diff --git a/Connectivity/SampleServerPi.py b/Connectivity/SampleServerPi.py
index 9868fc29950c140b3d0695d631bebecb68e473a2..40bc7121ada6ad849e320fdb1f0c2f3df27dcdf0 100644
--- a/Connectivity/SampleServerPi.py
+++ b/Connectivity/SampleServerPi.py
@@ -1,106 +1,174 @@
+import queue
import socket
import threading
import time
-UDP_IP = "255.255.255.255"
-UDP_PORT = 5005
-LISTEN_PORT = 5006
-
-def broadcast_presence():
- sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
- sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
-
- while True:
- message = b"ROBOBIN_PRESENT"
- sock.sendto(message, (UDP_IP, UDP_PORT))
- print("Broadcasting: {}".format(message.decode()))
- time.sleep(5)
-
-def handle_ping(client_socket):
- print("Received PING from client.")
- response = b"PONG"
- print("Sending PONG to client.")
- client_socket.sendall(response)
-
-def handle_time_request(client_socket):
- current_time = time.ctime().encode()
- print(f"Sending current time: {current_time.decode()}")
- client_socket.sendall(current_time)
-
-def handle_custom_message(client_socket, message):
- response = f"Received custom message: {message}".encode()
- print(f"Custom handler response: {response.decode()}")
- client_socket.sendall(response)
-def handle_unknown_message(client_socket):
- response = b"I don't know this message."
- print("Sending response to unknown message.")
- client_socket.sendall(response)
-
-message_handlers = {
- "PING": handle_ping,
- "TIME": handle_time_request,
- "CUSTOM": handle_custom_message,
-}
-
-def handle_client_connection(client_socket):
- try:
- while True:
- request = client_socket.recv(1024)
- if not request:
- print("No request received, closing connection.")
- break
- message = request.decode()
- print("Received from client: {}".format(message))
-
-
- parts = message.split(" ", 1)
- message_type = parts[0]
- message_data = parts[1] if len(parts) > 1 else None
-
- if message_type in message_handlers:
- if message_type == "CUSTOM" and message_data:
- message_handlers[message_type](client_socket, message_data)
- else:
- message_handlers[message_type](client_socket)
- else:
- handle_unknown_message(client_socket)
-
- except ConnectionResetError:
- print("Client connection was forcibly closed.")
- except Exception as e:
- print(f"An error occurred while handling the client connection: {e}")
- finally:
- client_socket.close()
- print("Client disconnected.")
-
-def listen_for_connections():
- sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
- sock.bind(('', LISTEN_PORT))
-
- while True:
+class RoboBinConnectionHandler:
+ def __init__(self, udp_ip="255.255.255.255", udp_port=5005, listen_port=5006):
+ self.queue = queue.Queue(10)
+ self.UDP_IP = udp_ip
+ self.UDP_PORT = udp_port
+ self.LISTEN_PORT = listen_port
+ self.stop_event = threading.Event()
+ self.message_handlers = {
+ "PING": self.handle_ping,
+ "TIME": self.handle_time_request,
+ "CALLOVER" : self.handle_call_over,
+ "CUSTOM": self.handle_custom_message,
+
+ }
+ self.udp_sock = None
+ self.tcp_socket = None #
+
+ def broadcast_presence(self):
+ sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
+
+ while not self.stop_event.is_set():
+ message = b"ROBOBIN_PRESENT"
+ try:
+ sock.sendto(message, (self.UDP_IP, self.UDP_PORT))
+ print("Broadcasting: {}".format(message.decode()))
+ except OSError as e:
+ print(f"Broadcast error: {e}")
+ break
+ time.sleep(5)
+
+ sock.close()
+ print("Broadcasting stopped.")
+
+ def handle_ping(self, client_socket):
+ print("Received PING from client.")
+ response = b"PONG"
+ print("Sending PONG to client.")
+ client_socket.sendall(response)
+
+ def handle_time_request(self, client_socket):
+ current_time = time.ctime().encode()
+ print(f"Sending current time: {current_time.decode()}")
+ client_socket.sendall(current_time)
+
+ def handle_custom_message(self, client_socket, message):
+ response = f"Received custom message: {message}".encode()
+ print(f"Custom handler response: {response.decode()}")
+ client_socket.sendall(response)
+
+ def handle_call_over(self, client_socket, message):
+ response = f"User has requested node: {message}".encode()
+ print(f"Call over handler response: {response.decode()}")
+ client_socket.sendall(response)
+
+ def handle_unknown_message(self, client_socket):
+ response = b"I don't know this message."
