forked from logzhan/RobotKernal-UESTC
111 lines
5.2 KiB
Python
111 lines
5.2 KiB
Python
import socket
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import threading
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import subprocess
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import netifaces
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# LAUNCH_FILES = {
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# '0x00': ['roslaunch', 'pibot_navigation', 'nav.launch'],
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# '0x01': ['roslaunch', 'upbot_location', 'upbot_location.launch'],
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# 'launch_file_1': ['roslaunch', 'package_name', 'launch_file_1.launch'],
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# 'launch_file_2': ['roslaunch', 'package_name', 'launch_file_2.launch']
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# }
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client_processes = {}
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process_id_counter = 0
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def get_local_ip():
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interfaces = netifaces.interfaces()
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for interface in interfaces:
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addresses = netifaces.ifaddresses(interface)
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if netifaces.AF_INET in addresses:
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for address_info in addresses[netifaces.AF_INET]:
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ip_address = address_info['addr']
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if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
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return ip_address
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def create_server_socket(host, port):
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try:
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socket_server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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socket_server.bind((host, port))
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socket_server.listen(5)
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print(f"服务端已启动，地址{host}，端口{port}")
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print("正在等待客户端连接...")
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client_num = 0
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while True:
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client_num += 1
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conn, address = socket_server.accept()
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print(f"服务端已接受到客户端 {client_num} 号的连接请求，客户端信息：{address}")
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client_handler = threading.Thread(target=handle_client, args=(conn, address, client_num))
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client_handler.start()
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except Exception as e:
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print(f"错误：{e}")
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finally:
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socket_server.close()
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def handle_client(conn, address, client_num):
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global process_id_counter
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try:
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while True:
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data_from_client = conn.recv(1024).decode("UTF-8")
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if not data_from_client:
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break
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print(f"客户端 {client_num} 号({address}) 发来的消息是：{data_from_client}")
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data = data_from_client.strip()
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if data == '1':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '2':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"手持标签划定范围已启动，进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '3':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8"))
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elif data == '4':
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process_id_counter += 1
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process_id = process_id_counter
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
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client_processes.setdefault(client_num, []).append((process_id, process))
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conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8"))
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elif data.startswith('stop'):
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stop_data = data.split()
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if len(stop_data) == 2:
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process_id_to_stop = int(stop_data[1])
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if client_num in client_processes:
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for process_tuple in client_processes[client_num]:
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if process_tuple[0] == process_id_to_stop:
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process_tuple[1].terminate()
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client_processes[client_num].remove(process_tuple)
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conn.send(f"已停止客户端 {client_num} 号的进程 {process_id_to_stop}".encode("UTF-8"))
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break
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else:
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conn.send(f"客户端 {client_num} 号没有标识符为 {process_id_to_stop} 的进程".encode("UTF-8"))
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else:
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conn.send("没有启动的进程需要停止".encode("UTF-8"))
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else:
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conn.send("无效的停止命令格式".encode("UTF-8"))
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else:
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response = f"已收到消息: {data}"
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conn.send(response.encode("UTF-8"))
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except Exception as e:
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print(f"客户端 {client_num} 号({address}) 处理时发生错误：{e}")
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finally:
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conn.close()
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print(f"客户端 {client_num} 号({address}) 已断开连接。")
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if __name__ == '__main__':
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local_ip = get_local_ip()
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print("本机在局域网内的IP地址:", local_ip)
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server_port = int(input("请输入服务端端口号: "))
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create_server_socket(local_ip, server_port)
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