추상 상위 클래스 인터페이스

class TcpServerAdapter(Adapter):
    def __init__(self, host_address, server=TcpServer):
        super(TcpServerAdapter, self).__init__()
        self.init_server(host_address, server)

    def init_server(self, host_address, server=TcpServer):
        self._server = server(host_address)

    def set_recv_size(self, size):
        self._server.set_recv_size(size)

    def send(self, msg, is_logging=True):
        return self._server.send(msg, is_logging)

    def recv(self):
        return self._server.recv()

    def start(self):
        self.before_start_adapter()
        while not self.is_stop_adapter:
            try:
                self._server.before_recv()
                cmds = self._server.recv()
                logging.info("Received raw data from client:{}".format(cmds))
                if not cmds:
                    logging.warning("Adapter client is disconnected!")
                    self.code_signal.emit(logging.WARNING, CENTER_CLIENT_DISCONNECTED)
                    self._server.close_client()
                    self.accept()
                    continue
                self._server.after_recv()
            except socket.error:
                logging.warning("Adapter client is closed!")
                self.code_signal.emit(logging.WARNING, CENTER_CLIENT_DISCONNECTED)
                self._server.close_client()
                self.accept()
            except Exception as e:
                logging.exception("Exception occurred when receiving data from client: {}.".format(e))
            else:
                try:
                    self.handle_command(cmds)
                    self._server.after_handle()
                except Exception as e:
                    self.msg_signal.emit(logging.ERROR, _translate("messages", "Handle command exception: {}".format(e)))
                    logging.exception("Adapter exception in handle_command(): {}".format(e))

    def close(self):
        super().close()
        self._server.close()

    def before_start_adapter(self):
        super().before_start_adapter()
        self.accept()

    def accept(self):
        if self.is_stop_adapter:
            return
        self.code_signal.emit(logging.INFO, CENTER_WAIT_FOR_CLIENT)
        self._server.accept()
        if self._server.is_connected():
            self.code_signal.emit(logging.INFO, CENTER_CLIENT_CONNECTED)
            self.msg_signal.emit(logging.INFO, _translate("messages", "Client address is") + " {}".format(self._server.remote_socket()[1]))

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class TcpClientAdapter(Adapter):

    def __init__(self, host_address):
        super().__init__()
        self.init_client(host_address)

    def init_client(self, host_address, client=TcpClient):
        self._client = client(host_address)

    def set_bind_port(self, is_bind=True):
        self._client.is_bind_port = is_bind

    def set_recv_size(self, size):
        self._client.set_recv_size(size)

    def send(self, msg, is_logging=True):
        self._client.send(msg, is_logging)

    def recv(self):
        return self._client.recv()

    def start(self):
        self.reconnect_server(False)
        while not self.is_stop_adapter:
            try:
                self._client.before_recv()
                cmds = self._client.recv()
                if not cmds:
                    self.reconnect_server()
                    continue
                logging.info("Received command from server:{}".format(cmds))
                self._client.after_recv()
            except socket.timeout:
                logging.warning("Socket timeout")
                self._client.after_timeout()
            except socket.error:
                sleep(5)
                self.reconnect_server()
            except Exception as e:
                logging.exception("Exception occurred when receiving from server: {}".format(e))
            else:
                try:
                    self.handle_command(cmds)
                except Exception as e:
                    self.msg_signal.emit(logging.ERROR, _translate("messages", "Handle command exception: {}".format(e)))
                    logging.exception("Adapter exception in handle_command(): {}".format(e))

    def close(self):
        super().close()
        self._client.close()

    def reconnect_server(self, is_reconnect=True):
        self._client.reconnect_server()
        if self.is_stop_adapter:
            return
        if self._client.is_connected():
            self.code_signal.emit(logging.INFO, CENTER_CONNECT_TO_SERVER)
        else:
            self.code_signal.emit(logging.WARNING, CENTER_SERVER_DISCONNECTED)

