hexapod pc client

.gitignore

@@ -2,3 +2,4 @@
 *.pyc
 .vscode/
 *.blend1
+software/pc/config.json

software/pc/hexapod.py

@@ -0,0 +1,259 @@
+"""
+    Copyright (C) 2017 - PRESENT  Zhengyu Peng, https://zpeng.me
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+    ----------
+
+    `                      `
+    -:.                  -#:
+    -//:.              -###:
+    -////:.          -#####:
+    -/:.://:.      -###++##:
+    ..   `://:-  -###+. :##:
+           `:/+####+.   :##:
+    .::::::::/+###.     :##:
+    .////-----+##:    `:###:
+     `-//:.   :##:  `:###/.
+       `-//:. :##:`:###/.
+         `-//:+######/.
+           `-/+####/.
+             `+##+.
+              :##:
+              :##:
+              :##:
+              :##:
+              :##:
+               .+:
+
+"""
+
+import sys
+from PySide6 import QtWidgets, QtCore, QtGui
+from PySide6.QtCore import Qt
+from PySide6.QtCore import QThread, QFile
+from PySide6.QtUiTools import QUiLoader
+
+import psutil
+import socket
+
+from pathlib import Path
+import json
+
+from tcpclient import TCPClient
+
+QtWidgets.QApplication.setAttribute(
+    QtCore.Qt.AA_EnableHighDpiScaling, True)  # enable highdpi scaling
+QtWidgets.QApplication.setAttribute(
+    QtCore.Qt.AA_UseHighDpiPixmaps, True)  # use highdpi icons
+
+
+class MyApp(QtWidgets.QMainWindow):
+
+    def __init__(self):
+        super(MyApp, self).__init__()
+
+        self.status_message = ['● Idle', '● Idle',
+                               '● Idle', '● Idle', '● Idle', '']
+
+        config_file = Path('config.json')
+
+        if config_file.exists():
+            self.config = json.load(open('config.json', 'r'))
+        else:
+            self.config = dict()
+            json.dump(self.config, open('config.json', 'w+'))
+
+        """Load UI"""
+        ui_file_name = "mainwindow.ui"
+        ui_file = QFile(ui_file_name)
+        loader = QUiLoader()
+        self.ui = loader.load(ui_file)
+
+        ui_file.close()
+        self.init_ui()
+
+        self.ui.comboBox_Interface.currentIndexChanged.connect(
+            self.on_interface_selection_change)
+        self.ui.button_Refresh.clicked.connect(self.on_refresh_button_clicked)
+
+        self.ui.button_TcpClient.clicked.connect(
+            self.on_tcp_client_connect_button_clicked
+        )
+
+        self.ui.show()
+
+    def save_config(self):
+        try:
+            json.dump(self.config, open('config.json', 'w+'))
+        except PermissionError as err:
+            pass
+
+    def init_ui(self):
+        # Interface
+        self.update_network_interfaces()
+
+        # TCP Client
+        # self.ui.textBrowser_TcpClientMessage.setEnabled(False)
+        # self.ui.lineEdit_TcpClientSend.setEnabled(False)
+        # self.ui.button_TcpClientSend.setEnabled(False)
+
+        tcp_client_ip = self.config.get('TCP_Client_IP', '127.0.0.1')
+        tcp_client_port = self.config.get('TCP_Client_Port', '1234')
+        self.ui.lineEdit_TcpClientTargetIP.setText(tcp_client_ip)
+        self.ui.lineEdit_TcpClientTargetPort.setText(tcp_client_port)
+
+    def update_network_interfaces(self):
+        self.net_if = psutil.net_if_addrs()
+
+        interface_idx = self.config.get('Interface', 0)
+        self.ui.comboBox_Interface.clear()
+
+        net_names = list(self.net_if.keys())
+        net_if_stats = psutil.net_if_stats()
+
+        for if_name in net_names:
+            if not net_if_stats[if_name].isup:
+                self.net_if.pop(if_name, None)
+            else:
+                self.ui.comboBox_Interface.addItem(if_name)
+
+        if interface_idx >= self.ui.comboBox_Interface.count():
+            self.ui.comboBox_Interface.setCurrentIndex(0)
+        else:
+            self.ui.comboBox_Interface.setCurrentIndex(interface_idx)
+
+        current_interface = self.ui.comboBox_Interface.currentText()
+        self.config['Interface'] = self.ui.comboBox_Interface.currentIndex()
+
+        for snicaddr in self.net_if[current_interface]:
+            if snicaddr.family == socket.AF_INET:
+                ipv4_add = snicaddr.address
+                break
+            else:
+                ipv4_add = '0.0.0.0'
+
+        self.ui.label_LocalIP.setText(ipv4_add)
+
+        self.save_config()
+
+    def on_interface_selection_change(self):
+        current_interface = self.ui.comboBox_Interface.currentText()
