Develop Reference

Error on socket.recv (Python)

I got a small python program that communicates with an EV3 robot (lego's robot) via BT. The program sends the EV3 a number 1/2 or 3, the robot makes a predefined movement and send back 'A' to indicate that the movement is done and that it is ready for next command.
The system works great but once in a while the python app crushes with this error message:
'An established connection was aborted by the software in your host machine.' this comes from socket.recv that is called inside btListener() thread.
The relevant python parts:
import bluetooth
from gmail import *
import re
from gtts import gTTS
from time import sleep
import pygame
import serial
import thread
import os
import ftplib
from StringIO import StringIO
from blynkapi import Blynk
def a(): #Send 'a' to 'Status' mailbox
print "Send a to robot"
for i in commandA:
client_sock.send(chr(i))
sleep(1)
def b(): # Send 'b' to 'Status' mailbox
def c(): # Send 'c' to 'Status' mailbox
def clear(): # Send clear array to 'Status' mailbox
for i in clearArray:
client_sock.send(chr(i))
def btListener():
# Listen for end of run reply from the EV3
global ev3Flag, listenFlag
while True:
if listenFlag and (not ev3Flag):
try:
data = client_sock.recv(1024) #Check if EV3 is ready for new command
if data[-2] == 'A':
ev3Flag = True
print "Received 'Ready' from EV3 "
sleep(1)
except Exception as e:
print(e)
print "Failed to read data from socket"
def queueHandler():
# Read next command from QueueArray, call sendFunc and clear the queue
global ev3Flag, listenFlag, queueArray
while True:
if len(queueArray) > 0 and ev3Flag:
sendFunc(queueArray[0])
queueArray.pop(0)
def sendFunc(cmd):
#Send the next command on QueueArray to the EV3
global ev3Flag, listenFlag
if cmd == 1:
try:
ev3Flag = False
listenFlag = False
a()
listenFlag = True
sleep(3)
clear() # clear the EV3 btsocket with a default message
except Exception as e:
print "Error on sendFunc cmd = 1"
print(e)
elif cmd == 2:
try:
except Exception as e:
elif cmd == 3:
try:
except Exception as e:
if __name__ == "__main__":
# Blynk setup
blynk = Blynk(auth_token)
switch1 = Blynk(auth_token, pin = "V0")
switch2 = Blynk(auth_token, pin = "V1")
switch3 = Blynk(auth_token, pin = "V2")
print "Blynk connected"
queueArray = [] # Queue array to hold incoming commands
listenFlag = True # Listen to message from EV3
ev3Flag = True # EV3 ready for new command flag
# BT CONNECTION WITH EV3 #
print "Searching for BT connections: "
nearby_devices = bluetooth.discover_devices()
for bdaddr in nearby_devices:
print bdaddr + " - " + bluetooth.lookup_name(bdaddr)
if target_name == bluetooth.lookup_name(bdaddr):
target_address = bdaddr
break
server_sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
port = 1
server_sock.bind(("", port))
server_sock.listen(1)
client_sock, address = server_sock.accept()
print "Accepted connection from ", address
if target_address is not None:
print "found target bluetooth device with address ", target_address
else:
print "could not find target bluetooth device nearby"
# END BT CONNECTION WITH EV3 #
try:
thread.start_new_thread(queueHandler, ())
except Exception as e: print(e)
try:
thread.start_new_thread(btListener, ())
except Exception as e: print(e)
while True:
res1 = switch1.get_val()
res2 = switch2.get_val()
res3 = switch3.get_val()
if (int)(res1[0]) == 1:
print "Add 1 to queue"
queueArray.append(1)
if (int)(res2[0]) == 1:
print "Add 2 to queue"
queueArray.append(2)
if (int)(res3[0]) == 1:
print "Add 3 to queue"
queueArray.append(3)
Edit 1:
I tested it a bit more and it seems that the crush happens when the program tries to recv data and send data the same time. (via the clear() or a()/b()/c() functions), could that be the situation?
I'm new to sockets so the first solution that comes in mind is create a flag to limit the action of the socket, is there a better/smarter way to keep that from happening?
Edit 2:
I moved the 'listenFlag = True' line inside sendFunc() to after my call to clear() and it seems to solve the problem which was probably due to the python program trying to receive and sand at the same time.

