_004_AgentTest.py

import thread
##from serial import Serial
from ws4py.client.threadedclient import WebSocketClient
import time
import re
import socket
import sys

CRITICAL_BATTERY_LEVEL = 3.6
BROADCAST_NETWORK = '192.168.1.255'
WEBSOCKET_SERVER_ENDPOINT = "ws://localhost:8080/Coordinator/websocketserver"


##-------------------- Battery Monitoring Service ---------------------------##

def monitorBatteries():
    # serialPort = Serial("/dev/ttyAMA0", 9600, timeout=2)
    # if (serialPort.isOpen() == False):
    #     serialPort.open()
    #
    # outStr = ''
    # inStr = ''
    #
    # serialPort.flushInput()
    # serialPort.flushOutput()

    while True:
        ##        response = serialPort.readline()
        response = "3.81-----3.61"
        status = False
        ##        print response

        values = response.split("-----")
        for value in values:
            value = float(re.findall("\d+\.\d+", value)[0])
            if value < float(CRITICAL_BATTERY_LEVEL):
                status = True
            else:
                status = False
        if status == True:
            thread.interrupt_main()
            print "Critical Battery Level"
            break


# serialPort.close()

##-------------------- End of Battery Monitoring Service---------------------------##


##-------------------- Register to the Service via Coordinator---------------------##
# def registerToService ():
#     addr = (BROADCAST_NETWORK, 33333) # broadcast address explicitly
#
#     UDPSock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # Create socket
#
#     print "Starting the registering process"
#
#     data1 = "register"
#     # Almost infinite loop... ;)
#     while True:
#         if UDPSock.sendto(data1, addr):
#             print "Sending message '%s'..." % data1
#             try:
#                 addr1 = ('', 33334)
#                 UDPSock2 = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
#                 UDPSock2.bind(addr1)
#                 UDPSock2.settimeout(10)
#                 data, addr1 = UDPSock2.recvfrom(1024)
#                 UDPSock2.close()
#                 print "Server IP is %s" %(data)
#                 data1 = data
#                 UDPSock.close()
#                 break
#             except:
#                 print "Time out exception"
#
#
#     UDPSock.close()             # Close socket
#     print 'Client stopped.'
#     return data1;
##-------------------- End of Register to the Service ------------------------------##



##-------------------- WebSocket Connection ----------------------------------------##

# class DummyClient(WebSocketClient):
#     def opened(self):
#         print "Connection Established"
#
#     def closed(self, code, reason=None):
#         print "Connection Closed down", code, reason
#
#
#     def received_message(self, m):
#         print m



##-------------------- End of WebSocket Connection ---------------------------------##

def ultrasonicDistance():
    print "us"
    while True:
        ##        response = serialPort.readline()
        response = "3.81-----3.61"
        status = False
        ##        print response

        values = response.split("-----")
        for value in values:
            value = float(re.findall("\d+\.\d+", value)[0])
            if value < float(CRITICAL_BATTERY_LEVEL):
                status = True
            else:
                status = False
        if status == True:
            thread.interrupt_main()
            print "Critical Battery Level"
            break


def main():
    try:
        ######### Start Battery Monitoring Thread #####
        thread.start_new_thread(monitorBatteries, ())

        ######### Getting key points path #############
        from TSP import main as main_from_TSP
        main_from_TSP()
        ######### End of getting key points path #############

        ######### Obstacle avoidance #############
        thread.start_new_thread(ultrasonicDistance, ())
        ######### End Obstacle avoidance #############

        ######### Register to the Service #############
    ##        serverIp = registerToService()
    ##        print serverIp


    ######### Create Web Socket Connection ########
    # ws = DummyClient(WEBSOCKET_SERVER_ENDPOINT)
    # ws.connect()


    ######### Ask for other Agents in System #######
    # ws.send("Test")
    ##--------------------------------------         synchronization  error recovery methods


    ######### Wait for map #########################






    except KeyboardInterrupt:
        print "Exception"
        # ws.close()

    print "App closed"


if __name__ == "__main__":
    main()