
     f !                        d dl Z d dlZd dlZd dlZd dlZd dlZd dlmZmZ d dl	m
Z
 d dlmZ d dl	mZ d dlmZ d dlZd dlT d dlT d dlT d dlT d dlT d dlT d dlT d dlmZ  G d	 d
e j                  Z G d d          Zedk    rdS dS )    N)	Picamera2Preview)JpegEncoder)
FileOutput)Quality)	Condition)*)COMMANDc                       e Zd Zd Zd ZdS )StreamingOutputc                 :    d | _         t                      | _        d S N)framer   	conditionselfs    1/home/digit/Desktop/robocat/Code/Server/Server.py__init__zStreamingOutput.__init__   s    
"    c                     | j         5  || _        | j                                          d d d            d S # 1 swxY w Y   d S r   )r   r   
notify_all)r   bufs     r   writezStreamingOutput.write   s    ^ 	( 	(DJN%%'''	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	( 	(s   !6::N)__name__
__module____qualname__r   r    r   r   r   r      s2        % % %( ( ( ( (r   r   c                   P    e Zd Zd Zd Zd Zd Zd Zd Zd Z	d Z
d	 Zd
 Zd ZdS )Serverc                 F   d| _         t                      | _        t                      | _        t                      | _        t                      | _        t                      | _
        t                      | _        | j
        j                                         g d| _        d S )NF) @r!   r!   r!   r!   )tcp_flagLedledServoservoADS7830adcBuzzerbuzzerControlcontrol
UltrasonicsonicThread_conditionastartbattery_voltager   s    r   r   zServer.__init__"   sv    77
HHYY<<
&,,...222r   c                    t          j         t           j        t           j                  }t          j        t	          j        |                                dt          j        ddd d                             dd                   S )Ni  256ss   wlan0         )	socketAF_INET
SOCK_DGRAM	inet_ntoafcntlioctlfilenostructpack)r   ss     r   get_interface_ipzServer.get_interface_ip-   sm    M&.&*;<<AHHJJ,2,2Kx},M,M!. !. /1e!5 6 6 	6r   c                 J   |                                  }t          j                    | _        | j                            t          j        t          j        d           | j                            |df           | j                            d           t          j                    | _        | j                            t          j        t          j        d           | j                            |df           | j                            d           t          d|z              d S )N   iA  i  zServer address: )
rA   r7   server_socket
setsockopt
SOL_SOCKETSO_REUSEPORTbindlistenserver_socket1print)r   HOSTs     r   turn_on_serverzServer.turn_on_server3   s    ""$$#]__%%f&78KANNNt---!!!$$$ %moo&&v'89LQOOO  $...""1%%% %&&&&&r   c                     	 | j                                          | j                                         d S #  t          d           Y d S xY w)Nz
No client connection)
connectioncloseconnection1rK   r   s    r   turn_off_serverzServer.turn_off_serverC   sW    	0O!!###""$$$$$	0.//////s	   26 A
c                 6   |                                   |                                  t          j        | j                  | _        t          j        | j                  | _        | j                                         | j                                         d S )N)target)	rR   rM   	threadingThreadtransmission_videovideoreceive_instructioninstructionr0   r   s    r   reset_serverzServer.reset_serverJ   s    #4+BCCC
")1IJJJ
     r   c                     	 |                     |                    d                     d S # t          $ r}t          |           Y d }~d S d }~ww xY w)Nutf-8)sendencode	ExceptionrK   )r   connectdataes       r   	send_datazServer.send_dataQ   sa    	LLW--..... 	 	 	!HHHHHHHHH	s   (, 
AAAc                    	 | j                                         \  | _        | _        | j                            d          | _        n#  Y nxY w| j                                          t          d           t                      }|                    |	                    ddi                     t                      }t          d          }|                    |t          |          t          j                   	 |j        5  |j                                         |j        }d d d            n# 1 swxY w Y   	 t'          |j                  }t)          j        d
|          }| j                            |           | j                            |           nO# t.          $ rB}|                                 |                                 t          d           Y d }~d S d }~ww xY w)Nwbzsocket video connected ... size)i  i,  )main_   )q)qualityTz<IzEnd transmit ... )rD   acceptrO   client_addressmakefilerP   rK   r   	configurecreate_video_configurationr   r   start_recordingr   r   	VERY_HIGHr   waitr   lenr>   r?   r   r`   stop_recording)r   cameraoutputencoderr   lenFrame	lengthBinrc   s           r   rW   zServer.transmission_videoW   s   	262D2K2K2M2M/DOD/ O44T::DOO	D  """,---::@T:UUVVV ""###w
6(:(:7CTUUU	! % % %%'''% % % % % % % % % % % % % % %
v|,,"Kh77	%%i000%%e,,,,   %%'''*,,,		s7   AA A!D22D69D6>AF 
G(&7G##G(c                    	 t          d          D ]2}t          | j                            d          d          | j        |<   3t
          j        dz   t          t          | j                            z   dz   }| 	                    ||           | 