I moved the 'listenFlag = True' line inside sendFunc() to after my call to clear() and it seems to solve the problem which was probably due to the python program trying to receive and sand at the same time.

Opening 2 serial ports simultaneously in python (one tx one for rx)

I am making a throughput test for a bluetooth link, and I need to send data through a serial port to one bluetooth device which will then transport that data wirelessly to another bluetooth device. The other device will then complete the circuit by sending the data back to the host PC via a different serial port.
The problem seems to be when I attempt to open up 2 different instances of PySerial, the program simply hangs. I have isolated it down to running vs. hanging when I comment out one of the two serial port instantiations. Anyone see a problem with how I'm doing this? If so, what is the proper way to do this? See code below:
#/usr/bin/python
import serial
import time
import sys
DEFAULT_BAUD = 115200
SEND_SIZE = 100
def addPath(file):
pth, fl = os.path.split(__file__)
return os.path.join(pth, file)
def is_number(s):
try:
int(s, 16)
return True
except:
return False
class SerialReader():
def __init__(self, portRx, portTx):
self.portTx = portTx
self.portRx = portRx
self.start_time__sec = time.time()
self.interval__sec = 0
self.buffer = []
self.sendtext = ''.join([str(i) for i in range(SEND_SIZE)])
# send first batch of data
self.portTx.write(self.sendtext)
def didDataArrive(self):
# Read port
self.buffer.extend(list(self.portRx.read(1024)))
# Step through the buffer byte and byte and see if the tick text
# is at the front.
while len(self.buffer) >= len(self.sendtext):
if self.buffer[:len(self.sendtext)] == self.sendtext:
# Discard the tick text
self.buffer = self.buffer[len(self.sendtext):]
# Record time
snapshot__sec = time.time()
self.interval__sec = snapshot__sec - self.start_time__sec
self.start_time__sec = snapshot__sec
# send more data
self.portTx.write(self.sendtext)
return True
else:
self.buffer.pop(0)
return False
def main(port1, port2, baudrate1 = DEFAULT_BAUD, baudrate2 = DEFAULT_BAUD):
try:
import serial
except:
traceback.print_exc()
print "="*60
print "You need to install PySerial"
print "Windows: easy_install pyserial"
print "Mac/Linux: sudo easy_install pyserial"
try:
s1 = serial.Serial(port1, baudrate1, timeout = 0.1)
s2 = serial.Serial(port2, baudrate2, timeout = 0.1)
print "Loading serial ports"
except:
print "Serial port error"
exit()
plot_stop = False
dataread = SerialReader(s2, s1)
try:
while plot_stop == False:
if dataread.didDataArrive():
print dataread.interval__sec
except KeyboardInterrupt:
print "Keyboard Interrupt"
plot_stop = True
finally:
print "Closing"
s1.close()
s2.close()
if __name__ == '__main__':
if (len(sys.argv) < 3):
print "Usage: python extract_data.py phonelink_serialport phonelinkclient_serialport [baudrate1] [baudrate2]"
else:
main(*sys.argv[1:])
If I remove one of the following lines (doesn't matter which one), the python script runs (although it eventually crashes because in the code it eventually tries to reference both ports). If I leave these lines in, the program seems to just hang (it just seems to sit there and run indefinitely):
s1 = serial.Serial(port1, baudrate1, timeout = 0.1)
s2 = serial.Serial(port2, baudrate2, timeout = 0.1)

PySerial: how to understand that the timeout occured while reading from serial port?

I'm using PySerial to read from serial port like in the code below.
CheckReadUntil() read output of the command that I send to serial port until the sequence of symbols readUntil are in the serial output.
...
self.ser = serial.Serial(comDev, 115200, timeout=10)
...
#Function that continue to read from Serial port until 'readUntil'
#sequence of symbols appears
def CheckReadUntil(self, readUntil):
outputCharacters = []
while 1:
ch = self.ser.read()
outputCharacters += ch
if outputCharacters[-len(readUntil):]==readUntil:
break
outputLines = ''.join(outputCharacters)
return outputLines
However, if there is no sequence readUntil (for any reason), I'm just stuck in the function CheckReadUntil() forever. The setting timeout=10 sets up timeout so I'm stuck in a loop that iterates every 10 seconds and does nothing, just waiting.
How it is possible to understand that there was a timeout event so I may exit the infinite loop? Output length may be different.

