def init(self):
print 'NXTserver running'
#carica la configurazione
self.conf = NXTconf()
try:
self.conf.load()
except:
return False
self.sock = None
self.brick = None
self.scan()
return True
class NXTserver(xmlrpc.XMLRPC):
connected = False;
def init(self):
print 'NXTserver running'
#carica la configurazione
self.conf = NXTconf()
try:
self.conf.load()
except:
return False
self.sock = None
self.brick = None
self.scan()
return True
def scan(self):
if self.sock == None:
try:
#aggiungere il bt address
self.sock = nxt.locator.find_one_brick()
print 'Brick found'
return True
except:
print 'No brick found'
return False
else:
return True
def xmlrpc_connect(self):
if self.brick != None:
return True
if self.scan():
self.brick = self.sock.connect()
if self.brick == None:
print 'Not connected'
print self.sock
return False
else:
print 'Connection OK'
return True
else:
return False
def xmlrpc_disconnect(self):
try:
self.brick.sock.close()
self.brick = None
ret = True
print 'Connection close'
except:
ret = False
return ret
# restituisce la distanza percepita dal sensore ultrasonico in cm
def xmlrpc_ultrasonicStatus(self):
print 'Ultrasonic Status'
try:
ret = UltrasonicSensor(self.brick, self.conf.getUltrasonicSensor()).get_sample()
except:
ret = -1
return ret
# restituisce la carica della batteria in millivolt
def xmlrpc_batteryStatus(self):
print 'Battery Status'
try:
ret = self.brick.get_battery_level()
except:
ret = -1
return ret
def xmlrpc_goMotor(self, powerL=100, powerR=100):
print 'Go'
if(powerL>127):
powerL = 127
elif powerL<-128:
powerL = -128
if(powerR>127):
powerR = 127
elif powerR<-128:
powerR = -128
rMotorA = self.runMotor(self.conf.getMoveMotor()[0],powerL)
rMotorB = self.runMotor(self.conf.getMoveMotor()[1],powerR)
return rMotorA & rMotorB
def xmlrpc_stop(self):
print 'Stop'
rMotorA = self.stopMotor(self.conf.getMoveMotor()[0])
rMotorB = self.stopMotor(self.conf.getMoveMotor()[1])
return rMotorA & rMotorB
def xmlrpc_shot(self):
print 'Shot'
return self.updateMotor(self.conf.getShotMotor(), 127, 360)
def updateMotor(self, port, power, degree):
try:
Motor(self.brick, port).update(power, degree)
return True
except:
return False
def runMotor(self, port, power):
try:
Motor(self.brick, port).run(power, 1)
return True
except:
return False
def stopMotor(self, motor):
try:
Motor(self.brick, motor).stop()
return True
except:
return False
