rcrf-wifi/ground-station.py

#!/usr/bin/env python

import asyncio
from websockets.server import serve

adminId = "1234"

BOAT_STATE_INCTRL = 1
BOAT_STATE_AVAILABLE = 0
BOAT_STATE_LOCKED = -1

boats = []
clients = []

def onCMD(data):
    global boats, adminId
    print("command:" + str(data))
    if (len(data) != 4):
        return
    if (data[1] != adminId):
        return
    boot = int(data[2])
    if (boot >= 0 and boot <= 3):
        boats[boot] = data[3]
    print(boats)

def sendData(data):
    global boats
    print("data to send: " + str(data))

async def echoBoats(client):
    global boats
    data = "boats:"
    for boat in boats:
        if (boat['state'] != BOAT_STATE_LOCKED):
            data += str(boat['id']) + ";" + str(boat['name']) + ";"
            if (boat["state"] == BOAT_STATE_AVAILABLE):
                data += 'available:'
            elif (boat["state"] == BOAT_STATE_INCTRL):
                data += 'inctrl:'
    await client['ws'].send(data)

async def echoLockedBoats(client):
    global boats
    if (client['id'] == adminId):
        data = "lockedBoats:"
        for boat in boats:
            if (boat['state'] == BOAT_STATE_LOCKED):
                data += str(boat['id']) + ";" + str(boat['name']) + ";locked:"
        await client['ws'].send(data + '\n')

async def echoClients(client):
    global clients
    if (client['id'] == adminId):
        data = "clients:"
        for client in clients:
            data += str(client['id']) + ";" + str(client['boat']) + ";" + str(client['state']) + ":"
        await client['ws'].send(data + '\n')

async def takeControll(client, boat):
    global boats
    if (client['boat'] is not None):
        client['boat']["state"] = BOAT_STATE_AVAILABLE
        client["boat"] = None
    for b in boats:
        if (b['id'] == boat):
            if (b['state'] == BOAT_STATE_AVAILABLE):
                b["state"] = BOAT_STATE_INCTRL
                print("take controll: " + str(client["id"]) + " -> " + b["name"])
                client["boat"] = b
                await client['ws'].send("OK")
                return
            else:
                break
    await client['ws'].send("FAIL")

async def freeBoat(boat):
    global boats, clients
    for client in clients:
        if (client["boat"]['id'] == boat):
            client["boat"] = None
            break
    for b in boats:
        if (b['id'] == boat):
            if (boat['state'] == BOAT_STATE_INCTRL):
                boat["state"] = BOAT_STATE_AVAILABLE
            break

async def lockBoat(boat):
    global boats, clients
    for client in clients:
        if (client["boat"]['id'] == boat):
            client["boat"] = None
            break
    for b in boats:
        if (b['id'] == int(boat)):
            boat["state"] = BOAT_STATE_LOCKED
            break
    
    

async def onMessage(message, client):
    global boats
    data = message.replace('\n', '').split(';')
    if(data[0] != client["id"]):
        print("invalid id: " + str(data[0]) + " != " + str(client["id"]))
    else:
        if  (data[1] == "boats"):
            await echoBoats(client)
        elif(data[1] == "ctrl"):
            await takeControll(client, data[2])
        elif(data[1] == "end"):
            await takeControll(client, -1)
        elif(data[1] == "free"):
            if (client["id"] == adminId):
                await freeBoat(data[2])
        elif(data[1] == "lock"):
            if (client["id"] == adminId):
                await lockBoat(data[2])
        elif(data[1] == "locked"):
            await echoLockedBoats(client)
        elif(data[1] == "kick"):
            print("kick")
        elif(data[1] == "clients"):
            await echoClients(client)
        elif(data[1] == "d"):
            if (client['boat'] is None):
                print("WARN: controll cmd (" + client['id'] + ") to None: " + data[2])
            else:
                print("INFO: controll cmd (" + client['id'] + ") to " + client['boat']['name'] + ": " + data[2])
                await client['boat']['ws'].send("d:" + data[2])
        else:
            print("WARN: invalid command (" + client['id'] + "): '" + data[1] + "'")

async def newClient(clientId, ws):
    client = { "id": clientId, "boat": None, "ws": ws, "state": "active" }
    print("new client connected: " + client['id'])
    for clie in clients:
        if (clie['id'] == client['id']):
            clie['state'] = 'terminated'
    clients.append(client)
    if (client['id'] == adminId):
        await echoBoats(client)
        await echoLockedBoats(client)
        await echoClients(client)
    return client

async def newBoat(boatId, name, ws):
    boat = { "id": boatId, "name": name, "ws": ws, "state": BOAT_STATE_AVAILABLE }
    print("new boat connected: " + boatId)
    for bo in boats:
        if (bo['id'] == boat['id']):
            bo['state'] = 'terminated'
    boats.append(boat)
    return boat

async def run(ws, path):
    client = None
    async for message in ws:
        message = message.split(';')
        if (len(message) == 3 and message[1] == "4675"):
            client = await newClient(message[0], ws)
            if (client is not None):
                break
        elif (len(message) == 3 and message[1] == "3440"):
            client = await newBoat(message[0], message[2], ws)
            if (client is not None):
                break

    async for message in ws:
        if (client['state'] == 'active'):
            await onMessage(message, client)
        else:
            break

async def main():
    async with serve(run, "0.0.0.0", 8080):
        await asyncio.Future()

asyncio.run(main())