add server for socket

server.py

@@ -0,0 +1,85 @@
+###############################################################################
+#
+# The MIT License (MIT)
+#
+# Copyright (c) Crossbar.io Technologies GmbH
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+#
+###############################################################################
+
+import sys
+
+from twisted.internet import reactor
+from twisted.python import log
+from twisted.web.server import Site
+from twisted.web.static import File
+
+from autobahn.twisted.websocket import WebSocketServerFactory, \
+    WebSocketServerProtocol
+
+from autobahn.twisted.resource import WebSocketResource
+
+i = 0
+
+def setServo(servoChannel, position):
+    servoStr = str(servoChannel) + "=" + str(position) + "\n"
+    with open("/dev/servoblaster", "wb") as f:
+        f.write(bytes(servoStr, 'utf-8'))
+
+class EchoServerProtocol(WebSocketServerProtocol):
+
+    def onConnect(self, request):
+        print("WebSocket connection request: {}".format(request))
+
+    def onMessage(self, payload, isBinary):
+        global i 
+        i = i + 1        
+        if isBinary:
+            print("Binary message received: {0} bytes".format(len(payload)))
+        else:
+            print("Text message received: {0}".format(payload.decode('utf8')))
+        string = " " + str(i)
+        self.sendMessage(payload + bytes(string, 'utf-8'), isBinary)
+        string = payload.decode('ASCII')
+        setServo(0, int(string.split("/")[0]))
+        setServo(1, int(string.split("/")[1]))
+
+
+if __name__ == '__main__':
+
+    log.startLogging(sys.stdout)
+
+    factory = WebSocketServerFactory(u"ws://10.174.136.143:45684")
+    factory.protocol = EchoServerProtocol
+
+    resource = WebSocketResource(factory)
+
+    # we server static files under "/" ..
+    root = File(".")
+
+    # and our WebSocket server under "/ws" (note that Twisted uses
+    # bytes for URIs)
+    root.putChild(b"ws", resource)
+
+    # both under one Twisted Web Site
+    site = Site(root)
+    reactor.listenTCP(45684, site)
+
+    reactor.run()