RoboRally/remote_control/event_listener.py

53 lines
2.0 KiB
Python

import socket
import threading
import queue
import json
class EventListener:
def __init__(self, event_server):
self.event_thread = threading.Thread(target=self.receive_events)
self.event_thread.daemon = True # mark thread as daemon -> it terminates automatically when program shuts down
self.event_queue = queue.Queue()
self.receiving = False
# connect to event server
print(f"connecting to event server on {event_server} ...")
self.event_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # TCP socket
try:
self.event_socket.connect(event_server)
self.event_socket.sendall(f"events\n".encode())
self.event_socket.settimeout(0.1)
# check if we receive data from the event server
response = self.event_socket.recv(1024)
if 'error' not in str(response):
print("... connected! -> start listening for events")
self.event_socket.settimeout(None)
# if so we start the event thread
self.event_thread.start()
else:
print(f"error: cannot communicate with the event server.\n The response was: {response}")
except socket.timeout:
print(f"error: the event server did not respond.")
except ConnectionRefusedError:
print(f"error: could not connect to event server at {event_server}.")
def send_reply(self, data):
self.event_socket.sendall(data)
def receive_events(self):
self.receiving = True
while self.receiving:
received = str(self.event_socket.recv(1024), "utf-8")
if len(received) > 0:
events = received.split('\n')
for event_json in events:
if len(event_json) > 0:
event = json.loads(event_json)
self.event_queue.put(event)
else:
self.receiving = False
print("event server seems to have shut down -> stop listening")