+ print("Sending response to unknown message.")
+ client_socket.sendall(response)
+
+ def handle_client_connection(self, client_socket):
try:
- data, addr = sock.recvfrom(1024)
- if data.decode() == "CONNECT":
- print("Received connection request from {}".format(addr))
+ while not self.stop_event.is_set():
+ client_socket.settimeout(1)
+ try:
+ request = client_socket.recv(1024)
+ except socket.timeout:
+ continue
+ except OSError as e:
+ print(f"Client socket error: {e}")
+ break
+
+ if not request:
+ print("No request received, closing connection.")
+ break
+ message = request.decode()
+ print("Received from client: {}".format(message))
+
+ parts = message.split(" ", 1)
+ message_type = parts[0]
+ message_data = parts[1] if len(parts) > 1 else None
+
+ if message_type in self.message_handlers:
+ if message_data:
+ self.message_handlers[message_type](client_socket, message_data)
+ else:
+ self.message_handlers[message_type](client_socket)
+ else:
+ self.handle_unknown_message(client_socket)
- with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as tcp_socket:
- tcp_socket.bind(('', 5006))
- tcp_socket.listen(1)
+ except ConnectionResetError:
+ print("Client connection was forcibly closed.")
+ except Exception as e:
+ print(f"An error occurred while handling the client connection: {e}")
+ finally:
+ client_socket.close()
+ print("Client disconnected.")
+
+ def listen_for_connections(self):
+ self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+ self.udp_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ self.udp_sock.bind(('', self.LISTEN_PORT))
+
+ while not self.stop_event.is_set():
+ try:
+ self.udp_sock.settimeout(1) # Timeout for blocking recvfrom call
+ data, addr = self.udp_sock.recvfrom(1024)
+ if data.decode() == "CONNECT":
+ print("Received connection request from {}".format(addr))
+
+ self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self.tcp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ self.tcp_socket.bind(('', self.LISTEN_PORT))
+ self.tcp_socket.listen(1)
print("Listening for TCP connection...")
- client_socket, client_addr = tcp_socket.accept()
+ client_socket, client_addr = self.tcp_socket.accept()
print("Client connected from {}".format(client_addr))
- threading.Thread(target=handle_client_connection, args=(client_socket,)).start()
- except Exception as e:
- print(f"An error occurred while listening for connections: {e}")
-
-# Start broadcasting and listening threads
-broadcast_thread = threading.Thread(target=broadcast_presence)
-listen_thread = threading.Thread(target=listen_for_connections)
-
-broadcast_thread.start()
-listen_thread.start()
-
-broadcast_thread.join()
-listen_thread.join()
+ threading.Thread(target=self.handle_client_connection, args=(client_socket,)).start()
+ except socket.timeout:
+ continue
+ except OSError as e:
+ print(f"UDP socket no longer open (likely due to stop event):" )
+ break
+ except Exception as e:
+ print(f"An error occurred while listening for connections: {e}")
+
+ # Close sockets if stop event is set
+ if self.udp_sock:
+ self.udp_sock.close()
+ if self.tcp_socket:
+ self.tcp_socket.close()
+ print("Listening stopped.")
+
+ def start(self):
+ self.broadcast_thread = threading.Thread(target=self.broadcast_presence)
+ self.listen_thread = threading.Thread(target=self.listen_for_connections)
+
+ self.broadcast_thread.start()
+ self.listen_thread.start()
+
+ def stop(self):
+ print("Stopping server...")
+ self.stop_event.set()
+ # Safely close the sockets to prevent further operations on closed sockets
+ if self.udp_sock:
+ self.udp_sock.close()
+ if self.tcp_socket:
+ self.tcp_socket.close()
+ self.broadcast_thread.join()
+ self.listen_thread.join()
+ print("Server stopped.")
+
+# Instantiate and start the handler
+if __name__ == "__main__":
+ robobin_handler = RoboBinConnectionHandler()
+ robobin_handler.start()
+ print("Server started. Type 'stop' to shut down.")
+
+ # Main loop to accept CLI input
+ while True:
+ command = input("Enter command: ")
+ if command.strip().lower() == "stop":
+ robobin_handler.stop()
+ elif command.strip().lower() == "status":
+ print("Server is running.")
+ #printstatus() # Funciton will be added later
+ break