295 lines
8.8 KiB
Python
Executable File
295 lines
8.8 KiB
Python
Executable File
#!/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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# Digital Rotor Controller. The Green Heron serial protocol is documented at
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# https://www.greenheronengineering.com/prod_documents/controllers/docs/RT-21_Manual_current.pdf
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#
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# The TCP network protocol is compatible with the hamlib rotctld protocol, which
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# gpredict speaks.
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#
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# Ported to Python 3. Simplified BSD License.
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# Copyright (C) 2022 Jeff Moe <moe@spacecruft.org>
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#
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# Copyright (c) 2017, Astro Digital, Inc. Released under the terms of the
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# Simplified BSD License; see the LICENSE file for details.
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#
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# -- Michael Toren <mct@toren.net>
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# Astro Digital, Inc.
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import socket
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import serial
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import argparse
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import traceback
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import time
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import select
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import sys
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import re
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import os
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class DummyRotor(object):
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'''
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A fake Rotor class, useful for debugging the TCPServer class on any
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machine, even if the rotor is not physically connected to it.
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'''
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az = 0
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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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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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return (self.az, self.el,)
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def stop(self):
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print("==> Stop")
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class GreenHeronRotor(object):
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'''
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Driver for the Green Heron Engineering RT-21 Digital Rotor Controller
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'''
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az_serial = None
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el_serial = None
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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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def stop(self):
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print("==> Stop")
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self.az_serial.write(';'.encode('utf-8'))
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self.el_serial.write(';'.encode('utf-8'))
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def set_pos(self, az, el):
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print('==> %d,%d' % (az, el))
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self.az_serial.write('AP1%03d\r;'.encode('utf-8') % az)
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self.el_serial.write('AP1%03d\r;'.encode('utf-8') % 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.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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ret = int(ret)
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return ret
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def get_pos(self):
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'''
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On success, returns a tuple of (az, el)
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On failure, returns False
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'''
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self.az_serial.flushInput()
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self.el_serial.flushInput()
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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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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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return False
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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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'''
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Implements a subset of the rotctld TCP protocol. gpredict only sends three
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commands, all of which are supported:
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- "p" to request the current position
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- "P <az> <el>" to set the desired position
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- "q" to quit
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This driver also supports:
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- "S" to stop any current movement
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'''
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# A mapping of client fd's -> receive buffers
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client_buf = {}
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def __init__(self, port, rotor, ip=''):
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self.rotor = rotor
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self.listener = socket.socket()
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self.listener.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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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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def close_client(self, fd):
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self.rotor.stop()
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try:
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fd.close()
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del self.client_buf[fd]
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except:
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pass
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def parse_client_command(self, fd, cmd):
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cmd = cmd.strip()
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if cmd == '':
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return
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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(b'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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self.close_client(fd)
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return
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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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fd.send(b'RPRT 0\n')
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return
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# "p", to get current position
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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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fd.send(b'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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fd.send(b'%.6f\n%.6f\n' % (az, el))
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return
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# "P <az> <el>" to set desired position
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match = re.match(r'^P\s+([\d.]+)\s+([\d.]+)$', cmd)
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if match:
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az = match.groups()[0]
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el = match.groups()[1]
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try:
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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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fd.send(b'RPRT -8\n')
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return
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if az == 360:
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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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fd.send(b'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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fd.send(b'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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fd.send(b'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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fd.send(b'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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self.close_client(fd)
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return
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self.client_buf[fd] += buf.decode()
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while True:
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cmd, sep, tail = self.client_buf[fd].partition('\n')
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# Check if a full line of input is present
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if not sep:
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return
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else:
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self.client_buf[fd] = tail
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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 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 ] + list(self.client_buf.keys())
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wlist = []
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xlist = []
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rlist, wlist, xlist = select.select(rlist, wlist, xlist)
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for fd in rlist:
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if fd == self.listener:
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new_fd, addr = self.listener.accept()
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new_fd.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 1024*16)
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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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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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traceback.print_exc()
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self.close_client(fd)
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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', 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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parser.add_argument('--el-device', '-e', type=str, required=True, help='Serial device for elevation')
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parser.add_argument('--speed', '-s', type=int, default=4800, help='Serial device speed')
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parser.add_argument('--timeout', '-t', type=float, default=1.5, help='Serial timeout')
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parser.add_argument('--port', '-p', type=int, default=4533, help='TCP port')
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parser.add_argument('--get-pos', '-g', action='store_true', help='Issue get position, and exit; for serial comms test')
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parser.add_argument('--dummy', action='store_true', help='Use a dummy rotor, not the real serial device')
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args = parser.parse_args()
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if args.dummy:
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rotor = DummyRotor()
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else:
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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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sys.exit(0)
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server = TCPServer(args.port, rotor)
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server.loop()
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