set_urg_ip.py

Go to the documentation of this file.

#!/usr/bin/env python
 
# Copyright (c) 2014 Unbounded Robotics Inc.
# All right reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above copyright
#     notice, this list of conditions and the following disclaimer in the
#     documentation and/or other materials provided with the distribution.
#   * Neither the name of Unbounded Robotics Inc. nor the names of its
#     contributors may be used to endorse or promote products derived
#     from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL UNBOUNDED ROBOTICS INC. BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
# OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
"""
Change the IP address of a Hokuyo URG Laser
"""
 
import argparse
import socket
 
def parse_and_validate_ipv4(argument, name):
    """
    Each address must have 4
    """
    if len(argument.split(".")) != 4:
        print("Invalid %s, must be of the form xxx.yyy.zzz.www" % name)
        exit(-1)
    parsed = ""
    for x in argument.split("."):
        if len(x) > 3:
            print("Invalid %s, must be of the form xxx.yyy.zzz.www" % name)
            exit(-1)
        while len(x) < 3:
            x = "0" + x
        parsed += x
    return parsed
 
if __name__ == "__main__":
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument('new_ip', help='The desired IP address for the laser')
    parser.add_argument('new_gw', help='The desired gateway for the laser')
    parser.add_argument('--nm', help='The desired netmask for the laser', default="255.255.255.0")
    parser.add_argument('--ip', help='The current IP address of the laser', default="192.168.0.10")
    args = parser.parse_args()
 
    # Packet starts with $IP, ends with \x0a, contains:
    #   12 character IP
    #   12 character netmask
    #   12 character gateway
    ip = parse_and_validate_ipv4(args.new_ip, "IP address")
    gw = parse_and_validate_ipv4(args.new_gw, "gateway address")
    nm = parse_and_validate_ipv4(args.nm, "netmask")
    msg = "$IP" + ip + nm + gw + "\x0a"
 
    print("Connecting to %s" % args.ip)
    sock = socket.socket()
    sock.connect((args.ip, 10940))
 
    print("Updating settings")
    # Make sure to convert msg from str to bytes; required for Python3.
    # Still backwards compatible with Python2.
    sock.send(msg.encode('utf-8'))
 
    try:
        sock.settimeout(5)
        # Socket returns bytes in Python3 and str in Python2.
        returned = sock.recv(40)
    except socket.timeout:
        print("Laser did not return any packet, is probably not updated.")
        exit(-1)
 
    # Make sure to compare bytes to bytes in Python3,
    # and str to str in Python2.
    if msg.encode('utf-8') != returned:
        print("Laser does not appear to have updated")
        exit(-1)
 
    print("Done updating, cycle power on laser")