From 6e6894c22179abf5ecbcefe2dcf0ee00ec3438c1 Mon Sep 17 00:00:00 2001
From: "hufeng.mao" <hufeng.mao@carota.ai>
Date: Mon, 5 Dec 2022 15:12:24 +0800
Subject: [PATCH] feat: share bus

---
 README.rst            | 10 +++++++
 can_remote/server.py  | 62 +++++++++++++++++++++----------------------
 can_remote/version.py |  2 +-
 3 files changed, 42 insertions(+), 32 deletions(-)

diff --git a/README.rst b/README.rst
index ba44c30..96c9020 100644
--- a/README.rst
+++ b/README.rst
@@ -53,3 +53,13 @@ It is available on the same address using HTTP, e.g. http://localhost:54701/.
 
 
 .. _python-can: https://python-can.readthedocs.org/en/stable/
+
+dev 分支改动
+------------
+
+这个分支在`master@0.2.1`基础上做了一些修改, 具体改动如下:
+
+1. 启动 `RemoteServer` 后立即打开 `target_bus`, 并从 `target_bus` 中 `recv message`.
+2. `recv` 有效 `message` 后, 遍历所有 `connected client list`, 并分发 `message`
+3. 当有 `client` 连上后, 放入 `connected client list`
+4. `client` 关闭后, 从 `connected client list` 中移除.
\ No newline at end of file
diff --git a/can_remote/server.py b/can_remote/server.py
index 907f2da..2893779 100644
--- a/can_remote/server.py
+++ b/can_remote/server.py
@@ -55,6 +55,10 @@ def __init__(self, host='0.0.0.0', port=DEFAULT_PORT, ssl_context=None, **config
         self.clients = []
         HTTPServer.__init__(self, address, ClientRequestHandler)
         logger.info("Server listening on %s:%d", address[0], address[1])
+        try:
+            self.bus = can.interface.Bus(**config)
+        except Exception as exc:
+            raise
         if ssl_context:
             self.socket = ssl_context.wrap_socket(self.socket, server_side=True)
             scheme_suffix = "s"
@@ -64,6 +68,28 @@ def __init__(self, host='0.0.0.0', port=DEFAULT_PORT, ssl_context=None, **config
                     scheme_suffix, self.server_port)
         logger.info("Open browser to 'http%s://localhost:%d/'",
                     scheme_suffix, self.server_port)
+    
+        self.running = True
+        self._send_thread = threading.Thread(target=self._send_to_client)
+        self._send_thread.daemon = True
+        self._send_thread.start()
+
+
+    def _send_to_client(self):
+        """Continuously read CAN messages and send to client."""
+        while self.running:
+            try:
+                msg = self.bus.recv(0.5)
+            except Exception as e:
+                logger.exception(e)
+                for client in self.clients:
+                    client.send_error(e)
+            else:
+                if msg is not None:
+                    for client in self.clients:
+                        client.send_msg(msg)
+        logger.info('Disconnecting from CAN bus')
+        self.bus.shutdown()
 
 
 class ClientRequestHandler(BaseHTTPRequestHandler):
@@ -98,7 +124,7 @@ def start_websocket(self):
         self.end_headers()
 
         websocket = WebSocket(None, protocol, sock=self.request)
-        protocol = RemoteServerProtocol(self.server.config, websocket)
+        protocol = RemoteServerProtocol(self.server.bus, websocket)
         self.server.clients.append(protocol)
         protocol.run()
         logger.info("Closing connection to %s", self.address_string())
@@ -129,56 +155,30 @@ def send_trace_webpage(self):
 
 class RemoteServerProtocol(RemoteProtocolBase):
 
-    def __init__(self, config, websocket):
+    def __init__(self, bus, websocket):
         super(RemoteServerProtocol, self).__init__(websocket)
         event = self.recv()
         if not event or event["type"] != "bus_request":
             print(event)
             raise RemoteServerError("Client did not send a bus request")
-        new_config = {}
-        new_config.update(event["payload"]["config"])
-        logger.info("Config received: %r", new_config)
-        new_config.update(config)
-        self.config = new_config
-        try:
-            self.bus = can.interface.Bus(**new_config)
-        except Exception as exc:
-            self.terminate(exc)
-            raise
+
+        self.bus = bus
+
         logger.info("Connected to bus '%s'", self.bus.channel_info)
         self.send_bus_response(self.bus.channel_info)
         self.running = True
         self._send_tasks = {}
-        self._send_thread = threading.Thread(target=self._send_to_client)
-        self._send_thread.daemon = True
 
     def send_bus_response(self, channel_info):
         self.send("bus_response", {"channel_info": channel_info})
 
     def run(self):
-        self._send_thread.start()
         try:
             self._receive_from_client()
         except Exception as exc:
             self.terminate(exc)
         finally:
             self.running = False
-            if self._send_thread.is_alive():
-                self._send_thread.join(3)
-
-    def _send_to_client(self):
-        """Continuously read CAN messages and send to client."""
-        while self.running:
-            try:
-                msg = self.bus.recv(0.5)
-            except Exception as e:
-                logger.exception(e)
-                self.send_error(e)
-            else:
-                if msg is not None:
-                    self.send_msg(msg)
-        logger.info('Disconnecting from CAN bus')
-        self.bus.shutdown()
 
     def _receive_from_client(self):
         """Continuously read events from socket and send messages on CAN bus."""
diff --git a/can_remote/version.py b/can_remote/version.py
index 3ced358..0dddc48 100644
--- a/can_remote/version.py
+++ b/can_remote/version.py
@@ -1 +1 @@
-__version__ = "0.2.1"
+__version__ = "0.2.1-dev"