EL4121 Embedded System / mbed-os

Dependents:   cobaLCDJoyMotor_Thread odometry_omni_3roda_v3 odometry_omni_3roda_v1 odometry_omni_3roda_v2 ... more

Committer:
be_bryan
Date:
Mon Dec 11 17:54:04 2017 +0000
Revision:
0:b74591d5ab33
motor ++

Who changed what in which revision?

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be_bryan 0:b74591d5ab33 1 # Copyright 2015 ARM Limited, All rights reserved
be_bryan 0:b74591d5ab33 2 #
be_bryan 0:b74591d5ab33 3 # Licensed under the Apache License, Version 2.0 (the "License");
be_bryan 0:b74591d5ab33 4 # you may not use this file except in compliance with the License.
be_bryan 0:b74591d5ab33 5 # You may obtain a copy of the License at
be_bryan 0:b74591d5ab33 6 #
be_bryan 0:b74591d5ab33 7 # http://www.apache.org/licenses/LICENSE-2.0
be_bryan 0:b74591d5ab33 8 #
be_bryan 0:b74591d5ab33 9 # Unless required by applicable law or agreed to in writing, software
be_bryan 0:b74591d5ab33 10 # distributed under the License is distributed on an "AS IS" BASIS,
be_bryan 0:b74591d5ab33 11 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
be_bryan 0:b74591d5ab33 12 # See the License for the specific language governing permissions and
be_bryan 0:b74591d5ab33 13 # limitations under the License.
be_bryan 0:b74591d5ab33 14
be_bryan 0:b74591d5ab33 15 import sys
be_bryan 0:b74591d5ab33 16 import select
be_bryan 0:b74591d5ab33 17 import socket
be_bryan 0:b74591d5ab33 18 import logging
be_bryan 0:b74591d5ab33 19 from threading import Thread
be_bryan 0:b74591d5ab33 20 from sys import stdout
be_bryan 0:b74591d5ab33 21 from SocketServer import BaseRequestHandler, TCPServer
be_bryan 0:b74591d5ab33 22 from mbed_host_tests import BaseHostTest, event_callback
be_bryan 0:b74591d5ab33 23
be_bryan 0:b74591d5ab33 24
be_bryan 0:b74591d5ab33 25 class TCPEchoClientHandler(BaseRequestHandler):
be_bryan 0:b74591d5ab33 26 def handle(self):
be_bryan 0:b74591d5ab33 27 """
be_bryan 0:b74591d5ab33 28 Handles a connection. Test starts by client(i.e. mbed) connecting to server.
be_bryan 0:b74591d5ab33 29 This connection handler receives data and echoes back to the client util
be_bryan 0:b74591d5ab33 30 {{end}} is received. Then it sits on recv() for client to terminate the
be_bryan 0:b74591d5ab33 31 connection.
be_bryan 0:b74591d5ab33 32
be_bryan 0:b74591d5ab33 33 Note: reason for not echoing data back after receiving {{end}} is that send
be_bryan 0:b74591d5ab33 34 fails raising a SocketError as client closes connection.
be_bryan 0:b74591d5ab33 35 """
be_bryan 0:b74591d5ab33 36 while self.server.isrunning():
be_bryan 0:b74591d5ab33 37 try:
be_bryan 0:b74591d5ab33 38 data = self.recv()
be_bryan 0:b74591d5ab33 39 if not data: break
be_bryan 0:b74591d5ab33 40 except Exception as e:
be_bryan 0:b74591d5ab33 41 break
be_bryan 0:b74591d5ab33 42
be_bryan 0:b74591d5ab33 43 try:
be_bryan 0:b74591d5ab33 44 # echo data back to the client
be_bryan 0:b74591d5ab33 45 self.send(data)
be_bryan 0:b74591d5ab33 46 except Exception as e:
be_bryan 0:b74591d5ab33 47 break
be_bryan 0:b74591d5ab33 48
be_bryan 0:b74591d5ab33 49 def recv(self):
be_bryan 0:b74591d5ab33 50 """
be_bryan 0:b74591d5ab33 51 Try to receive until server is shutdown
be_bryan 0:b74591d5ab33 52 """
be_bryan 0:b74591d5ab33 53 while self.server.isrunning():
be_bryan 0:b74591d5ab33 54 rl, wl, xl = select.select([self.request], [], [], 1)
be_bryan 0:b74591d5ab33 55 if len(rl):
be_bryan 0:b74591d5ab33 56 return self.request.recv(1024)
be_bryan 0:b74591d5ab33 57
be_bryan 0:b74591d5ab33 58 def send(self, data):
be_bryan 0:b74591d5ab33 59 """
be_bryan 0:b74591d5ab33 60 Try to send until server is shutdown
be_bryan 0:b74591d5ab33 61 """
be_bryan 0:b74591d5ab33 62 while self.server.isrunning():
be_bryan 0:b74591d5ab33 63 rl, wl, xl = select.select([], [self.request], [], 1)
be_bryan 0:b74591d5ab33 64 if len(wl):
be_bryan 0:b74591d5ab33 65 self.request.sendall(data)
be_bryan 0:b74591d5ab33 66 break
be_bryan 0:b74591d5ab33 67
be_bryan 0:b74591d5ab33 68
be_bryan 0:b74591d5ab33 69 class TCPServerWrapper(TCPServer):
be_bryan 0:b74591d5ab33 70 """
be_bryan 0:b74591d5ab33 71 Wrapper over TCP server to implement server initiated shutdown.
