_control_gpio, host=settings.websocket_host, port=settings.websocket_port):
+    async with serve(
+        handler=robot_control_gpio, 
+        host=gethostbyname(settings.websocket_host), 
+        port=settings.websocket_port
+    ):
         # бесконечный цикл
         await asyncio.Future()
 
 
-def run_app():
+def run_app() -> None:
     """Функция старата приложения"""
 
     try: