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# nxt.command.server module -- Serve an interface to the NXT brick
# Copyright (C) 2011 zonedabone, Marcus Wanner
# Copyright (C) 2021 Nicolas Schodet
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
"""Network server for the NXT brick."""
import argparse
import logging
import socket
import traceback
import nxt.locator
def get_parser() -> argparse.ArgumentParser:
"""Return argument parser."""
p = argparse.ArgumentParser(description=__doc__)
p.add_argument("-p", "--port", type=int, default=2727, help="bind port")
nxt.locator.add_arguments(p)
levels = ("DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL")
p.add_argument("--log-level", type=str.upper, choices=levels, help="set log level")
return p
def serve(
brick: nxt.brick.Brick, channel: socket.socket, details: tuple[str, int]
) -> None:
"""Handles serving the client."""
print(f"Connection from {details[0]}.")
run = True
try:
while run:
data = channel.recv(1024)
if not data:
break
code = data[0]
if code == 0x00 or code == 0x01 or code == 0x02:
brick._sock.send(data)
reply = brick._sock.recv()
channel.send(reply)
elif code == 0x80 or code == 0x81:
brick._sock.send(data)
elif code == 0x98:
channel.send(brick._sock.type.encode("ascii"))
elif code == 0x99:
run = False
else:
raise RuntimeError("Bad protocol")
except Exception:
traceback.print_exc()
finally:
channel.close()
print("Connection closed.")
def run() -> None:
"""Run command."""
options = get_parser().parse_args()
if options.log_level:
logging.basicConfig(level=options.log_level)
print("Finding brick...")
with nxt.locator.find_with_options(options) as brick:
print(f"Brick found, starting server on port {options.port}.")
print("Use Ctrl-C to interrupt.")
server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server.bind(("", options.port))
server.listen(1)
try:
# Have the server serve "forever":
while True:
channel, details = server.accept()
serve(brick, channel, details)
except KeyboardInterrupt:
pass
if __name__ == "__main__":
run()
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