websocket-server.py

import math
import time
import asyncio
from datetime import datetime

import websockets # from websockets import WebSocketServer, WebSocketServerProtocol, ConnectionClosedError, ConnectionClosedOK
from functools import partial
import json
from response_object import ResponseObject
import redis
import random

CLIENTS = set()
messageReceivedTime = None
actuatorTargets = {}

mcu_navigation_output_data_x_arr = [0]
mcu_navigation_output_data_y_arr = [0]
mcu_navigation_output_data_z_arr = [0]




def get_manifest():
    with open('./manifest.json') as f:
        manifest = json.loads(f.read())
    return manifest

manifest = get_manifest()

async def websocket_handler(websocket: websockets.WebSocketServer, path: str):
    json_data_response: str
    register_websocket(websocket)
    while True:
        try:
            message = json.loads(await websocket.recv())
            print(f"< {message}")
            if message["type"] == "data_request": #get_db_sensor_data
                # SIMULATE DATA
                json_data_response = json.dumps(get_sensor_data(message["category"]).__dict__)  # use ResponsObject.__dict__ to get a dictionary representation that json.dumps into string

                # REAL DB DATA
                # json_data_response = json.dumps(get_db_sensor_data(message["category"]).__dict__)

                print(f"> {json_data_response}")
                await websocket.send(json_data_response)
            elif message["type"] == "actuator_put":
                put_actuator_value(message["actuator_id"], message["value"])
            elif message["type"] == "manifest_request":
                manifest = get_manifest()
                manifest["is_manifest"] = True;
                await websocket.send(json.dumps(manifest))

        except websockets.ConnectionClosedOK:
            print(f"Terminated OK")
            unregister_websocket(websocket)
            break
        except websockets.ConnectionClosedError as e:
            print(f"Terminated Error (Client not responding): Code: {e.code}")
            unregister_websocket(websocket)
            break


def register_websocket( websocket: websockets.WebSocketServer):
    CLIENTS.add(websocket)


def unregister_websocket( websocket: websockets.WebSocketServer):
    CLIENTS.remove(websocket)



def get_sensor_data(category) -> ResponseObject:
    # ToDo: lookup sensor values
    data_points = {}
    for sensor_key in manifest["sensors"]:
        data_points[sensor_key] = getMockupSensorValue(sensor_key)
    for act_key in manifest["actuators"]:
        data_points[act_key] = getMockupSensorValue(act_key)
            #data_points[act_key+"_ovr"] = getActuatorOverrideStatus(act_key) #
    for mcu_key in manifest["mcu"]:
        data_points[mcu_key] = getMockupSensorValue(mcu_key)
    for config_key in manifest["config"]:
        data_points[config_key] = getMockupSensorValue(config_key)

    actuator_targets = {}
    #for actuator_id in actuatorTargets:
    #    if actuator_id in sensor_ids:
    #        actuator_targets[actuator_id] = actuatorTargets[actuator_id]
    print(data_points)
    return ResponseObject(data_points, actuator_targets)

def get_db_sensor_data(category) -> ResponseObject:
    # ToDo: lookup sensor values
    data_points = {}
    for sensor_key in manifest["sensors"]:
        data_points[sensor_key] = getDatabaseValue(sensor_key)
    for act_key in manifest["actuators"]:
        data_points[act_key] = getDatabaseValue(act_key)
            #data_points[act_key+"_ovr"] = getActuatorOverrideStatus(act_key) #
    for mcu_key in manifest["mcu"]:
        data_points[mcu_key] = getDatabaseValue(mcu_key)
    for config_key in manifest["config"]:
        data_points[config_key] = getDatabaseValue(config_key)

    actuator_targets = {}
    #for actuator_id in actuatorTargets:
    #    if actuator_id in sensor_ids:
    #        actuator_targets[actuator_id] = actuatorTargets[actuator_id]
    print(data_points)
    return ResponseObject(data_points, actuator_targets)


def put_actuator_value( actuator_id: str, actuator_value: float):
    # ToDo: set actuator value
    actuatorTargets[actuator_id] = actuator_value
    return None

def setupMockDatabase():
    for section in manifest:
        print(f"--------------\n" + section)
        for key in manifest[section]:
            print(" > " + key + ": " + json.dumps(manifest[section][key]))

