forked from logzhan/RobotKernal-UESTC
103 lines
4.6 KiB
Python
103 lines
4.6 KiB
Python
import socket
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import threading
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import time
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import subprocess
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import netifaces
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# 初始化全局变量
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client_processes = {}
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process_id_counter = 0
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lock = threading.Lock()
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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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socket_server = socket.socket() # 创建socket对象
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socket_server.bind((host, port)) # 绑定主机和端口
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socket_server.listen(5) # 监听传入的连接
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print(f"服务端已启动，地址{host}，端口{port}")
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print(f"正在等待客户端连接...")
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num = 0
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try:
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while True:
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num += 1
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conn, address = socket_server.accept() # 接受连接
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print(f"服务端已接受到客户端 {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, num))
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client_handler.start()
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except KeyboardInterrupt:
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print("服务器正在关闭...")
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socket_server.close()
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for thread in threading.enumerate():
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if thread != threading.current_thread():
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thread.join()
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except Exception as e:
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print(f"服务器发生错误：{e}")
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socket_server.close()
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def handle_client(conn, address, num):
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global process_id_counter
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with conn:
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while True:
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time.sleep(0.01)
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try:
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data_from_client_bytes = conn.recv(1024)
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if len(data_from_client_bytes) == 0:
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print(f"客户端 {num}号 已断开连接")
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break
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data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
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print(f"客户端 {num}号:{address} 发来的消息是：{data_from_client_hex}")
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if len(data_from_client_bytes) > 4:
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data = data_from_client_bytes[4]
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with lock:
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process_id_counter += 1
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process_id = process_id_counter
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log_file = open(f"process_{process_id}.log", "w")
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if data == 0x0:
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process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'], stdout=log_file, stderr=log_file)
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# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'],stdout=log_file, stderr=log_file)
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print("启动定位导航")
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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 == 0x5:
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process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'], stdout=log_file, stderr=log_file)
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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 == 0x2:
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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'], stdout=log_file, stderr=log_file)
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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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process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'], stdout=log_file, stderr=log_file)
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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 == 0x7:
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conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8"))
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elif data == 0x10:
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conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8"))
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client_processes.setdefault(num, []).append((process_id, process))
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except ConnectionResetError:
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print(f"客户端 {num}号:{address} 连接重置")
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break
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except Exception as e:
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print(f"客户端 {num}号:{address} 发生异常：{e}")
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break
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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_host = local_ip
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server_port = 19890
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create_server_socket(server_host, server_port)
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