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