HIMUServer.py

#===============================================================================
#
# MIT License
#
# HyperIMU Server (HIMU Server)
# Copyright (c) [2017] [Sebastiano Campisi - ianovir]
#
# 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 socket
import math
import traceback

valuesPerSensor = 3

class HIMUServer:

	def __init__(self, bufferSize = 2048, timeout = 10, separatorIndex = 0):
		self.__listeners = []
		self.__packSeparators = ["\r\n" , "#"]
		self.__commentSymbol = '@'
		self.timeout = timeout  #timeout in seconds
		self.bufferSize=bufferSize #bytes
		self.go = True		
		if(separatorIndex == 0  ):
			self.packSeparator = self.__packSeparators[0]
		else:
			self.packSeparator = self.__packSeparators[separatorIndex]
		
	def addListener(self , newListener):
		self.__listeners.append(newListener)

	def __notifyListeners(self, recPacket):
		for listener in self.__listeners:
			listener.notify(recPacket)

	def executeRAW(self , port):
		'''
		Print raw data received (UDP)
		'''
		UDPSocket = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)	
		UDPSocket.settimeout(timeout)
		serverAddress = ('', port)
		print('Listening on port ' + str(port))
		UDPSocket.bind(serverAddress)
		while self.go:
			[data,attr] = UDPSocket.recvfrom(self.bufferSize)
			if not data: break
			self.__notifyListeners(self.__extractSensorData(data.decode("utf-8")))
		UDPSocket.close()

	def executeUDP(self , port):
		'''
		Performs data acquisition via UDP protocol
		'''
		UDPSocket = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)	
		UDPSocket.settimeout(self.timeout)
		serverAddress = ('', port)
		print('Listening on port ' + str(port))
		UDPSocket.bind(serverAddress)
		while self.go:
			[data,attr] = UDPSocket.recvfrom(self.bufferSize)
			if not data: break
			self.__notifyListeners(self.__extractSensorData(data.decode("utf-8")))
		UDPSocket.close()

	def executeTCP(self , port):
		'''
		Performs data acquisition via TCP protocol
		'''
		sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
		sock.settimeout(self.timeout)
		serverAddress = ('', port)
		sock.bind(serverAddress)
		sock.listen(1)
		print ('waiting for connection...')
		[connection, clientAddress] = sock.accept()
		connection.setblocking(1)
		print ('connection from ' + str(clientAddress))
		while self.go:
			data = connection.recv(self.bufferSize)
			if not data: break
			self.__notifyListeners(self.__extractSensorData(data.decode("utf-8")))
		connection.close()		

	def executeFile(self , fileName):
		'''
		Performs data acquisition from local file
		'''
		print("Reading file " + fileName + " ...")
		f = open(fileName,'r')
		sline=f.readline()
		while sline!='':
			if sline[0]!= self.__commentSymbol:			
				self.__notifyListeners(self.__extractSensorData(sline))
			sline=f.readline()
		print('reached EOF.')
			
	
	@staticmethod
	def strings2Floats(listString):
		'''
		Converts a list of Strings to a list of floats; returns the converted list
		'''
		out=[]		
		for j in range(0, len(listString)):
			if(listString[j]!=''):
				out.append( float(listString[j]))
		return out
		
	@staticmethod
	def printSensorsData (sensorData):		
		'''
		Prints to console the acquired sensors'data
		'''
		try:	
			for acquisition in sensorData:
				i = 1;
				for sensorAcq in acquisition :
					print('Sensor' + str(i) +  ": " + str(sensorAcq))
					i+=1
		except Exception as ex:
			print str(ex)
				
	def __extractSensorData (self, dataString):		
		'''
		Extracts sensors'data from the input raw data string.
		The return object is an array of arrays [i][j], where i corresponds to sampled acquisitions and j corresponds to sensors' value.
		All sensors' values are represented as strings.
		'''
		packages = dataString.split(self.packSeparator)
		retVal = []
		for pack in packages:
			if pack!='' :
				try:
					packVal = []
					packSplit = pack.replace('\n', '').replace('\r', '').split(",")
					numSensors = int(math.floor( len(packSplit)  / valuesPerSensor))
					lFloat = HIMUServer.strings2Floats(packSplit)
					for i in range(0 , numSensors):
						p = packSplit[i*valuesPerSensor : (i+1)*(valuesPerSensor)]
						packVal.append(p)
					if(len(packVal)>0):
						retVal.append(packVal)
				except Exception as ex:
					pass
		return retVal

	def start(self , protocol, arg):
		'''
		Executes the data acquisition;
		<protocol> 	the supported protocol: 'UDP' , 'TCP' , 'FILE' o 'RAW'
		<arg> 		the port number in case of UDP or TCP protocols, input file path in case of 'FILE' protocol
		'''
		print('protocol: ' + protocol)
		try:
			if protocol == 'RAW':
				self.executeRAW(int(arg))
			elif protocol == 'UDP':
				self.executeUDP(int(arg))
			elif protocol == 'TCP':
				self.executeTCP(int(arg))
			elif protocol == 'FILE':
				self.executeFile(arg)
			print("The End")
		except Exception as ex:
			print(str(ex))
			
	def stop(self ):
		self.go = false