be_bryan 0:b74591d5ab33 72 Adds a flag:= running that a request handler can check and come out of
be_bryan 0:b74591d5ab33 73 recv loop when shutdown is called.
be_bryan 0:b74591d5ab33 74 """
be_bryan 0:b74591d5ab33 75
be_bryan 0:b74591d5ab33 76 def __init__(self, addr, request_handler):
be_bryan 0:b74591d5ab33 77 # hmm, TCPServer is not sub-classed from object!
be_bryan 0:b74591d5ab33 78 if issubclass(TCPServer, object):
be_bryan 0:b74591d5ab33 79 super(TCPServerWrapper, self).__init__(addr, request_handler)
be_bryan 0:b74591d5ab33 80 else:
be_bryan 0:b74591d5ab33 81 TCPServer.__init__(self, addr, request_handler)
be_bryan 0:b74591d5ab33 82 self.running = False
be_bryan 0:b74591d5ab33 83
be_bryan 0:b74591d5ab33 84 def serve_forever(self):
be_bryan 0:b74591d5ab33 85 self.running = True
be_bryan 0:b74591d5ab33 86 if issubclass(TCPServer, object):
be_bryan 0:b74591d5ab33 87 super(TCPServerWrapper, self).serve_forever()
be_bryan 0:b74591d5ab33 88 else:
be_bryan 0:b74591d5ab33 89 TCPServer.serve_forever(self)
be_bryan 0:b74591d5ab33 90
be_bryan 0:b74591d5ab33 91 def shutdown(self):
be_bryan 0:b74591d5ab33 92 self.running = False
be_bryan 0:b74591d5ab33 93 if issubclass(TCPServer, object):
be_bryan 0:b74591d5ab33 94 super(TCPServerWrapper, self).shutdown()
be_bryan 0:b74591d5ab33 95 else:
be_bryan 0:b74591d5ab33 96 TCPServer.shutdown(self)
be_bryan 0:b74591d5ab33 97
be_bryan 0:b74591d5ab33 98 def isrunning(self):
be_bryan 0:b74591d5ab33 99 return self.running
be_bryan 0:b74591d5ab33 100
be_bryan 0:b74591d5ab33 101
be_bryan 0:b74591d5ab33 102 class TCPEchoClientTest(BaseHostTest):
be_bryan 0:b74591d5ab33 103
be_bryan 0:b74591d5ab33 104 def __init__(self):
be_bryan 0:b74591d5ab33 105 """
be_bryan 0:b74591d5ab33 106 Initialise test parameters.
be_bryan 0:b74591d5ab33 107
be_bryan 0:b74591d5ab33 108 :return:
be_bryan 0:b74591d5ab33 109 """
be_bryan 0:b74591d5ab33 110 BaseHostTest.__init__(self)
be_bryan 0:b74591d5ab33 111 self.SERVER_IP = None # Will be determined after knowing the target IP
be_bryan 0:b74591d5ab33 112 self.SERVER_PORT = 0 # Let TCPServer choose an arbitrary port
be_bryan 0:b74591d5ab33 113 self.server = None
be_bryan 0:b74591d5ab33 114 self.server_thread = None
be_bryan 0:b74591d5ab33 115 self.target_ip = None
be_bryan 0:b74591d5ab33 116
be_bryan 0:b74591d5ab33 117 @staticmethod
be_bryan 0:b74591d5ab33 118 def find_interface_to_target_addr(target_ip):
be_bryan 0:b74591d5ab33 119 """
be_bryan 0:b74591d5ab33 120 Finds IP address of the interface through which it is connected to the target.
be_bryan 0:b74591d5ab33 121
be_bryan 0:b74591d5ab33 122 :return:
be_bryan 0:b74591d5ab33 123 """
be_bryan 0:b74591d5ab33 124 s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
be_bryan 0:b74591d5ab33 125 try:
be_bryan 0:b74591d5ab33 126 s.connect((target_ip, 0)) # Target IP, any port
be_bryan 0:b74591d5ab33 127 except socket.error:
be_bryan 0:b74591d5ab33 128 s.connect((target_ip, 8000)) # Target IP, 'random' port
be_bryan 0:b74591d5ab33 129 ip = s.getsockname()[0]
be_bryan 0:b74591d5ab33 130 s.close()
be_bryan 0:b74591d5ab33 131 return ip
be_bryan 0:b74591d5ab33 132
be_bryan 0:b74591d5ab33 133 def setup_tcp_server(self):
be_bryan 0:b74591d5ab33 134 """
be_bryan 0:b74591d5ab33 135 sets up a TCP server for target to connect and send test data.