UPDATE (previous answer was not correct, this is the working code from #konstantin):
...
self.ser = serial.Serial(comDev, 115200, timeout=10)
...
#Function that continue to read from Serial port until 'readUntil'
#sequence of symbols appears
def CheckReadUntil(self, readUntil):
outputCharacters = []
while 1:
ch = self.ser.read()
if len(ch) == 0:
break
outputCharacters += ch
if outputCharacters[-len(readUntil):]==readUntil:
break
outputLines = ''.join(outputCharacters)
return outputLines

Access the Twitter API + GetDirectMessages + Arduino in Python

Following a tutorial I was able to get and parse the Twitter stream for my own account and send this information through the serial connection to interact with my Arduino project. However I need to get messages sent directly to me and not my public feed. Below is the code to get the public feed then my attempt at trying to get my direct messages.
How can I achieve this?
##Import Libraries
import twitter
import serial
import time
##authenticate yourself with twitter
api = twitter.Api(consumer_key='*************', consumer_secret='**************', access_token_key='************', access_token_secret='*************')
##set to your serial port
ser = serial.Serial('/dev/tty.usbmodem1a21', 19200)
## check serial port
def checkokay():
ser.flushInput()
time.sleep(3)
line=ser.readline()
time.sleep(3)
if line == ' ':
line=ser.readline()
print 'here'
## Welcome message
print 'Starting Wooden Wave!'
def driptwit():
status = []
x = 0
status = api.GetUserTimeline('wooden_wave') ##grab latest statuses
checkIt = [s.text for s in status] ##put status in an array
drip = checkIt[0].split() ##split first tweet into words
## check for match and write to serial if match
if drip[0] == '#high':
print 'Tweet Recieved, raise block high.'
ser.write('1')
elif drip[0] == '#low': ##break if done
ser.write('0')
print 'Tweet Recieved, raise block low.'
elif drip[0] == '#light': ##break if done
ser.write('2')
print 'Tweet Recieved, turn on LED.'
else:
ser.write('0')
print 'Awaiting Tweet'
while 1:
driptwit() ## call driptwit function
time.sleep(15) ## sleep for 15 seconds to avoid rate limiting
Attempt at gaining direct messages:
##Import Libraries
import twitter
import serial
import time
##authenticate yourself with twitter
api = twitter.Api(consumer_key='***********', consumer_secret='***********', access_token_key='***********', access_token_secret='***********')
##set to your serial port
ser = serial.Serial('/dev/tty.usbmodem1a21', 19200)
## check serial port
def checkokay():
ser.flushInput()
time.sleep(3)
line=ser.readline()
time.sleep(3)
if line == ' ':
line=ser.readline()
print 'here'
## Welcome message
print 'Starting Wooden Wave!'
def driptwit():
status = []
x = 0
status = api.GetDirectMessages() ##grab latest statuses
checkIt = [s.text for s in status] ##put status in an array
drip = checkIt[0].split() ##split first tweet into words
## check for match and write to serial if match
if drip[0] == '#high':
print 'Tweet Recieved, raise block high.'
ser.write('1')
elif drip[0] == '#low': ##break if done
ser.write('0')
print 'Tweet Recieved, raise block low.'
elif drip[0] == '#light': ##break if done
ser.write('2')
print 'Tweet Recieved, turn on LED.'
else:
ser.write('0')
print 'Awaiting Tweet'
while 1:
driptwit() ## call driptwit function
time.sleep(15) ## sleep for 15 seconds to avoid rate limiting
//// UPDATE //
def driptwit():
status = []
x = 0
status = api.GetMentions() ##grab latest statuses
print [s.text for s in status]
checkIt = [s.text for s in status] ##put status in an array
drip = checkIt[0].split() ##split first tweet into words
## check for match and write to serial if match
if drip[0] == '#high':
print 'Tweet Recieved, raise block high.'
ser.write('1')
elif drip[0] == '#low': ##break if done
ser.write('0')
print 'Tweet Recieved, raise block low.'
elif drip[0] == '#light': ##break if done
ser.write('2')
print 'Tweet Recieved, turn on LED.'
else:
ser.write('0')
print 'Awaiting Tweet'
while 1:
driptwit() ## call driptwit function
time.sleep(15) ## sleep for 15 seconds to avoid rate limiting