+
+        if current_interface in self.net_if:
+            for snicaddr in self.net_if[current_interface]:
+                if snicaddr.family == socket.AF_INET:
+                    ipv4_add = snicaddr.address
+                    break
+                else:
+                    ipv4_add = '0.0.0.0'
+        else:
+            return
+
+        self.ui.label_LocalIP.setText(ipv4_add)
+        self.config['Interface'] = self.ui.comboBox_Interface.currentIndex()
+        self.save_config()
+
+    def on_refresh_button_clicked(self):
+        self.update_network_interfaces()
+
+    # TCP Client
+    def on_tcp_client_connect_button_clicked(self):
+        if self.ui.button_TcpClient.text() == 'Connect':
+            self.ui.button_TcpClient.setEnabled(False)
+            self.ui.lineEdit_TcpClientTargetIP.setEnabled(False)
+            self.ui.lineEdit_TcpClientTargetPort.setEnabled(False)
+
+            self.tcp_client_thread = QThread()
+            self.tcp_client = TCPClient(
+                self.ui.lineEdit_TcpClientTargetIP.text(),
+                int(self.ui.lineEdit_TcpClientTargetPort.text()))
+
+            self.tcp_client_thread.started.connect(self.tcp_client.start)
+            self.tcp_client.status.connect(self.on_tcp_client_status_update)
+            self.tcp_client.message.connect(self.on_tcp_client_message_ready)
+
+            self.tcp_client.moveToThread(self.tcp_client_thread)
+
+            self.tcp_client_thread.start()
+
+            self.config['TCP_Client_IP'] = self.ui.lineEdit_TcpClientTargetIP.text()
+            self.config['TCP_Client_Port'] = self.ui.lineEdit_TcpClientTargetPort.text()
+            self.save_config()
+
+        elif self.ui.button_TcpClient.text() == 'Disconnect':
+            self.ui.button_TcpClient.setEnabled(False)
+            self.tcp_client.close()
+
+    def on_tcp_client_status_update(self, status, addr):
+        if status == TCPClient.STOP:
+            self.tcp_client.status.disconnect()
+            self.tcp_client.message.disconnect()
+
+            self.ui.button_TcpClient.setText('Connect')
+            self.tcp_client_thread.quit()
+
+            self.ui.lineEdit_TcpClientTargetIP.setEnabled(True)
+            self.ui.lineEdit_TcpClientTargetPort.setEnabled(True)
+
+            self.ui.textBrowser_TcpClientMessage.setEnabled(False)
+            self.ui.lineEdit_TcpClientSend.setEnabled(False)
+            self.ui.button_TcpClientSend.setEnabled(False)
+            self.status_message[0] = '● Idle'
+            if self.ui.tabWidget.currentIndex() == 0:
+                self.on_tab_changed(0)
+
+        elif status == TCPClient.CONNECTED:
+            self.ui.button_TcpClient.setText('Disconnect')
+
+            self.ui.textBrowser_TcpClientMessage.setEnabled(True)
+            self.ui.lineEdit_TcpClientSend.setEnabled(True)
+            self.ui.button_TcpClientSend.setEnabled(True)
+            self.status_message[0] = '● Connected to ' +\
+                self.ui.label_LocalIP.text() +\
+                ':'+self.ui.lineEdit_TcpClientTargetPort.text()
+            if self.ui.tabWidget.currentIndex() == 0:
+                self.on_tab_changed(0)
+
+        self.ui.button_TcpClient.setEnabled(True)
+
+    def on_tcp_client_message_ready(self, source, msg):
+        self.ui.textBrowser_TcpClientMessage.append(
+            '<p style="text-align: center;"><span style="color: #2196F3;"><strong>----- ' +
+            source +
+            ' -----</strong></span></p>')
+        self.ui.textBrowser_TcpClientMessage.append(
+            '<p style="text-align: center;"><span style="color: #2196F3;">' +
+            msg +
+            '</span></p>')
+
+    def on_tcp_client_message_send(self):
+        self.tcp_client.send(self.ui.lineEdit_TcpClientSend.text())
+        self.ui.textBrowser_TcpClientMessage.append(
+            '<p style="text-align: center;"><strong>----- ' +
+            'this' +
+            ' -----</strong></p>')
+        self.ui.textBrowser_TcpClientMessage.append(
+            '<p style="text-align: center;">' +
+            self.ui.lineEdit_TcpClientSend.text() +
+            '</p>')
+        self.ui.lineEdit_TcpClientSend.clear()
+
+
+if __name__ == "__main__":
+    QtCore.QCoreApplication.setAttribute(QtCore.Qt.AA_ShareOpenGLContexts)
+    app = QtWidgets.QApplication(sys.argv)
+    window = MyApp()
+
+    sys.exit(app.exec())

