Port greenctld to python3
Jeff Moe
parent
7b4ccb4a69
commit
82d5091f7a
67
greenctld
67
greenctld
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@ -1,4 +1,4 @@
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#!/usr/bin/env python2
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#!/usr/bin/env python3
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# vim:set ts=4 sw=4 sts=4 ai et smarttab:
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# greenctld, a hamlib-compatible driver for the Green Heron Engineering RT-21
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@ -33,16 +33,16 @@ class DummyRotor(object):
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el = 0
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def set_pos(self, az, el):
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print '==> %d,%d' % (az, el)
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print('==> %d,%d' % (az, el))
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self.az = az
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self.el = el
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def get_pos(self):
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print '<== %d,%d' % (self.az, self.el)
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print('<== %d,%d' % (self.az, self.el))
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return (self.az, self.el,)
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def stop(self):
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print "==> Stop"
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print("==> Stop")
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class GreenHeronRotor(object):
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'''
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@ -54,21 +54,21 @@ class GreenHeronRotor(object):
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def __init__(self, az_device, el_device, baud, timeout):
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self.az_serial = serial.Serial(az_device, baudrate=baud, timeout=timeout)
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self.el_serial = serial.Serial(el_device, baudrate=baud, timeout=timeout)
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print '--- Serial timeout set to', timeout
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print('--- Serial timeout set to', timeout)
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def stop(self):
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print "==> Stop"
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print("==> Stop")
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self.az_serial.write(';')
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self.el_serial.write(';')
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def set_pos(self, az, el):
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print '==> %d,%d' % (az, el)
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print('==> %d,%d' % (az, el))
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self.az_serial.write('AP1%03d\r;' % az)
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self.el_serial.write('AP1%03d\r;' % el)
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time.sleep(0.1)
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def __parse_response(self, buf):
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match = re.match(r'^([0-9][0-9][0-9]);$', buf)
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match = re.match(r'^([0-9][0-9][0-9]);$', buf.decode())
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if not match:
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return -1
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ret = match.groups()[0]
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@ -83,24 +83,24 @@ class GreenHeronRotor(object):
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self.az_serial.flushInput()
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self.el_serial.flushInput()
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self.az_serial.write('AI1;')
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self.el_serial.write('AI1;')
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self.az_serial.write(b'AI1;')
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self.el_serial.write(b'AI1;')
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az_buf = self.az_serial.read(4)
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el_buf = self.el_serial.read(4)
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if len(az_buf) != 4 or len(el_buf) != 4:
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print '!!! Serial read failure, received %s and %s' % (repr(az_buf), repr(el_buf))
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print('!!! Serial read failure, received %s and %s' % (repr(az_buf), repr(el_buf)))
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return False
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az = self.__parse_response(az_buf)
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el = self.__parse_response(el_buf)
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if az < 0 or el < 0:
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print '!!! Failed to parse response, received %s and %s' % (repr(az_buf), repr(el_buf))
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print('!!! Failed to parse response, received %s and %s' % (repr(az_buf), repr(el_buf)))
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return False
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print '<== %d,%d' % (az, el)
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print('<== %d,%d' % (az, el))
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return (az, el,)
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class TCPServer(object):
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@ -128,7 +128,7 @@ class TCPServer(object):
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self.listener.bind((ip, port))
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self.listener.listen(4)
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addr = self.listener.getsockname()
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print '--- Listening for connections on %s:%d' % (addr[0], addr[1])
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print('--- Listening for connections on %s:%d' % (addr[0], addr[1]))
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def close_client(self, fd):
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self.rotor.stop()
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@ -144,7 +144,12 @@ class TCPServer(object):
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if cmd == '':
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return
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print '<-- %s' % repr(cmd)
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# "\\dump_state" is sent by satnogs hamlib, need to ignore it and send okay state
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if cmd == '\\dump_state':
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fd.send('RPRT 0\n')
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return
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print('<-- %s' % repr(cmd))
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# "q", to quit
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if cmd == 'q':
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@ -154,7 +159,7 @@ class TCPServer(object):
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# "S", to stop the current rotation
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if cmd == 'S':
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self.rotor.stop()