From your comment, it sounds like api.GetDirectMessages() returned an empty list. Print len(status) directly after the API call to verify that. Are you sure there are new direct messages available to read? Have you tried setting a specific date with api.GetDirectMessages() using the since parameter?
Instead of checking for hash tags in the first token only, check the entire string. In other words test if '#high' in drip instead of if drip[0] == '#high'.

python Client hangs when no data to receive from server and hangs in that thread w/o letting client send

I am trying to figure out how to get my client to send and receive data 'simultaneously' and am using threads. My problem is that, depending on the way I set it up, the way here it waits for data from the server in the recieveFromServer function which is in its own thread and cannot stop it when nothing will be sent. The other way it just waits for user input, and will send to the server and then I'd call the function recieveFromServer after the client sends a message to the server which doesn't allow for fluent communication, but cannot get it to alternate automatically. How do I release the thread when the client has nothing to be sent, or there is no more to be received from the server.
It would get to long if I tried to explain everything I have tried. :)
Thanks.
The client:
from socket import *
from threading import *
import thread
import time
from struct import pack,unpack
from networklingo import *
#from exception import *
HOST = '192.168.0.105'
PORT = 21567
BUFFSIZE = 1024
ADDR = (HOST,PORT)
lock = thread.allocate_lock()
class TronClient:
def __init__(self,control=None):
self.tcpSock = socket(AF_INET,SOCK_STREAM)
#self.tcpSock.settimeout(.2)
self.recvBuff = []
def connect(self):
self.tcpSock.connect(ADDR)
self.clientUID = self.tcpSock.recv(BUFFSIZE)
print 'My clientUID is ', self.clientUID
t = Thread(target = self.receiveFromSrv())
t.setDaemon(1)
t.start()
print 'going to main loop'
self.mainLoop()
#t = Thread(target = self.mainLoop())
#t.setName('mainLoop')
#t.setDaemon(1)
#t.start()
def receiveFromSrv(self):
RECIEVING = 1
while RECIEVING:
#print 'Attempting to retrieve more data'
#lock.acquire()
#print 'Lock Aquired in recieveFromSrv'
#try:
data = self.tcpSock.recv(BUFFSIZE)
#except socket.timeout,e:
#print 'Error recieving data, ',e
#continue
#print data
if not data: continue
header = data[:6]
msgType,msgLength,clientID = unpack("hhh",header)
print msgType
print msgLength
print clientID,'\n'
msg = data[6:]
while len(msg) < msgLength:
data = self.tcpSock.recv(BUFFSIZE)
dataLen = len(data)
if dataLen <= msgLength:
msg += data
else:
remLen = msgLength-len(data) #we just need to retrieve first bit of data to complete msg
msg += data[:remLen]
self.recvBuff.append(data[remLen:])
print msg
#else:
#lock.release()
# print 'lock release in receiveFromSrv'
#time.sleep(2)
#RECIEVING = 0
def disconnect(self,data=''):
self.send(DISCONNECT_REQUEST,data)
#self.tcpSock.close()
def send(self,msgType,msg):
header = pack("hhh",msgType,len(msg),self.clientUID)
msg = header+msg
self.tcpSock.send(msg)
def mainLoop(self):
while 1:
try:
#lock.acquire()
#print 'lock aquired in mainLoop'
data = raw_input('> ')
except EOFError: # enter key hit without any data (blank line) so ignore and continue
continue
#if not data or data == '': # no valid data so just continue
# continue
if data=='exit': # client wants to disconnect, so send request to server
self.disconnect()
break
else:
self.send(TRON_CHAT,data)
#lock.release()
#print 'lock released in main loop'
#self.recieveFromSrv()
#data = self.tcpSock.recv(BUFFSIZE)
#t = Thread(target = self.receiveFromSrv())
#t.setDaemon(1)
#t.start()
if __name__ == "__main__":
cli = TronClient()
cli.connect()
#t = Thread(target = cli.connect())
#t.setName('connect')
#t.setDaemon(1)
#t.start()
The server (uses a lock when incrementing or decrementing number of clients):
from socket import *
from threading import *
import thread
from controller import *
from networklingo import *
from struct import pack,unpack
HOST = ''
PORT = 21567
BUFSIZE = 1024
ADDR = (HOST,PORT)
