109 lines
4.0 KiB
Python
Executable File
109 lines
4.0 KiB
Python
Executable File
import asyncio
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from functools import partial
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from gpiod import exception
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from socket import gethostbyname
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from websockets import serve, exceptions
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from websockets.legacy.server import WebSocketServerProtocol
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from json import loads, dumps, JSONDecodeError
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from settings import settings
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from gpio_control import RobotControl
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from response_data import FormResponse
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async def robot_control_gpio(
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websocket: WebSocketServerProtocol,
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robot_control: RobotControl,
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commands_status: FormResponse
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) -> None:
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"""
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Асинхронная функция для управлением gpio робота (через websocket)
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"""
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try:
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while True:
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try:
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command = await asyncio.wait_for(websocket.recv(), timeout=30.0)
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data = loads(command)
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command_name = data.get('command')
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if command_name != settings.commands_robot.stop:
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robot_control.blinking_off()
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robot_control.connected()
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except asyncio.TimeoutError as err:
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print('Таймаут ожидания команды от клиента')
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continue # продолжение цикла, чтобы не закрывать соединение
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except JSONDecodeError:
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print('Ошибка при декодировании JSON!')
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continue
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match command_name:
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case settings.commands_robot.forward:
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robot_control.forward()
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case settings.commands_robot.backward:
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robot_control.backward()
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case settings.commands_robot.left:
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robot_control.left()
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case settings.commands_robot.right:
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robot_control.right()
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case settings.commands_robot.stop:
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robot_control.stop()
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robot_control.ready_to_connect()
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case _:
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data.update(commands_status.NOT_FOUND_COMMAND.response)
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await websocket.send(message=dumps(data))
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if settings.commands_robot.is_command(command=command_name):
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data.update(commands_status.OK_COMMAND.response)
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await websocket.send(message=dumps(data))
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except (exceptions.ConnectionClosed, exception.RequestReleasedError):
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pass
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except (exceptions.ConnectionClosedOK, exceptions.InvalidMessage, exceptions.InvalidState, OSError) as err:
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message_err = f'{err.__class__.__name__}: {err}'
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print(message_err)
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data.update(
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commands_status.SERVER_ERR.get_response_err(
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name_err=err.__class__.__name__,
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message_err=err
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)
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)
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await websocket.send(message=dumps(data))
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async def start() -> None:
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"""Асинхронная функция запуска вебсокета и бесконечного цикла"""
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print('Старт сервиса робота для приёма команд.')
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try:
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robot_control: RobotControl = RobotControl()
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commands_status: FormResponse = FormResponse
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async with serve(
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handler=partial(robot_control_gpio, robot_control=robot_control, commands_status=commands_status),
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host=gethostbyname(settings.websocket_host),
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port=settings.websocket_port
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):
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# бесконечный цикл
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await asyncio.Future()
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except asyncio.CancelledError:
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if robot_control is not None:
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robot_control.blinking_off()
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robot_control.close()
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# пробрасываем CancelledError, чтобы asyncio.run() всё корректно закрыл
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raise
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def run_app() -> None:
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"""Функция старата приложения"""
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try:
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asyncio.run(start())
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except KeyboardInterrupt:
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print('Выключение сервиса робота для приёма команд.')
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if __name__ == '__main__':
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run_app()
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