                                 |                                  d S # t          $ r}t          |           Y d }~d S d }~ww xY w)N   r      #
)rangeroundr(   powerr1   cmd	CMD_POWERstrmaxrd   sednRelaxFlagbattery_reminderr`   rK   )r   ra   icommandrc   s        r   measuring_voltagezServer.measuring_voltaget   s    	1XX C C(-dhnnQ.?.?(B(B$Q''M#%c#d.B*C*C&D&DDTIGNN77+++   !!##### 	 	 	!HHHHHHHHH	s   B4B8 8
CCCc                     t          | j                  dk     rb|                                  | j                            d           t          d           t          d           t          j        d           d S d S )N皙@TzTThe batteries power are too low. Please recharge the batteries or replace batteries.zClose the serverr   )r   r1   rR   r,   relaxrK   os_exitr   s    r   r   zServer.battery_reminder~   sw    t#$$s**  """Lt$$$hiii$%%%HQKKKKK +*r   c                     | j         j        dk    rUt          j        dz   t	          | j         j                  z   dz   }|                     | j        |           d| j         _        d S d S )Nr}   r~   r   )r,   	move_flagr   	CMD_RELAXr   rd   rQ   )r   r   s     r   r   zServer.sednRelaxFlag   sd    <!1$$M#%c$,*@&A&AA$FGNN4+G444$%DL""" %$r   c                 <   	 | j                                         \  | _        | _        t	          d           n#  t	          d           Y nxY w| j                                          	 	 | j                            d                              d          }n>#  | j        r/t          | j
                  dk    r|                                  Y ndY naxY w|dk    r| j        r|                                  n;|                    d          }|d	         dk    r||d d	         k     |D ]}|                    d
          }|d k    s|d         dk    r+t          j        |v r!| j                            |d                    Zt          j        |v rN	 t%          |           n#  Y nxY wt'          j        | j        j        |f          }|                                 t          j        |v rO	 t%          |           n#  Y nxY wt'          j        | j        j        |f          }|                                 t          j        |v r0| j                            dt9          |d                              Qt          j        |v rVt          j        d
z   t=          | j                                                   z   dz   }| !                    | j        |           t          j"        |v r| #                    | j                   t          j$        |v r| j%        j&        dk    ru| j%        j'        dk    rd| j%        j(        dk    rQt          j$        d
z   t=          d          z   d
z   t=          tS          | j%        j(        dz
                      z   dz   }nO| j%        j(        dk    r{t          j$        d
z   t=          tS          | j%        j(                            z   d
z   t=          tS          tU          j*                    | j%        j&        z
  dz                       z   dz   }nt          j$        d
z   t=          tS          | j%        j(                            z   d
z   t=          tS          tU          j*                    | j%        j&        z
                      z   dz   }nLt          j$        d
z   t=          tS          | j%        j(                            z   d
z   t=          d          z   dz   }| !                    | j        |           || j%        _+        tU          j*                    | j%        _,        	 t%          tZ                     n#  Y nxY w	 t%          |           n#  Y nxY wt	          d           d| j%        _'        t          j.        | j%        j+        d<   d S )NzClient connection successful !zClient connect failedTi   r]   r    r   r~   r   rC   )rT   argsr4      <   
close_recvF)/rJ   rl   rQ   client_address1rK   rP   recvdecoder"   r   r1   r[   splitr   
CMD_BUZZERr*   runCMD_LEDstop_threadrU   rV   r$   lightr0   CMD_LED_MODCMD_HEADr&   setServoAngleint	CMD_SONICr   r.   getDistancerd   r   r   CMD_WORKING_TIMEr,   move_timeout
relax_flag
move_countr   timeordertimeoutthread_powerr   )r   allDatacmdArrayoneCmdrb   
thread_ledr   s          r   rY   zServer.receive_instruction   s   	,484G4N4N4P4P1DT134444	,*+++++!!###>	5	(--d33::7CC= 4/00366))+++EE{{t}{!!### t,,B<"$$hssm++" )5 )5\\#&&::a"^t++KOODG,,,,[D((#J////(/tx~D7SSSJ$$&&&&_,,#J////(/tx~D7SSSJ$$&&&&\T))J,,RDG====]d**M#-c$*2H2H2J2J.K.KKDPGNN4#3G<<<<]d****4+;<<<<)T11|0!338OQU8U8U<2C77$'$8$<SXX$Ec$I#eTXT`TkloToNpNpJqJq$qrv$vGG#|699(+(<S(@U4<KbEcEcAdAd(deh(hilmrtxt}tt  AE  AM  AZ  uZ  \^  t^  n_  n_  j`  j`  )`  ae  )e(+(<S(@U4<KbEcEcAdAd(deh(hilmrsws|s~s~  @D  @L  @Y  tY  nZ  nZ  j[  j[  )[  \`  )` # 4S 8U4<CZ=[=[9\9\ \]` `adefagag ghl lNN4#3G<<<<'+DL&)-DL((}>	5@	%%%%	D	
####	Dl %!m1sE   58 A)-B 5CF""F&.G>>H4U	 	UU! !U%N)r   r   r   r   rA   rM   rR   r[   rd   rW   r   r   r   rY   r   r   r   r   r   !   s        
3 
3 
36 6 6' ' ' 0 0 0! ! !    :	 	 	  & & &Q, Q, Q, Q, Q,r   r   __main__)ior   r   r;   r7   r>   	picamera2r   r   picamera2.encodersr   picamera2.outputsr   r   rU   r   r#   r%   rV   r)   r+   r'   r-   Commandr
   r   BufferedIOBaser   r   r   r   r   r   <module>r      s   				 				     ' ' ' ' ' ' ' ' * * * * * * ( ( ( ( ( ( & & & & & &                                       " " " " " "( ( ( ( (b' ( ( ({, {, {, {, {, {, {, {,| zD r   