software/pc/mainwindow.ui

@@ -346,8 +346,6 @@
   <widget class="QStatusBar" name="status_bar"/>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
- <resources>
+ <resources/>
-  <include location="res.qrc"/>
- </resources>
  <connections/>
 </ui>

software/pc/tcpclient.py

@@ -0,0 +1,104 @@
+"""
+    Copyright (C) 2017 - 2021  Zhengyu Peng, https://zpeng.me
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+    ----------
+
+    `                      `
+    -:.                  -#:
+    -//:.              -###:
+    -////:.          -#####:
+    -/:.://:.      -###++##:
+    ..   `://:-  -###+. :##:
+           `:/+####+.   :##:
+    .::::::::/+###.     :##:
+    .////-----+##:    `:###:
+     `-//:.   :##:  `:###/.
+       `-//:. :##:`:###/.
+         `-//:+######/.
+           `-/+####/.
+             `+##+.
+              :##:
+              :##:
+              :##:
+              :##:
+              :##:
+               .+:
+
+"""
+
+from PySide6.QtCore import QObject, Signal, Slot
+import socket
+
+
+class TCPClient(QObject):
+    status = Signal(int, object)
+    message = Signal(object, object)
+    ERROR = -1
+    LISTEN = 1
+    CONNECTED = 2
+    STOP = 3
+
+    SIG_NORMAL = 0
+    SIG_STOP = 1
+    SIG_DISCONNECT = 2
+
+    def __init__(self, ip, port):
+        QObject.__init__(self)
+
+        self.ip = ip
+        self.port = port
+        self.tcp_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self.tcp_socket.settimeout(1)
+
+        self.signal = self.SIG_NORMAL
+
+    @Slot()
+    def start(self):
+        try:
+            self.tcp_socket.connect((self.ip, self.port))
+        except OSError as err:
+            print(err)
+            # self.status.emit(self.STOP, '')
+        else:
+            # print('connected')
+            self.status.emit(self.CONNECTED, self.ip)
+
+            while True:
+                if self.signal == self.SIG_NORMAL:
+                    try:
+
+                        data = self.tcp_socket.recv(4096)
+                    except socket.timeout as t_out:
+                        pass
+                    else:
+                        if data:
+                            self.message.emit(
+                                self.ip+':'+str(self.port),
+                                data.decode())
+                        else:
+                            break
+                elif self.signal == self.SIG_DISCONNECT:
+                    self.signal = self.SIG_NORMAL
+                    self.tcp_socket.close()
+                    break
+        finally:
+            self.status.emit(self.STOP, '')
+
+    def send(self, msg):
+        self.tcp_socket.sendall(msg.encode())
+
+    def close(self):
+        self.signal = self.SIG_DISCONNECT