cleaner exit in case of errors
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019c4590aa
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@ -12,30 +12,38 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
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data = self.request.recv(1024).strip()
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cur_thread = threading.current_thread()
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print(f"current thread {cur_thread}")
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print(f"start current thread {cur_thread}")
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if 'events' in data.decode():
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print(f"{cur_thread} subscribed to events")
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self.request.sendall('subscribed to events\n'.encode())
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# send any events in the event queue to the subscriber
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while True:
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while not self.server.estimator.event_queue.empty():
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event = self.server.estimator.event_queue.get()
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# we distinguish two kinds of events:
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if event[0] == 'response_event':
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# 1. for 'response_event' events we expect the event subscriber to give a reply which will then
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# by passed on to the response queue for transmitting to the original correspondent
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message = event[1]['event']
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#print(f"passing command {message} on to subscriber")
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self.request.sendall((json.dumps(message) + '\n').encode())
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reply = self.request.recv(1024)
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#print(f"putting reply {reply} in response queue")
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self.server.response_queue.put(reply)
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else:
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# 2. for other types of events we don't expect a reply and just pass them on to the subscriber
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self.request.sendall((json.dumps(event) + '\n').encode())
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self.server.estimator.last_event = None
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time.sleep(1.0 / self.server.max_measurements_per_second)
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event_loop_running = True
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while event_loop_running:
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try:
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while not self.server.estimator.event_queue.empty():
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event = self.server.estimator.event_queue.get()
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# we distinguish two kinds of events:
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if event[0] == 'response_event':
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# 1. for 'response_event' events we expect the event subscriber to give a reply which will then
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# by passed on to the response queue for transmitting to the original correspondent
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message = event[1]['event']
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#print(f"passing command {message} on to subscriber")
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self.request.sendall((json.dumps(message) + '\n').encode())
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reply = self.request.recv(1024)
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#print(f"putting reply {reply} in response queue")
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self.server.response_queue.put(reply)
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else:
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# 2. for other types of events we don't expect a reply and just pass them on to the subscriber
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self.request.sendall((json.dumps(event) + '\n').encode())
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self.server.estimator.last_event = None
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time.sleep(1.0 / self.server.max_measurements_per_second)
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except Exception as e:
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print(f"exception in event loop: {e}")
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event_loop_running = False
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print("after event loop")
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elif 'corners' in data.decode():
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print(f"{cur_thread} subscribed to corners")
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# send positions of the board markers
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corner_estimates = self.server.estimator.corner_estimates
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response = {}
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@ -43,19 +51,23 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
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response[corner] = {'x': data['x'], 'y': data['y']}
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self.request.sendall((json.dumps(response) + '\n').encode())
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elif 'move_grid_blocking' in data.decode():
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print(f"{cur_thread} subscribed move_grid_blocking")
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# if we receive a move_grid event
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# ( e.g. move_grid;{"x":1,"y":1,"dimx":10,"dimy":10,"orientation":"^","require_response":True} )
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# ( e.g. move_grid_blocking;{"x":1,"y":1,"dimx":10,"dimy":10,"orientation":"^"} )
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#move_grid_blocking;{"x": 1, "y": 2, "dimx": 7, "dimy": 4, "orientation": ">"}
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# we compute the corresponding real-world position the robot should drive to
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# and then create a new move event which is put in the event queue and will be propagated to the ControlCommander
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data_decode = data.decode()
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# print("data: ", data_decode)
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payload = data.decode().split(';')[1]
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#print("data: ", data_decode)
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payload = data_decode.split(';')[1]
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#print("payload: ", payload)
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grid_pos = json.loads(payload)
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# print("grid_pos = ", grid_pos)
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#print("grid_pos = ", grid_pos)
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pos = self.server.estimator.get_pos_from_grid_point(grid_pos['x'], grid_pos['y'], grid_pos['dimx'],
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grid_pos['dimy'], grid_pos['orientation'])
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# print("pos = ", pos)
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# print("event requiring response")
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#print("pos = ", pos)
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#print("event requiring response")
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# put blocking move command in event queue
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self.server.estimator.event_queue.put(('response_event',
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{'event': ('move_blocking', {'x': pos[0], 'y': pos[1], 'angle': pos[2]})}))
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@ -64,13 +76,15 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
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# TODO this assumes that we wait only for at most one response at a time
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# we could add some kind of reference here to handle multiple responses (e.g. id of the response to wait for)
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while self.server.response_queue.empty():
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time.sleep(0.1)
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pass
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reply = self.server.response_queue.get()
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# send back response to the original source
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#print(f"sending reply {reply} back to correspondent {self.request}")
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print(f"sending reply {reply} back to correspondent {self.request}")
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self.request.sendall(reply)
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else:
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print(f"{cur_thread} subscribed to robot position")
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# send robot position
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try:
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marker_id = int(data)
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@ -79,15 +93,22 @@ class MeasurementHandler(socketserver.BaseRequestHandler):
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if marker_id is not None:
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if marker_id in self.server.estimator.robot_marker_estimates:
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while True:
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self.request.sendall((json.dumps(self.server.estimator.robot_marker_estimates[marker_id])
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marker_loop_running = True
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while marker_loop_running:
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try:
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self.request.sendall((json.dumps(self.server.estimator.robot_marker_estimates[marker_id])
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+ '\n').encode())
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time.sleep(1.0 / self.server.max_measurements_per_second)
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time.sleep(1.0 / self.server.max_measurements_per_second)
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except Exception as e:
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print(f"exception in marker loop: {e}")
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marker_loop_running = False
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else:
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self.request.sendall("error: unknown robot marker id\n".encode())
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else:
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self.request.sendall("error: data not understood. "
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"expected <robot marker id (int)> or 'events'\n".encode())
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print(f"end current thread {cur_thread}")
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return
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@ -105,7 +126,7 @@ class MeasurementServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
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if __name__ == "__main__":
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aruco_estimator = ArucoEstimator(use_realsense=False, robot_marker_ids=[12, 13])
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aruco_estimator = ArucoEstimator(use_realsense=True, robot_marker_ids=[12, 13])
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# first we start thread for the measurement server
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measurement_server = MeasurementServer(('0.0.0.0', 42424), MeasurementHandler, aruco_estimator,
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