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00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of Willow Garage, Inc. nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 # 00034 # Copyright (c) 2008, Willow Garage, Inc. 00035 # Revision $Id$ 00036 00037 import socket 00038 import struct 00039 import yaml 00040 import sys 00041 00042 def go(config_file): 00043 data = yaml.load(open(config_file)) 00044 if 'device' not in data: 00045 raise Exception('no device specified') 00046 dev = data['device'] 00047 if type(dev) != dict or not dev.has_key('type'): 00048 raise Exception('parse error on device') 00049 typ = dev['type'] 00050 if typ == 'generic_io_socket_server': 00051 if not dev.has_key('host') or not dev.has_key('port'): 00052 raise Exception('parse error on device') 00053 host = dev['host'] 00054 port = dev['port'] 00055 sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 00056 sock.bind((host, port)) 00057 sock.listen(1) 00058 while True: 00059 print 'Listening for connection' 00060 conn, addr = sock.accept() 00061 print 'Accepted new connection' 00062 while True: 00063 length = 1*4+3*4+4*4; 00064 fmt_str = '<IIIIIIII' 00065 data = '' 00066 while len(data) < length: 00067 new_data = conn.recv(length-len(data)) 00068 if not new_data: 00069 break 00070 data += new_data 00071 if len(data) != length: 00072 break 00073 values = struct.unpack(fmt_str, data) 00074 print 'Received:' 00075 print values 00076 else: 00077 raise Exception('unsupported device type') 00078 00079 00080 USAGE = 'Usage: mock_server.py <config.yaml>' 00081 00082 if __name__ == '__main__': 00083 if len(sys.argv) != 2: 00084 print(USAGE) 00085 sys.exit(1) 00086 go(sys.argv[1]) 00087