Update the socket file

Author: anla-xu

CHANGELOG.md

@@ -1,5 +1,13 @@
 # ChangeLog for pymycobot
 
+## v2.7.1 (2021-11-23)
+
+- release v2.7.1
+- Refactor tcp/ip control method
+- Optimize tcp/ip control gpio
+- Fix the error of get_basic_input() again
+- Added instructions for using MyCobotSocket
+
 ## v2.7.0 (2021-11-15)
 
 - release v2.7.0

demo/Client.py

@@ -3,5 +3,6 @@
 
 from pymycobot import MyCobotSocket
 
-m = MyCobotSocket("192.168.10.10", "/dev/ttyAMA0", "1000000")
+m = MyCobotSocket("192.168.10.10", "9000")
+m.connect()
 print(m.get_coords())

demo/Server.py

@@ -1,75 +1,118 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python2
 # coding:utf-8
 import socket
 import serial
 import time
+import logging
+import logging.handlers
 import re
+import RPi.GPIO as GPIO
 
 
-class MycobotServer:
+def get_logger(name):
+    logger = logging.getLogger(name)
+    logger.setLevel(logging.DEBUG)
+
+    LOG_FORMAT = "%(asctime)s - %(levelname)s - %(message)s"
+    #DATE_FORMAT = "%m/%d/%Y %H:%M:%S %p"
+
+    formatter = logging.Formatter(LOG_FORMAT)
+    # console = logging.StreamHandler()
+    # console.setFormatter(formatter)
+
+    save = logging.handlers.RotatingFileHandler("/home/ubuntu/mycobot_server.log", maxBytes=10485760, backupCount=1)
+    save.setFormatter(formatter)
+
+    logger.addHandler(save)
+    # logger.addHandler(console)
+    return logger
+
+class MycobotServer(object):
 
     def __init__(self, host, port):
+        GPIO.setwarnings(False)
+        self.logger = get_logger("AS")
         self.mc = None
         self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.s.bind((host, port))
-        print("Binding succeeded!")
+        self.s.bind((host,port))
+        print "Binding succeeded!"
         self.s.listen(1)
         self.connect()
 
     def connect(self):
         try:
             while True:
+                print "waiting connect!------------------"
                 conn, addr = self.s.accept()
                 port_baud = []
                 while True:
                     try:
+                        print "waiting data--------"
                         data = conn.recv(1024)
                         command = data.decode('utf-8')
                         if data.decode('utf-8') == "":
-                            print("client dsiconnect!")
+                            print("close dsiconnect!")
                             break
-                        res = b'None'
-                        command = command.replace(" ", "")
-
-                        if len(port_baud) < 3:
-
+                        res = b'1'
+                        command = command.replace(" ","")
+                        if len(port_baud)<3:
+                            
                             port_baud.append(command)
-                            if len(port_baud) == 3:
-                                print(port_baud)
-                                self.mc = serial.Serial(
-                                    port_baud[0], port_baud[1], timeout=float(port_baud[1]))
+                            if len(port_baud)==3:
+                                self.mc = serial.Serial(port_baud[0],port_baud[1],timeout=float(port_baud[1]))
                                 port_baud.append(1)
                         else:
+                            self.logger.info(command)
                             command = self.re_data_2(command)
+                            if command[3] == 170:
+                                if command[4] == 0:
+                                    GPIO.setmode(GPIO.BCM)
+                                else:
+                                    GPIO.setmode(GPIO.BOARD)
+                            elif command[3] == 171:
+                                if command[5]:
+                                    GPIO.setup(command[4],GPIO.OUT)
+                                else:
+                                    GPIO.setup(command[4],GPIO.IN)
+
+                            elif command[3] == 172:
+                                GPIO.output(command[4],command[5])
+
+                            elif command[3] == 173:
+                                res = bytes(GPIO.input(command[4]))
+
                             self.write(command)
                             res = self.read()
-
+                            if res == None:
+                                res = b'1'
                         conn.sendall(res)
                     except Exception as e:
+                        self.logger.error(str(e))
                         conn.sendall(str.encode("ERROR:"+str(e)))
-                        break
-        except:
+                        break          
+        except Exception as e:
+            self.logger.error(str(e))
             conn.close()
 
-    def write(self, command):
+    def write(self,command):
         self.mc.write(command)
         self.mc.flush()
         time.sleep(0.05)
 
     def read(self):
         data = None
-        if self.mc.inWaiting() > 0:
+        if self.mc.inWaiting()>0:
             data = self.mc.read(self.mc.inWaiting())
         return data
 
     def re_data_2(self, command):
         r2 = re.compile(r'[[](.*?)[]]')
         data_str = re.findall(r2, command)[0]
-        data_list = [int(i) for i in data_str.split(',')]
+        data_list = data_str.split(",")
+        data_list = [int(i) for i in data_list]
         return data_list
 
-
 if __name__ == "__main__":
     HOST = socket.gethostbyname(socket.gethostname())
     PORT = 9000
-    MycobotServer(HOST, PORT)
+    MycobotServer(HOST,PORT)