be_bryan 0:b74591d5ab33 136
be_bryan 0:b74591d5ab33 137 :return:
be_bryan 0:b74591d5ab33 138 """
be_bryan 0:b74591d5ab33 139 # !NOTE: There should mechanism to assert in the host test
be_bryan 0:b74591d5ab33 140 if self.SERVER_IP is None:
be_bryan 0:b74591d5ab33 141 self.log("setup_tcp_server() called before determining server IP!")
be_bryan 0:b74591d5ab33 142 self.notify_complete(False)
be_bryan 0:b74591d5ab33 143
be_bryan 0:b74591d5ab33 144 # Returning none will suppress host test from printing success code
be_bryan 0:b74591d5ab33 145 self.server = TCPServerWrapper((self.SERVER_IP, self.SERVER_PORT), TCPEchoClientHandler)
be_bryan 0:b74591d5ab33 146 ip, port = self.server.server_address
be_bryan 0:b74591d5ab33 147 self.SERVER_PORT = port
be_bryan 0:b74591d5ab33 148 self.server.allow_reuse_address = True
be_bryan 0:b74591d5ab33 149 self.log("HOST: Listening for TCP connections: " + self.SERVER_IP + ":" + str(self.SERVER_PORT))
be_bryan 0:b74591d5ab33 150 self.server_thread = Thread(target=TCPEchoClientTest.server_thread_func, args=(self,))
be_bryan 0:b74591d5ab33 151 self.server_thread.start()
be_bryan 0:b74591d5ab33 152
be_bryan 0:b74591d5ab33 153 @staticmethod
be_bryan 0:b74591d5ab33 154 def server_thread_func(this):
be_bryan 0:b74591d5ab33 155 """
be_bryan 0:b74591d5ab33 156 Thread function to run TCP server forever.
be_bryan 0:b74591d5ab33 157
be_bryan 0:b74591d5ab33 158 :param this:
be_bryan 0:b74591d5ab33 159 :return:
be_bryan 0:b74591d5ab33 160 """
be_bryan 0:b74591d5ab33 161 this.server.serve_forever()
be_bryan 0:b74591d5ab33 162
be_bryan 0:b74591d5ab33 163 @event_callback("target_ip")
be_bryan 0:b74591d5ab33 164 def _callback_target_ip(self, key, value, timestamp):
be_bryan 0:b74591d5ab33 165 """
be_bryan 0:b74591d5ab33 166 Callback to handle reception of target's IP address.
be_bryan 0:b74591d5ab33 167
be_bryan 0:b74591d5ab33 168 :param key:
be_bryan 0:b74591d5ab33 169 :param value:
be_bryan 0:b74591d5ab33 170 :param timestamp:
be_bryan 0:b74591d5ab33 171 :return:
be_bryan 0:b74591d5ab33 172 """
be_bryan 0:b74591d5ab33 173 self.target_ip = value
be_bryan 0:b74591d5ab33 174 self.SERVER_IP = self.find_interface_to_target_addr(self.target_ip)
be_bryan 0:b74591d5ab33 175 self.setup_tcp_server()
be_bryan 0:b74591d5ab33 176
be_bryan 0:b74591d5ab33 177 @event_callback("host_ip")
be_bryan 0:b74591d5ab33 178 def _callback_host_ip(self, key, value, timestamp):
be_bryan 0:b74591d5ab33 179 """
be_bryan 0:b74591d5ab33 180 Callback for request for host IP Addr
be_bryan 0:b74591d5ab33 181
be_bryan 0:b74591d5ab33 182 """
be_bryan 0:b74591d5ab33 183 self.send_kv("host_ip", self.SERVER_IP)
be_bryan 0:b74591d5ab33 184
be_bryan 0:b74591d5ab33 185 @event_callback("host_port")
be_bryan 0:b74591d5ab33 186 def _callback_host_port(self, key, value, timestamp):
be_bryan 0:b74591d5ab33 187 """
be_bryan 0:b74591d5ab33 188 Callback for request for host port
be_bryan 0:b74591d5ab33 189 """
be_bryan 0:b74591d5ab33 190 self.send_kv("host_port", self.SERVER_PORT)
be_bryan 0:b74591d5ab33 191
be_bryan 0:b74591d5ab33 192 def teardown(self):
be_bryan 0:b74591d5ab33 193 if self.server:
be_bryan 0:b74591d5ab33 194 self.server.shutdown()
be_bryan 0:b74591d5ab33 195 self.server_thread.join()