def odo_out(odo_port=8000):
# set up the server
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.bind(('', odo_port))
s.listen(1)
clientsocket, address = s.accept()
server = sc.Socket(clientsocket)
motor_control = OdoControl(run_method=server.send)
js_events = Joystick()
motor_control_thread = threading.Thread(
target=motor_control.send_joystick_control, args=(js_events, ))
js_events_thread = threading.Thread(target=js_events.listen)
motor_control_thread.start()
js_events_thread.start()
def odo_in(odo_port=8000):
client = sc.Socket()
connected = False
while not connected:
try:
client.connect(socket.gethostname(), odo_port)
connected = True
except ConnectionRefusedError:
print(f"Connection on port {odo_port} refused. Retry in 5 sec.")
time.sleep(5)
listener_thread = threading.Thread(target=client.recv_stream)
listener_thread.start()
while True:
client.wait()
received_data = client.get_msg_data()
print(received_data)
def odo_in(ip_address, odo_port=8000):
client = sc.Socket()
connected = False
while not connected:
try:
client.connect(ip_address, odo_port)
connected = True
except ConnectionRefusedError:
print("Connection on port {} refused. Retry in 5 sec.".format(odo_port))
time.sleep(5)
listener_thread = threading.Thread(target=client.recv_stream)
odometry_control = OdoControl(run_method=client.get_msg_data)
odometry_control_thread = threading.Thread(target=odometry_control.receive_control, args=(client,))
listener_thread.daemon = True
odometry_control_thread.daemon = True
listener_thread.start()
odometry_control_thread.start()
left = (7,8)
right = (9,10)
diff_drive = DiffDrive(left, right)
while True:
odometry_control.wait()
diff_drive.go(*odometry_control.get_speeds())
import communication.socket_comm as sc
import socket
import threading
import random
client = sc.Socket()
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
port = 8005
s.bind((socket.gethostname(), port))
s.listen(1)
client.connect(socket.gethostname(), port)
clientsocket, address = s.accept()
server = sc.Socket(clientsocket)
t1 = threading.Thread(target=client.recv_stream)
t1.daemon = True
t1.start()
test_data = []
for i in range(10):
test_data.append(random.random())
server.send(test_data)
client.wait(0.01)
received_data = client.get_msg_data()
print(received_data)
print('done')
import communication.socket_comm as sc
import socket
import threading
client = sc.Socket()
port = 8001
print(port)
client.connect('192.168.xx.xx', port)
listener_thread = threading.Thread(target=client.recv_stream)
listener_thread.start()
while True:
client.wait()
received_data = client.get_msg_data()
print(received_data)
# motor_control = OdoControl(run_method=server.send)
# js_events = Joystick()
# motor_control_thread = threading.Thread(target=motor_control.send_joystick_control, args=(js_events,))
# js_events_thread = threading.Thread(target=js_events.listen)
# motor_control_thread.start()
# js_events_thread.start()