UDP_socket_s.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Fri Sep 16 14:04:07 2022

@author: miguel-asd
"""

import socket
import sys
import time

class socketUDPserver:
    
    def __init__(self, UDP_IP = "192.168.1.22", UDP_PORT = 5005):
        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # Internet & UDP
        self.sock.bind((UDP_IP, UDP_PORT))
        print('starting up on {} port {}'.format(UDP_IP, UDP_PORT))
        
        
    def sendRecvOnline(self ,angles, bodyAngle):
        print('\nwaiting to receive message')
        data, address = self.sock.recvfrom(4096)

        print('received {} bytes from {}'.format(len(data), address))
        print(data)
        sentdata = "<{0}#{1}#{2}#{3}#{4}#{5}#{6}#{7}#{8}#{9}#{10}#{11}#{12}>"
        command = sentdata.format(round(angles[0,0],2),round(angles[0,1],2), round(angles[0,2],2),
                                  round(angles[1,0],2),round(angles[1,1],2), round(angles[1,2],2),
                                  round(angles[2,0],2),round(angles[2,1],2), round(angles[2,2],2),
                                  round(angles[3,0],2),round(angles[3,1],2), round(angles[3,2],2),
                                  round(bodyAngle,2))
        print(command)
        sent = self.sock.sendto(bytes(command , encoding='utf8'), address)                
                
                
   
class socketTCPserver:
    
    def __init__(self, TCP_IP = "192.168.1.22", PORT = 5005):

        self.buffersize = 8
        self.server_address = (TCP_IP, PORT) 
        self.socket_TCP = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # Internet & TCP
        self.socket_TCP.bind(self.server_address)
        self.socket_TCP.listen(1)
        
        print('starting up on {} port {}'.format(TCP_IP, PORT))
        print('\nwaiting to receive message')
        try:
            self.connection, self.client_address = self.socket_TCP.accept()
        
            print ('connection from', self.client_address)
            time.sleep(0.5)
        except KeyboardInterrupt:
            
            print("Switching off server...")
            self.socket_TCP.shutdown(2)
        
            print("Server closed")
            sys.exit()
        
#         except:
#             print("Restarting data input")
#             pass
            
            
    def sendRecvOnline(self ,angles, bodyAngle):
        # Receive the data in small chunks and retransmit it
        data = self.connection.recv(self.buffersize)
        print('received {} bytes from {}'.format(len(data), self.client_address))
        print(data)
        if data:
            sentdata = "<{0}#{1}#{2}#{3}#{4}#{5}#{6}#{7}#{8}#{9}#{10}#{11}#{12}>"
            command = sentdata.format(round(angles[0,0],2),round(angles[0,1],2), round(angles[0,2],2),
                                      round(angles[1,0],2),round(angles[1,1],2), round(angles[1,2],2),
                                      round(angles[2,0],2),round(angles[2,1],2), round(angles[2,2],2),
                                      round(angles[3,0],2),round(angles[3,1],2), round(angles[3,2],2),
                                      round(bodyAngle,2))
            print(command)
        
            print ('sending data back to the client')
            self.connection.sendall(bytes(command , encoding='utf8'))
        else:
            print ('no more data from', self.client_address)
            
            # Clean up the connection
            self.connection.close()
            print('server closed')
            sys.exit()