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print '--> RPRT 0'
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print('--> RPRT 0')
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fd.send('RPRT 0\n')
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return
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@ -162,11 +167,11 @@ class TCPServer(object):
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if cmd == 'p':
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pos = self.rotor.get_pos()
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if not pos:
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print '--> RPRT -6'
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print('--> RPRT -6')
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fd.send('RPRT -6\n')
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else:
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az, el = pos
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print '--> %d,%d' % (az, el)
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print('--> %d,%d' % (az, el))
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fd.send('%.6f\n%.6f\n' % (az, el))
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return
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@ -179,7 +184,7 @@ class TCPServer(object):
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az = int(float(az))
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el = int(float(el))
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except:
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print '--> RPRT -8 (could not parse)'
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print('--> RPRT -8 (could not parse)')
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fd.send('RPRT -8\n')
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return
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@ -187,29 +192,29 @@ class TCPServer(object):
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az = 359
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if az > 359:
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print '--> RPRT -1 (az too large)'
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print('--> RPRT -1 (az too large)')
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fd.send('RPRT -1\n')
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return
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if el > 90:
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print '--> RPRT -1 (el too large)'
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print('--> RPRT -1 (el too large)')
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fd.send('RPRT -1\n')
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return
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self.rotor.set_pos(az, el)
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print '--> RPRT 0'
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print('--> RPRT 0')
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fd.send('RPRT 0\n')
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return
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# Nothing else is supported
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print '--> RPRT -4 (unknown command)'
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print('--> RPRT -4 (unknown command)')
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fd.send('RPRT -4\n')
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def read_client(self, fd):
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buf = fd.recv(1024)
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if len(buf) == 0:
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print '<-- EOF'
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print('<-- EOF')
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self.close_client(fd)
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return
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@ -227,11 +232,11 @@ class TCPServer(object):
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self.parse_client_command(fd, cmd)
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# Check if the client sent a "q", to quit
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if not self.client_buf.has_key(fd):
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if fd not in self.client_buf:
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return
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def __run_once(self):
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rlist = [ self.listener ] + self.client_buf.keys()
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rlist = [ self.listener ] + list(self.client_buf.keys())
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wlist = []
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xlist = []
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@ -244,24 +249,24 @@ class TCPServer(object):
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new_fd.setsockopt(socket.SOL_SOCKET, socket.SO_SNDBUF, 1024*16)
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new_fd.setblocking(False)
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self.client_buf[new_fd] = ''
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print '<-- Connect %s:%d' % (addr[0], addr[1])
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print('<-- Connect %s:%d' % (addr[0], addr[1]))
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else:
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try:
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self.read_client(fd)
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except Exception as e:
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print 'Unhandled exception, killing client and issuing motor stop command:'
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print('Unhandled exception, killing client and issuing motor stop command:')
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traceback.print_exc()
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self.close_client(fd)
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print
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print()
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def loop(self):
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while True:
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self.__run_once()
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if __name__ == '__main__':
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sys.stdout = os.fdopen(sys.stdout.fileno(), 'w', 0)
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sys.stdout = os.fdopen(sys.stdout.fileno(), 'w', 1)
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parser = argparse.ArgumentParser()
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parser.add_argument('--az-device', '-a', type=str, required=True, help='Serial device for azimuth')
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@ -279,7 +284,7 @@ if __name__ == '__main__':
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rotor = GreenHeronRotor(args.az_device, args.el_device, args.speed, args.timeout)
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if args.get_pos:
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print rotor.get_pos()
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print(rotor.get_pos())
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sys.exit(0)
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server = TCPServer(args.port, rotor)
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@ -0,0 +1 @@
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pyserial
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