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class TcpMultiThreadingServerAdapter(Adapter):
    def __init__(self, address):
        super().__init__()
        self._servers = {}
        self.add_server(address)
        self.sockets = {}
        self.clients_ip = {}
        self.thread_pool = ThreadPoolExecutor(max_workers=4, thread_name_prefix="tcp_multi_server_thread")
        self.thread_id_socket_dict = {}
        self.set_recv_size()

    def set_recv_size(self, size=1024):
        self.recv_size = size

    def _find_client_ip(self, sock):
        for k, v in self.sockets.items():
            if v = sock:
                return k

    def _find_server(self, sock):
        for k, v in self._servers.items():
            if v = sock:
                return k

    def add_server(self, host_address):
        server = TcpServer(host_address)
        server.bind_and_listen()
        self._servers[server] = server.local_socket()

    def set_clients_ip(self, clients_ip):
        """
            Must be called before start().
            `clients_ip` is a dict(key is client ip, value is client description).
        """
        self.clients_ip = clients_ip

    def add_connection(self, ip_port, sock):
        self.sockets[ip_port] = sock
        logging.info("Add {}, connections: {}".format(ip_port, self.sockets))
        self.msg_signal.emit(logging.INFO, _translate("messages", "The client {} gets online.").format(ip_port))

    def del_connection(self, ip):
        logging.info("Del {}, connections: {}".format(ip, self.sockets))
        if self.client_connection(ip):
            self.client_connection(ip).close()
            self.sockets.pop(ip)
        self.msg_signal.emit(logging.WARNING, _translate("messages", "The client {} gets offline.").format(ip))

    def client_connection(self, client_ip):
        return self.sockets.get(client_ip)

    def check_read_events(self, rs):
        for s in rs:
            if s in self._servers.values():  # recv connection
                server = self._find_server(s)
                if self.is_stop_adapter:
                    return
                server.accept()
                client_socket, client_addr = server.remote_socket()
                ip_port = "{}:{}".format(str(client_addr[0]), str(client_addr[1]))
                self.add_connection(ip_port, client_socket)
            elif s in self.sockets.values():  # recv data
                client_ip = self._find_client_ip(s)
                if not client_ip:
                    continue
                msg = self.recv_by_s(s)
                if not msg:
                    self.del_connection(client_ip)
                    return
                try:
                    future = self.thread_pool.submit(self.handle_command_thread, s, msg)
                except Exception as e:
                    logging.exception("Adapter exception in handle_command(): {}".format(e))

    def handle_command_thread(self, s, msg):
        thread_id = threading.get_ident()
        self.thread_id_socket_dict[thread_id] = s
        self.handle_command(msg)
        # del self.thread_id_socket_dict[thread_id]

    def send(self, msg, is_logging=True):
        thread_id = threading.get_ident()
        sock = self.thread_id_socket_dict.get(thread_id)
        len_total = len(msg)
        while msg:
            if sock:
                len_sent = sock.send(msg)
            else:
                for v in self.sockets.values():
                    try:
                        len_sent = v.send(msg)
                    except Exception as e:
                        logging.warning(e)
            if not len_sent:
                logging.warning("Connection lost, close the client connection.")
                return len_sent
            if is_logging:
                logging.info("Server send: {}, len_sent: {}".format(msg, len_sent))
            msg = msg[len_sent:]
        return len_total

    def recv(self):
        thread_id = threading.get_ident()
        sock = self.thread_id_socket_dict.get(thread_id)
        return self.recv_by_s(sock)

    def recv_by_s(self, sock):
        msg = b""
        try:
            msg = sock.recv(self.recv_size)
        except socket.error:
            logging.error("The client is closed!")
        if msg:
            logging.info("Received message: {}".format(msg))
        return msg

    def check_task(self):
        """
            Interface.
        """

    def close(self):
        super().close()
        for server in self._servers.keys():
            server.close()
        for client_ip in self.sockets.keys():
            try:
                self.client_connection(client_ip).close()
                logging.info("Close socket :{}".format(client_ip))
            except Exception as e:
                logging.warning("Close socket error:{}, exception:{}".format(client_ip, e))
        self.sockets = {}

    def start(self):
        self.before_start_adapter()
        while not self.is_stop_adapter:
            avalible_sockets = list(self.sockets.values()) + list(self._servers.values())
            rs, _, _ = select(avalible_sockets, [], [], 0.1)
            self.check_read_events(rs)
            try:
                self.check_task()
            except Exception as e:
                self.msg_signal.emit(logging.ERROR,
                                     _translate("messages", "Handle command exception: {}".format(e)))
                logging.exception("Exception when check task:{}".format(e))
                sleep(5)

