116 lines
3.4 KiB
Python
116 lines
3.4 KiB
Python
import socket
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import json
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HOST = "127.0.0.1" # Standard loopback interface address (localhost)
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PORT = 9760 # Port to listen on (non-privileged ports are > 1023)
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c_angles = [
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{
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"world": [
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1131.959351,
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-588.689941,
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1277.805054,
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6.181231,
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54.227802,
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-100.604988,
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],
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"axis": [-41.612457, 31.759747, -26.773878, 74.869049, -45.417992, -20.86335],
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},
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{
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"world": [1282.244, -75.427, 1772.476, 84.629, 34.519, 153.999],
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"axis": [-8.487, -8.681, 33.058, 88.070, -75.010, -10.566],
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},
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{
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"world": [1630.006, 628.326, 1322.554, 0, 90, 0],
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"axis": [22.493, -30.696, 35.997, -77.419, -23.007, 76.362],
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},
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{
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"world": [1052.757, -1028.846, 334.417, 162.374, 20.467, 75.065],
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"axis": [-43.742, -30.698, -12.227, -21.884, -23.078, 76.362],
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},
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{
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"world": [1396.525, 1.687, 1322.697, 0, 90, 0],
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"axis": [0, -0.002, -0.002, 0.003, -0.001, 0],
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},
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{
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"world": [1396.513, 1.758, 1322.749, -0.002, 90, 0],
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"axis": [0.002, -0.001, 0, 0, 0, 0],
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},
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{
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"world": [-1.645, 1396.533, 1322.700, -89.998, 90.000, 0],
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"axis": [89.998, -0.002, -0.001, 0.001, -0.001, -0.001],
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},
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{
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"world": [-61.982, 1.689, 1955.771, 0, 25, 0.003],
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"axis": [0.003, 65, -0.001, 0.001, 0, -0.001],
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},
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{
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"world": [72.252, 1.696, 2450.564, 0, 0, 0],
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"axis": [0.002, -0.001, 89.999, 0.002, 0, -0.001],
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},
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{
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"world": [1396.542, 1.748, 1322.702, 90.004, 0.001, 90.003],
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"axis": [0.002, -0.003, 0, 89.999, -0.001, 0],
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},
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{
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"world": [1279.539, 1.716, 1439.725, 0.004, 0.005, 0.001],
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"axis": [0.001, -0.002, -0.001, 0.004, 89.998, 0],
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},
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{
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"world": [1396.518, 1.704, 1322.743, 90.002, -0.006, 90],
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"axis": [0, -0.001, 0, 0.002, 0, 90.003],
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},
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]
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coordinates_index = 0
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def handle_client(conn, addr):
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print(f"Connected by {addr}")
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try:
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while True:
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data = conn.recv(1024)
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if not data:
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break
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req = json.loads(data)
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res = {"queryData": ["ok"]}
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if "axis-0" in req["queryAddr"]:
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global coordinates_index
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print(coordinates_index)
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c = c_angles[coordinates_index]
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limit = len(c_angles) - 1
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# limit = 2
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if coordinates_index < limit:
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coordinates_index += 1
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else:
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coordinates_index = 0
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if "queryAddr" in req.keys() and "axis-0" in req["queryAddr"]:
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res["queryData"] = c["axis"]
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if "queryAddr" in req and "world-0" in req["queryAddr"]:
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res["queryData"] = c["world"]
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if req["reqType"] == "command":
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res["cmdReply"] = ["ok"]
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conn.sendall(json.dumps(res).encode())
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except json.JSONDecodeError as e:
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print(f"JSON decode error: {e}")
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except socket.error as e:
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print(f"Socket error: {e}")
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except Exception as e:
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print(f"Unexpected error: {e}")
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finally:
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conn.close()
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print(f"Connection with {addr} closed")
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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s.bind((HOST, PORT))
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s.listen()
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print(f"Server listening on {HOST}:{PORT}")
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while True:
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conn, addr = s.accept()
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handle_client(conn, addr)
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