Server.py

"""
Gregory Ferguson
"""
import socket
import threading
import pyfirmata
import time
import struct

# raspberry pi's static ip
HOST = '192.168.4.1'

FORWARD = 'ABS_RZ'
BACKWARD = 'ABS_Z'

# setting up the board
board =             pyfirmata.ArduinoMega('/dev/ttyACM0')
l_motor_pin =       board.get_pin('d:11:p')
r_motor_pin =       board.get_pin('d:12:p')
motor_toggle_pin =  board.get_pin('d:24:o')

def Serial_Send(data, ser):

    #Once you have the data in bytes, send to embedded system.
    encoded_data = []

    for i in range(0, len(data)):
        length = len(data[i])
        data[i] = data[i].encode('utf-8')
        encoded_data.append(struct.pack(str(length) + 's', data[i]))

    print(encoded_data)

def Serial_Receive(ser):

    time.sleep(5)
    #print("NA")

    #t = threading.Thread(target = Client_Send, args = (clientsocket, data))

    #t.start()

    while True:
        x = ser.read()

        #x = x.decode("utf-8")

        print(x)

    ser.close()

#This should only be called inside Serial_Receive for now
#Later on, other functions may call it, but it should never always be running
def Client_Send(clientsocket, data):


    print("NA")

#Easier to understand than binary data, send strings between server and client.
#Then convert to list to be used later on, data can be any type.
def Client_Receive(clientsocket):
    global ser
    counter = 0
    while (true):

        # no forward or reverse command, stop
        motor_toggle_pin.write(0)
        l_motor_pin.write(.49804)
        r_motor_pin.write(.49804)

        counter += 1

        data = clientsocket.recv(2048)

        strings = data.decode('utf8')

        # Converting string to list
        res = strings.strip('][').split(', ')

        data = [res[0], res[1], res[2]]

        # ensure our packets didn't get messed up
        if(len(strings) > 30):
            continue

        l_value =  float(res[0].strip("'"))
        r_value =  float(res[1].strip("'"))

        if (res[2] == "'0'"):
            motor_toggle_pin.write(1)
            l_motor_pin.write(l_value)
            r_motor_pin.write(r_value)
            time.sleep(.05)
            print(f"forwards, L = {l_value} R = {r_value}")

        else:
            motor_toggle_pin.write(1)
            l_motor_pin.write(l_value)
            r_motor_pin.write(r_value)
            time.sleep(.05)
            print(f"backwards, L = {l_value} R = {r_value}")

        strings = ""

    #At this point, need to check first index (res[0]) to determine what the packet data is for
    #e.g. drive commands, arm commands, etc.



def main():


    #################################
    # Server and Client Setup
    ##################################

    # Using IPv4 with a TCP socket
    serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

    # bind the socket to a public host, and a well-known port
    serversocket.bind((HOST, 5000))
    # become a server socket
    serversocket.listen(5)

    clientsocket, address = serversocket.accept()


    t1 = threading.Thread(target = Client_Receive, args = (clientsocket,))

    t1.start()



    #Once server and client are connected, will try to connect to a serial device.
    #The rest of the system will still work if this fails
    #Will attempt to connect until successful

    ###################################
    # Embedded System Setup
    ###################################



#
#    global ser
#    ser = serial.Serial()
#    ser.baudrate = com_port_baudrate
#    ser.port = com_port
#    ser.open()
#    ser.flushInput()
#
#    print(ser)
#
#
#
#    if(ser.is_open != True):
#       # print("NA")
#        ser.open()
#
#    if(ser.is_open == True):
#
#        print("Port open")
#        #If succesful in connecting and opening the com port, start threads
#
#
#
#        t2 = threading.Thread(target = Serial_Receive, args = ( ser,))
#        t2.start()

    #Else, try to connect again.

#    data = ["XR", "220"]
#
#     #Send controller data to embedded system
#    t = threading.Thread(target = Serial_Send, args = (data, ser))
#    t.start()


if __name__=="__main__":
    main()