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class IOAdapter(Adapter):
    robot_name = None
    check_rate = 0.5

    def __init__(self, host_address):
        super().__init__()
        self.last_gi = 0

    def get_digital_in(self, timeout=None):
        return super().get_digital_in(self.robot_name, timeout)

    def set_digital_out(self, port, value, timeout=None):
        super().set_digital_out(self.robot_name, port, value, timeout)

    def _check_gi(self):
        gi_js = self.get_digital_in()
        gi = int(json.loads(gi_js.decode())["value"])
        if self.last_gi != gi:
            self.last_gi = gi
            logging.info("Check GI signal status: {}".format(gi))
        self.handle_gi(gi)

    def start(self):
        self.before_start_adapter()
        while not self.is_stop_adapter:
            try:
                self._check_gi()
            except Exception as e:
                logging.exception(e)
                self.check_gi_failed()
            sleep(self.check_rate)

    def handle_gi(self, gi):
        """
            Interface.
        """

    def check_gi_failed(self):
        """
            Interface.
        """

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class AdapterWidget(QWidget):

    def set_adapter(self, adapter):
        self.adapter = adapter
        self.after_set_adapter()

    def after_set_adapter(self):
        """
            Interface.
        """

    def close(self):
        super().close()
        """
            Interface.
        """

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class NotifyService(JsonService):
    service_type = "notify"
    service_name = "adapter"

    def handle_message(self, msg):
        """
            Interface.
        """

    def notify(self, request, _):
        msg = request["notify_message"]
        logging.info("notify message:{}".format(msg))
        return self.handle_message(msg)

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class VisionResultSelectedAtService(JsonService):
    service_type = "vision_watcher"
    service_name = "vision_watcher_adapter"

    def __init__(self):
        self.poses = None

    def poses_found(self, result):
        """
            Interface.
        """

    def posesFound(self, request, _):
        logging.info("{} result:{}".format(jk.mech_vision, request))
        self.poses_found(request)

    def poses_planned(self, result):
        """
            Interface.
        """

    def posesPlanned(self, request, _):
        logging.info("Plan result:{}".format(request))
        self.poses_planned(request)

    def multiPickCombination(self, request, _):
        logging.info("multiPickCombination:{}".format(request))

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class RobotService(JsonService):
    service_type = "robot"
    service_name = "robot"
    jps = [0, 0, 0, 0, 0, 0]
    pose = [0, 0, 0, 1, 0, 0, 0]

    def getJ(self, *_):
        return {"joint_positions": self.jps}

    def setJ(self, jps):
        logging.info("setJ:{}".format(jps))
        self.jps = jps

    def getL(self, *_):
        return {"tcp_pose": self.pose}

    def getFL(self, *_):
        return {"flange_pose": self.pose}

    def setL(self, pose):
        logging.info("setL:{}".format(pose))
        self.pose = pose

    def moveXs(self, params, _):
        pass

    def stop(self, *_):
        pass

    def setTcp(self, *_):
        pass

    def setDigitalOut(self, params, _):
        pass

    def getDigitalIn(self, *_):
        pass

    def switchPauseContinue(self, *_):
        pass

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class OuterMoveService(JsonService):
    service_type = "outer_move"
    service_name = "outer_move"
    move_target_type = TCP_POSE
    velocity = 0.25
    acceleration = 0.25
    blend_radius = 0.05
    motion_type = MOVEJ
    is_tcp_pose = False
    pick_or_place = 0

    def __init__(self):
        self.targets = []

    def gather_targets(self, di, jps, flange_pose):
        """
            Interface.

            Please add targets to `self.targets` here if needed.
        """

    def add_target(self, move_target_type, target):
        self.targets.append({"move_target_type": move_target_type, "target": target})

    def getMoveTargets(self, params, *_):
        """
        @return: targets(move_target_type  0:jps, 1:tcp_pose, 2:obj_pose)
                 velocity(default 0.25)
                 acceleration(default 0.25)
                 blend_radius(default 0.05)
                 motion_type(default moveJ  'J':moveJ, 'L':moveL)
                 is_tcp_pose(default False)
        """
        di = params["di"]
        jps = params["joint_positions"]
        flange_pose = params["pose"]
        logging.info("getMoveTargets: di={}, jps={}, flange_pose={}".format(di, jps, flange_pose))

        self.gather_targets(di, jps, flange_pose)
        targets = self.targets[:]
        self.targets.clear()
        logging.info("Targets: {}".format(targets))
        return {"targets": targets, "velocity": self.velocity, "acceleration": self.acceleration, "blend_radius": self.blend_radius,
                "motion_type": self.motion_type, "is_tcp_pose": self.is_tcp_pose, "pick_or_place": self.pick_or_place}

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def register_service(hub_caller, service, other_info=None):
    server, port = start_server(service)
    if service.service_type = "robot":
        other_info["from_adapter"] = True
        other_info["simulate"] = False
    hub_caller.register_service(service.service_type, service.service_name, port, other_info)
    return server, port

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