STM32 GPS悬停飞控 （三十八）树莓派 服务器中转

由于要用树莓派和lte，所有的数据都要经过公网，但是无论是树莓派还是用户终端都没公网ip，所以要用一个服务器中转一下。

socket_transfer.py就是中转服务器。serial_socket_connect.py运行在树莓派上，是socket客户端。socket_decode.py运行在用户终端，也是socket客户端。

现在socket_transfer这个服务器软件能够运行，但是还是不实用，它每次先等树莓派连上，然后再等客户端连上。

实际这树莓派和用户终端这两个客户端都有可能会掉线，需要断线重连，那么服务器就要做到随时在任意时刻都能被这两种客户端接入。

socket_transfer.py

#!/usr/bin/python
# coding=UTF-8

import socket, time
 
sock_quadcopter = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_quadcopter.bind(("127.0.0.1", 8000))
sock_quadcopter.listen(2)

sock_client = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_client.bind(("127.0.0.1", 8001))
sock_client.listen(2)

sock_quadcopter.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sock_client.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)

src, src_addr = sock_quadcopter.accept()
print "Source Connected by", src_addr
 
dst, dst_addr = sock_client.accept()
print "Destination Connected by", dst_addr
 
while True:
    msg = src.recv(50)
    if not msg:
        break
    try:
        dst.sendall(msg)
    except Exception as ex:
        dst, dst_addr = sock_client.accept()
        print "Destination Connected Again By", dst_addr
        src, src_addr = sock_quadcopter.accept()
        print "Source Connected by", src_addr
    except KeyboardInterrupt:
        print "Interrupted"
        break
 
src.close()
dst.close()
sock_quadcopter.close()
sock_client.close()

socket_decode.py

#!/usr/bin/python
# coding=UTF-8
 
import serial
import socket, time

HOST, PORT = "127.0.0.1", 8001
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((HOST, PORT))

received_data = 0
receive_buffer_counter = 0
receive_start_detect = 0
receive_buffer = [0 for i in range(50)]
hex_buffer = [0 for i in range(50)]
receive_byte_previous = 0
max_altitude_meters = 0
 
def hexshow(data):
    e = 0
    for i in data:
        d = ord(i)
        e = e*256 + d
    return e
 
def get_data():
    global max_altitude_meters
    for i in range(34):
        hex_buffer[i] = hexshow(receive_buffer[i])
    #print hex_buffer
    #print receive_buffer
 
    check_byte = 0;
    for temp_byte in range(30):
        check_byte ^= hex_buffer[temp_byte]
 
    if check_byte == hex_buffer[31]:
        error = hex_buffer[0]
        flight_mode = hex_buffer[1]
        battery_voltage = (float)(hex_buffer[2])/10.0
        temperature = hex_buffer[3] | ( hex_buffer[4]<<8)
        roll_angle = hex_buffer[5] - 100
        pitch_angle = hex_buffer[6] - 100
        start = hex_buffer[7]
        altitude_meters = (hex_buffer[8] | hex_buffer[9] << 8) - 1000
        if altitude_meters > max_altitude_meters:
            max_altitude_meters = altitude_meters
        takeoff_throttle = hex_buffer[10] | hex_buffer[11] << 8
        actual_compass_heading = hex_buffer[12] | hex_buffer[13] << 8
        heading_lock = hex_buffer[14]
        number_used_sats = hex_buffer[15]
        fix_type = hex_buffer[16]
        l_lat_gps = hex_buffer[17] | hex_buffer[18] << 8 | hex_buffer[19] << 16 | hex_buffer[20] << 24
        l_lon_gps = hex_buffer[21] | hex_buffer[22] << 8 | hex_buffer[23] << 16 | hex_buffer[24] << 24
        adjustable_setting_1 = (float)(hex_buffer[25] | hex_buffer[26] << 8) / 100.0;
        adjustable_setting_2 = (float)(hex_buffer[27] | hex_buffer[28] << 8) / 100.0;
        adjustable_setting_3 = (float)(hex_buffer[29] | hex_buffer[30] << 8) / 100.0;
        print error, flight_mode, battery_voltage, temperature, roll_angle, pitch_angle, start, altitude_meters, takeoff_throttle   
        print actual_compass_heading, heading_lock, number_used_sats, fix_type, l_lat_gps, l_lon_gps, adjustable_setting_1, adjustable_setting_2, adjustable_setting_3
 
if __name__ == '__main__':
    try:
        while True:
            data = sock.recv(50) 
            if data:
                if received_data == 0:
                    received_data = 1
                for nextByte in data:
                    if nextByte >= 0:
                        receive_buffer[receive_buffer_counter] = nextByte     
                    if receive_byte_previous == 'J' and receive_buffer[receive_buffer_counter] == 'B':
                        receive_buffer_counter = 0
                        receive_start_detect = receive_start_detect + 1
                        if receive_start_detect >= 2:
                            get_data()
                    else:
                        receive_byte_previous = receive_buffer[receive_buffer_counter]
                        receive_buffer_counter = receive_buffer_counter + 1
                        if (receive_buffer_counter > 48):
                            receive_buffer_counter = 0     
                 
    except KeyboardInterrupt:
        if sock != None:
            sock.close()

serial_socket_connect.py

#!/usr/bin/python
# coding=UTF-8
 
import serial
import socket, time

serial = serial.Serial('/dev/ttyUSB0', 9600)
print serial
if serial.isOpen():
   print("open success")
else:
   print("open failed")

HOST, PORT = "127.0.0.1", 8000
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((HOST, PORT))
 
while True:
    nextByte = serial.read(50)
    try:
        sock.sendall(nextByte)
    except KeyboardInterrupt:
        print "Interrupted"
        if serial != None:
            serial.close()
        sock.close()
        break