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-8import socket, timesock_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_addrdst, dst_addr = sock_client.accept()
print "Destination Connected by", dst_addrwhile True:msg = src.recv(50)if not msg:breaktry:dst.sendall(msg)except Exception as ex:dst, dst_addr = sock_client.accept()print "Destination Connected Again By", dst_addrsrc, src_addr = sock_quadcopter.accept()print "Source Connected by", src_addrexcept KeyboardInterrupt:print "Interrupted"breaksrc.close()
dst.close()
sock_quadcopter.close()
sock_client.close()

socket_decode.py

#!/usr/bin/python
# coding=UTF-8import serial
import socket, timeHOST, 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 = 0def hexshow(data):e = 0for i in data:d = ord(i)e = e*256 + dreturn edef get_data():global max_altitude_metersfor i in range(34):hex_buffer[i] = hexshow(receive_buffer[i])#print hex_buffer#print receive_buffercheck_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])/10.0temperature = hex_buffer[3] | ( hex_buffer[4]<<8)roll_angle = hex_buffer[5] - 100pitch_angle = hex_buffer[6] - 100start = hex_buffer[7]altitude_meters = (hex_buffer[8] | hex_buffer[9] << 8) - 1000if altitude_meters > max_altitude_meters:max_altitude_meters = altitude_meterstakeoff_throttle = hex_buffer[10] | hex_buffer[11] << 8actual_compass_heading = hex_buffer[12] | hex_buffer[13] << 8heading_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] << 24l_lon_gps = hex_buffer[21] | hex_buffer[22] << 8 | hex_buffer[23] << 16 | hex_buffer[24] << 24adjustable_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_3if __name__ == '__main__':try:while True:data = sock.recv(50) if data:if received_data == 0:received_data = 1for 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 = 0receive_start_detect = receive_start_detect + 1if receive_start_detect >= 2:get_data()else:receive_byte_previous = receive_buffer[receive_buffer_counter]receive_buffer_counter = receive_buffer_counter + 1if (receive_buffer_counter > 48):receive_buffer_counter = 0     except KeyboardInterrupt:if sock != None:sock.close()

serial_socket_connect.py

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

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