STM32 GPS悬停飞控 （三十九）树莓派 断线重连

昨天的程序只是实现了数据通信，但是不太好用，比如服务器端必须要树莓派先连上，再等客户端连上，并且一旦断开没重连机制。

我又修改了程序，服务器端可以在任何时候等待客户端和树莓派，并且它们掉线后再次连接服务器端照样能正常通信，客户端和树莓派的程序也在检测是否和服务器端断开连接，如果发现断开会自动重新连接。

下面是我写得程序，我去掉了串口部分，这样测试工作只需要一台电脑就能完成。

server.py 

#!/usr/bin/python
# coding=UTF-8
 
import socket, time, threading, sys
 
sock_quadcopter = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_quadcopter.bind(("0.0.0.0", 8000))
sock_quadcopter.listen(2)
 
sock_client = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
sock_client.bind(("0.0.0.0", 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 = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
dst = socket.socket(socket.AF_INET,socket.SOCK_STREAM)

quadcopter = 0
client = 0


class quadcopter_thread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.running = True

    def run(self):
        global src, quadcopter
        while self.running:
            try:
                src, src_addr = sock_quadcopter.accept()
                print "Source Connected by", src_addr
                quadcopter = quadcopter + 1
            except Exception as ex:
                    print "1: ", sys.exc_info()
                    print ex

    def stop(self):
        self.running = False
  

class client_thread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.running = True

    def run(self):
        global dst, client
        while self.running:
            try:
                dst, dst_addr = sock_client.accept()
                print "Destination Connected by", dst_addr
                client = client + 1
            except Exception as ex:
                    print "2: ", sys.exc_info()
                    print ex

    def stop(self):
        self.running = False

class transfer_thread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        self.running = True

    def run(self):
        global src, quadcopter
        global dst, client
        while self.running:
            if quadcopter >= 1 and client >= 1:
                try:
                    msg = src.recv(50)
                    if not msg:
                        print "lost quad signal"
                        quadcopter = quadcopter - 1
                    dst.sendall(msg)
                except Exception as ex:
                    print "lost client "
                    #print "3: lost client ", sys.exc_info()
                    client = client - 1
                    print ex

    def stop(self):
        self.running = False

if __name__ == "__main__":
    quad_t = quadcopter_thread()
    quad_t.start()
    client_t = client_thread()
    client_t.start()
    transfer_t = transfer_thread()
    transfer_t.start()

    while True:
        try:
            print quadcopter, client
            time.sleep(1)
        except KeyboardInterrupt:
            print "Interrupted"
            quad_t.stop()
            client_t.stop()
            transfer_t.stop()  
            src.close()
            dst.close()
            sock_quadcopter.close()
            sock_client.close()
            quad_t.join()
            client_t.join()
            transfer_t.join()
            break

quad.py

#!/usr/bin/python
# coding=UTF-8
 
import serial
import socket, time
 
 
HOST, PORT = "127.0.0.1", 8000
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.connect((HOST, PORT))
 
while True:
    nextByte = "12345678"
    try:
        print "sending"
        sock.sendall(nextByte)
        time.sleep(1)
    except Exception as ex:
        print "trying reconnect to server"
        sock.close()
        sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        sock.connect((HOST, PORT))
    except KeyboardInterrupt:
        print "Interrupted"
        sock.close()
        break

 client.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

if __name__ == '__main__':
    try:
        while True:
            data = sock.recv(50) 
            if data:
                if received_data == 0:
                    received_data = 1
                print data
            else:
                print "trying reconnect to server"
                sock.close()
                sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
                sock.connect((HOST, PORT))
                 
    except KeyboardInterrupt:
        if sock != None:
            sock.close()