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#!/usr/bin/env python
# -*- coding:utf-8 -*-
#
import socket
import threading
import socketserver
import json, types, string
import os, time
class ThreadedTCPRequestHandler(socketserver.BaseRequestHandler):
def handle(self):
data = self.request.recv(10240000000)
jdata = json.loads(data.decode('utf-8'))
# rec_src = jdata[0]['src']
# rec_dst = jdata[0]['dst']
rec_request = jdata[0]['request']
cur_thread = threading.current_thread()
# response = [{'thread':cur_thread.name,'src':rec_src,'dst':rec_dst}]
response = [{
"robot_name": "ur5",
"position": {
"x": 10,
"y": 10,
"z": 10,
"a": 10,
"b": 10,
"c": 10
},
"joint_states": {
"j1": 10,
"j2": 10,
"j3": 10,
"j4": 10,
"j5": 10,
"j6": 10
},
"robot_status": 1,
"io": {
"io1": 1,
"io2": 0,
"io3": 1,
"io4": 0,
"io5": 1,
"io6": 0,
"io7": 1,
"io8": 0
}
}]
jresp = json.dumps(response)
# self.request.sendall(jresp.encode('utf-8'))
# rec_cmd = "proccess "+rec_src+" -o "+rec_dst
# print ("CMD '%r'" % (rec_cmd))
# os.system(rec_cmd)
class ThreadedTCPServer(socketserver.ThreadingMixIn, socketserver.TCPServer):
pass
if __name__ == "__main__":
# Port 0 means to select an arbitrary unused port
HOST, PORT = "localhost", 20001
socketserver.TCPServer.allow_reuse_address = True
server = ThreadedTCPServer((HOST, PORT), ThreadedTCPRequestHandler)
ip, port = server.server_address
server_thread = threading.Thread(target=server.serve_forever)
server_thread.daemon = True
server_thread.start()
print("Server loop running in thread:", server_thread.name)
print(" .... waiting for connection")
# Activate the server; this will keep running until you
# interrupt the program with Ctrl-C
server.serve_forever()
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