87 lines
3.6 KiB
Python
87 lines
3.6 KiB
Python
import multiprocessing
|
|
import socket
|
|
import logging
|
|
import xml.etree.ElementTree as ET
|
|
from .xml_handler import XMLGenerator
|
|
from .safety_manager import SafetyManager
|
|
|
|
class NetworkProcess(multiprocessing.Process):
|
|
"""Handles UDP communication and optional CSV logging in a separate process."""
|
|
|
|
def __init__(self, ip, port, send_variables, receive_variables, stop_event, config_parser, start_event):
|
|
super().__init__()
|
|
self.send_variables = send_variables
|
|
self.receive_variables = receive_variables
|
|
self.stop_event = stop_event
|
|
self.start_event = start_event # ✅ NEW
|
|
self.config_parser = config_parser
|
|
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
|
|
self.safety_manager = SafetyManager(config_parser.safety_limits)
|
|
|
|
self.client_address = (ip, port)
|
|
self.logging_active = multiprocessing.Value('b', False)
|
|
self.log_filename = multiprocessing.Array('c', 256)
|
|
self.csv_process = None
|
|
|
|
self.controller_ip_and_port = None
|
|
|
|
def run(self):
|
|
"""Start the network loop."""
|
|
self.start_event.wait() # ✅ Wait until RSIClient sends start signal
|
|
|
|
try:
|
|
if not self.is_valid_ip(self.client_address[0]):
|
|
logging.warning(f"Invalid IP address '{self.client_address[0]}'. Falling back to '0.0.0.0'.")
|
|
self.client_address = ('0.0.0.0', self.client_address[1])
|
|
|
|
self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
|
self.udp_socket.bind(self.client_address)
|
|
logging.info(f"✅ Network process bound on {self.client_address}")
|
|
|
|
except OSError as e:
|
|
logging.error(f"❌ Failed to bind to {self.client_address}: {e}")
|
|
raise
|
|
|
|
while not self.stop_event.is_set():
|
|
try:
|
|
self.udp_socket.settimeout(5)
|
|
data_received, self.controller_ip_and_port = self.udp_socket.recvfrom(1024)
|
|
message = data_received.decode()
|
|
self.process_received_data(message)
|
|
send_xml = XMLGenerator.generate_send_xml(self.send_variables, self.config_parser.network_settings)
|
|
self.udp_socket.sendto(send_xml.encode(), self.controller_ip_and_port)
|
|
|
|
if self.logging_active.value:
|
|
self.log_to_csv()
|
|
|
|
except socket.timeout:
|
|
logging.error("[WARNING] No message received within timeout period.")
|
|
except Exception as e:
|
|
logging.error(f"[ERROR] Network process error: {e}")
|
|
|
|
@staticmethod
|
|
def is_valid_ip(ip):
|
|
try:
|
|
socket.inet_aton(ip)
|
|
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
|
|
s.bind((ip, 0))
|
|
return True
|
|
except (socket.error, OSError):
|
|
return False
|
|
|
|
def process_received_data(self, xml_string):
|
|
try:
|
|
root = ET.fromstring(xml_string)
|
|
for element in root:
|
|
if element.tag in self.receive_variables:
|
|
if len(element.attrib) > 0:
|
|
self.receive_variables[element.tag] = {k: float(v) for k, v in element.attrib.items()}
|
|
else:
|
|
self.receive_variables[element.tag] = element.text
|
|
if element.tag == "IPOC":
|
|
received_ipoc = int(element.text)
|
|
self.receive_variables["IPOC"] = received_ipoc
|
|
self.send_variables["IPOC"] = received_ipoc + 4
|
|
except Exception as e:
|
|
logging.error(f"[ERROR] Error parsing received message: {e}")
|