forked from logzhan/RobotKernal-UESTC
101 lines
4.4 KiB
Python
101 lines
4.4 KiB
Python
import socket
|
|
import threading
|
|
import time
|
|
import subprocess
|
|
import netifaces
|
|
|
|
# 初始化全局变量
|
|
client_processes = {}
|
|
process_id_counter = 0
|
|
lock = threading.Lock()
|
|
|
|
def get_local_ip():
|
|
interfaces = netifaces.interfaces()
|
|
for interface in interfaces:
|
|
addresses = netifaces.ifaddresses(interface)
|
|
if netifaces.AF_INET in addresses:
|
|
for address_info in addresses[netifaces.AF_INET]:
|
|
ip_address = address_info['addr']
|
|
if ip_address.startswith('192.168.') or ip_address.startswith('10.'):
|
|
return ip_address
|
|
|
|
def create_server_socket(host, port):
|
|
socket_server = socket.socket() # 创建socket对象
|
|
socket_server.bind((host, port)) # 绑定主机和端口
|
|
socket_server.listen(5) # 监听传入的连接
|
|
print(f"服务端已启动，地址{host}，端口{port}")
|
|
print(f"正在等待客户端连接...")
|
|
num = 0
|
|
try:
|
|
while True:
|
|
num += 1
|
|
conn, address = socket_server.accept() # 接受连接
|
|
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}")
|
|
client_handler = threading.Thread(target=handle_client, args=(conn, address, num))
|
|
client_handler.start()
|
|
except KeyboardInterrupt:
|
|
print("服务器正在关闭...")
|
|
socket_server.close()
|
|
for thread in threading.enumerate():
|
|
if thread != threading.current_thread():
|
|
thread.join()
|
|
except Exception as e:
|
|
print(f"服务器发生错误：{e}")
|
|
socket_server.close()
|
|
|
|
def handle_client(conn, address, num):
|
|
global process_id_counter
|
|
with conn:
|
|
while True:
|
|
time.sleep(0.01)
|
|
try:
|
|
data_from_client_bytes = conn.recv(1024)
|
|
if len(data_from_client_bytes) == 0:
|
|
print(f"客户端 {num}号 已断开连接")
|
|
break
|
|
|
|
data_from_client_hex = ' '.join([hex(x) for x in data_from_client_bytes])
|
|
print(f"客户端 {num}号:{address} 发来的消息是：{data_from_client_hex}")
|
|
|
|
if len(data_from_client_bytes) > 4:
|
|
data = data_from_client_bytes[4]
|
|
|
|
with lock:
|
|
process_id_counter += 1
|
|
process_id = process_id_counter
|
|
|
|
if data == 0x0:
|
|
# process = subprocess.Popen(['roslaunch', 'pibot_navigation', 'nav.launch'])
|
|
process = subprocess.Popen(['roslaunch', 'upbot_vision', 'upbot_vision.launch'])
|
|
|
|
print("启动定位导航")
|
|
conn.send(f"定位导航已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
|
elif data == 0x5:
|
|
process = subprocess.Popen(['roslaunch', 'upbot_mapping', 'upbot_mapping.launch'])
|
|
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"))
|
|
elif data == 0x2:
|
|
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_action_server.launch'])
|
|
conn.send(f"全覆盖服务端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
|
process = subprocess.Popen(['roslaunch', 'ipa_room_exploration', 'room_exploration_client.launch', 'robot_env:=4_'])
|
|
conn.send(f"全覆盖客户端已启动，进程标识符为 {process_id}".encode("UTF-8"))
|
|
elif data == 0x7:
|
|
conn.send(f"返回充电已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
|
elif data == 0x10:
|
|
conn.send(f"基站初始化已启动,进程标识符为 {process_id}".encode("UTF-8"))
|
|
|
|
client_processes.setdefault(num, []).append((process_id, process))
|
|
except ConnectionResetError:
|
|
print(f"客户端 {num}号:{address} 连接重置")
|
|
break
|
|
except Exception as e:
|
|
print(f"客户端 {num}号:{address} 发生异常：{e}")
|
|
break
|
|
|
|
if __name__ == '__main__':
|
|
local_ip = get_local_ip()
|
|
print("本机在局域网内的IP地址:", local_ip)
|
|
server_host = local_ip
|
|
server_port = 19890
|
|
|
|
create_server_socket(server_host, server_port)
|