            # set keys with default values
            db.set(key, manifest[section][key]["range_min"] if "range_min" in manifest[section][key] else 0)

def getMockupSensorValue(key):
    scale = 1
    if (key[0:3] == "sen"):
        scale = manifest["sensors"][key]["range_max"] if "range_max" in manifest["sensors"][key] else 1
    if (key[0:3] == "act"):
        scale = manifest["actuators"][key]["range_max"] if "range_max" in manifest["actuators"][key] else 1
    if (key[0:3] == "mcu"):
        if key in ["mcu_navigation_output_data_x", "mcu_navigation_output_data_y", "mcu_navigation_output_data_z", "mcu_macro_state"]:
            if key == "mcu_navigation_output_data_x":
                db.set('mcu_navigation_output_data_x', float(db.get('mcu_navigation_output_data_x').decode('utf-8'))+0.01)
                newVal = round(float(db.get('mcu_navigation_output_data_x').decode('utf-8')), 2)
                if(newVal != mcu_navigation_output_data_x_arr[-1]):
                    mcu_navigation_output_data_x_arr.append(newVal)
                return mcu_navigation_output_data_x_arr
            if key == "mcu_navigation_output_data_y":
                scale = 300
                newVal = round((math.sin(time.time()/10)+1)/2 * scale - 150, 2)
                if(len(mcu_navigation_output_data_x_arr) == len(mcu_navigation_output_data_y_arr)):
                    mcu_navigation_output_data_y_arr[-1] = newVal
                else:
                    mcu_navigation_output_data_y_arr.append(newVal)
                return mcu_navigation_output_data_y_arr
            if key == "mcu_navigation_output_data_z":
                newVal = round((math.sin(time.time() / 30) - 1) / 2 * 2, 2)
                if (len(mcu_navigation_output_data_x_arr) == len(mcu_navigation_output_data_z_arr)):
                    mcu_navigation_output_data_z_arr[-1] = newVal
                else:
                    mcu_navigation_output_data_z_arr.append(newVal)
                return mcu_navigation_output_data_z_arr
            if key == "mcu_macro_state":
                return ["Macro State 1", "Macro State 2"][random.randint(0, 1)]
        else:
            scale = manifest["mcu"][key]["range_max"] if "range_max" in manifest["mcu"][key] else 1
    if (key[0:3] == "con"):
        scale = manifest["config"][key]["range_max"] if "range_max" in manifest["config"][key] else 1

    return round((math.sin(time.time()/10)+1)/2 * scale, 2)

def getDatabaseValue(key):
    if (key[0:3] == "mcu"):
        if key in ["mcu_navigation_output_data_x", "mcu_navigation_output_data_y", "mcu_navigation_output_data_z", "mcu_macro_state"]:
            if key == "mcu_navigation_output_data_x":
                newVal = round(float(db.get('mcu_navigation_output_data_x').decode('utf-8')), 2)
                if(newVal != mcu_navigation_output_data_x_arr[-1]):
                    mcu_navigation_output_data_x_arr.append(newVal)
                return mcu_navigation_output_data_x_arr
            if key == "mcu_navigation_output_data_y":
                newVal = round(float(db.get('mcu_navigation_output_data_x').decode('utf-8')), 2)
                if(len(mcu_navigation_output_data_x_arr) == len(mcu_navigation_output_data_y_arr)):
                    mcu_navigation_output_data_y_arr[-1] = newVal
                else:
                    mcu_navigation_output_data_y_arr.append(newVal)
                return mcu_navigation_output_data_y_arr
            if key == "mcu_navigation_output_data_z":
                newVal = round(float(db.get('mcu_navigation_output_data_z').decode('utf-8')), 2)
                if (len(mcu_navigation_output_data_x_arr) == len(mcu_navigation_output_data_z_arr)):
                    mcu_navigation_output_data_z_arr[-1] = newVal
                else:
                    mcu_navigation_output_data_z_arr.append(newVal)
                return mcu_navigation_output_data_z_arr
            if key == "mcu_macro_state":
                return db.get('mcu_macro_state').decode('utf-8')
    else:
        return round(float(db.get('mcu_navigation_output_data_x').decode('utf-8')), 2)


def getActuatorOverrideStatus(act_key):
    setMockupActuatorOverrideStatus(act_key) # Todo: Delete line for Production
    db.hget(act_key, 'telem_override')
    pass

def setMockupActuatorOverrideStatus(act_key):
    db.hset(act_key, 'telem_override', 0)

if __name__ == '__main__':
    db = redis.Redis(host='localhost', port=6379, db=0)
    time.sleep(0.1)

    #init_helpers(db, 'Telemetry')
    print(f'Telemetry initialised...')

    server = websockets.serve(websocket_handler, "localhost", 5678)

    print(f'Starting Telemetry Websocket...')
    print()

    setupMockDatabase()
    asyncio.get_event_loop().run_until_complete(server)
    asyncio.get_event_loop().run_forever()  # ToDo: Move blocking loop out of setup function