nclntlock = thread.allocate_lock()
class TronServer:
def __init__(self,maxConnect=4,control=None):
self.servSock = socket(AF_INET,SOCK_STREAM)
# ensure that you can restart server quickly when it terminates
self.servSock.setsockopt(SOL_SOCKET,SO_REUSEADDR,1)
self.servSock.bind(ADDR)
self.servSock.listen(maxConnect)
# keep track of number of connected clients
self.clientsConnected = 0
# give each client a unique identfier for this run of server
self.clientUID = 0
# list of all clients to cycle through for sending
self.allClients = {}
# keep track of threads
self.cliThreads = {}
#reference back to controller
self.controller = control
self.recvBuff = []
def removeClient(self,clientID,addr):
if clientID in self.allClients.keys():
self.allClients[clientID].close()
print "Disconnected from", addr
nclntlock.acquire()
self.clientsConnected -= 1
nclntlock.release()
del self.allClients[clientID]
else:
print 'ClientID is not valid'
def recieve(self,clientsock,addr):
RECIEVING = 1
# loop serving the new client
while RECIEVING: # while PLAYING???
try:
data = clientsock.recv(BUFSIZE)
except:
RECIEVING = 0
continue
# if not data: break #no data was recieved
if data != '':
print 'Recieved msg from client: ',data
header = data[:6]
msgType,msgLength,clientID = unpack("hhh",header)
print msgType
print msgLength
print clientID,'\n'
if msgType == DISCONNECT_REQUEST: #handle disconnect request
self.removeClient(clientID,addr)
else: #pass message type and message off to controller
msg = data[6:]
while len(msg) < msgLength:
data = self.tcpSock.recv(BUFSIZE)
dataLen = len(data)
if dataLen <= msgLength:
msg += data
else:
remLen = msgLength-len(data) #we just need to retrieve first bit of data to complete msg
msg += data[:remLen]
self.recvBuff.append(data[remLen:])
print msg
# echo back the same data you just recieved
#clientsock.sendall(data)
self.send(TRON_CHAT,msg,-1) #send to client 0
for k in self.allClients.keys():
if self.allClients[k] == clientsock:
self.removeClient(k,addr)
print 'deleted after hard exit from clientID ', k
#self.cliThreads[k].join()
#del self.cliThreads[k]
# then tell controller to delete player with k
break
def send(self,msgType,msg,clientID=-1):
header = pack("hhh",msgType,len(msg),clientID)
msg = header+msg
if clientID in self.allClients:
self.allClients[clientID].send(msg)
elif clientID==ALL_PLAYERS:
for k in self.allClients.keys():
self.allClients[k].send(msg)
def mainLoop(self):
global nclntlock
try:
while self.controller != None and self.controller.state == WAITING:
print 'awaiting connections'
clientsock, caddy = self.servSock.accept()
nclntlock.acquire()
self.clientsConnected += 1
nclntlock.release()
print 'Client ',self.clientUID,' connected from:',caddy
clientsock.setblocking(0)
clientsock.send(str(self.clientUID))
self.allClients[self.clientUID] = clientsock
t = Thread(target = self.recieve, args = [clientsock,caddy])
t.setName('recieve-' + str(self.clientUID))
self.cliThreads[self.clientUID] = t
self.clientUID += 1
# t.setDaemon(1)
t.start()
finally:
self.servSock.close()
if __name__ == "__main__":
serv = TronServer(control = LocalController(nPlayers = 3, fWidth = 70, fHeight = 10))
t = Thread(target = serv.mainLoop())
t.setName('mainLoop')
# t.setDaemon(1)
t.start()

I think you want to try and set the socket to non-blocking mode:
http://docs.python.org/library/socket.html#socket.socket.setblocking
Set blocking or non-blocking mode of
the socket: if flag is 0, the socket
is set to non-blocking, else to
blocking mode. Initially all sockets
are in blocking mode. In non-blocking
mode, if a recv() call doesn’t find
any data, or if a send() call can’t
immediately dispose of the data, a
error exception is raised; in blocking
mode, the calls block until they can
proceed. s.setblocking(0) is
equivalent to s.settimeout(0);
s.setblocking(1) is equivalent to
s.settimeout(None).
Also, instead of using raw sockets, have you considdered using the multiprocessing module. It is a higher-level abstraction for doing network IO. The section on Pipes & Queues is specific to sending and receiving data between a client/server.