70 lines
1.8 KiB
Python
70 lines
1.8 KiB
Python
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import socket
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class SocketConnection:
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"""
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Defines a simple interface for connecting to a socket
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"""
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def __init__(self, host, port):
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"""
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:param host: The IP to connect with
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:param port: Port to connect with
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"""
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self.host = host
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self.port = port
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self.opened = False
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self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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def connect(self):
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"""
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Opens a socket connection with the robot for communication.
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:return:
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"""
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if self.opened:
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self.disconnect()
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self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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self.s.settimeout(1)
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try:
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self.s.connect((self.host, self.port))
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self.opened = True
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except OSError as error:
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print("Connecting OS error: {0}".format(error))
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return
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return self.s
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def send(self, message):
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"""
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Send data over the socket connection
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:param message: The data to send
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:return:
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"""
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total_send = 0
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while total_send < len(message):
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send = self.s.send(message[total_send:])
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if send == 0:
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raise RuntimeError("socket connection broken")
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total_send = total_send + send
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self.s.send(message)
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def receive(self):
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"""
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Recieve data over the socket connection
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:return:
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"""
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response = self.s.recv(1024)
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if len(response) == 0:
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raise RuntimeError("socket connection broken")
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return response
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def disconnect(self):
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"""
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Closes the socket connection
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:return:
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"""
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try:
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self.s.close()
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except OSError as error:
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print("Disconnecting OS error: {0}".format(error))
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return
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