def run(self):
self.ethernet = SwimClient(self.IP,self.PORT,False)
#self.video = SwimVideoClient(360,480,5) # length, width, framerate
try:
while not self.TESTING:
time.sleep(0.055)
############loop()#######
#main loop of the program
if self.ethernet.ISCONNECTED:
#time.sleep(0.5)
if not self.BEFOREFIRSTARMED:
if self.NEWMESSAGETOSEND:
self.NEWMESSAGETOSEND = False
self.updatepayload()
self.ethernet.setpayload(self.PAYLOAD)
self.ethernet.send()
else:
self.ethernet.setpayload('PING')
self.ethernet.send()
else:
neutral_packet = SwimPacket()
self.ethernet.setpayload(str(neutral_packet.__dict__))
self.ethernet.send()
if self.ethernet.NEWMESSAGE:
try:
# tempdict = ast.literal_eval(self.ethernet.getreceive())
self.RECEIVE = ast.literal_eval(self.ethernet.getreceive())
print self.RECEIVE
self.updatesensordata()
# if tempdict.has_key('str'):
# self.video.set_frame(tempdict)
# print "received frame!!"
# else:
# self.RECEIVE = tempdict
except Exception as e:#see what happened
print e
if self.ethernet.ISCONNECTED is False:
print 'disconnected!!'
print "cleaning up"
self.BEFOREFIRSTARMED = True
self.ethernet.cleanup()
print 'cleaned up!'
self.ethernet = SwimClient(self.IP,self.PORT,False)
except:
self.ethernet.ISCONNECTED = False
'''
import sys
sys.path.append("../EthernetCommunication")
MAXPACKETSIZE = 8192
from swim_client import SwimClient
import cv
try:
HOST = str(sys.argv[1])
PORT = int(sys.argv[2])
except:
print "try: python video_stream_client.py <Server IP address> <PORT>"
exit(1)
broken = False
C = SwimClient(host = HOST, port = PORT)
requestwhat = 'frame'
while True:
C.setpayload(requestwhat)
C.send()
print "requested frame"
C.receive(128)
format_string = C.getreceive()
print format_string
rows,cols,step,size = format_string.split(',')
rows=int(rows)
cols=int(cols)
step=int(step)
size=int(size)
class ClientInterface(threading.Thread):
'''
classdocs
'''
def __init__(self, host = str(), port = int(),testing = bool()):
threading.Thread.__init__(self)
self.daemon = True
self.packet = SwimPacket()
if host == "":
self.IP = "153.106.75.171"
else:
self.IP = host
if port == 0:
self.PORT = 9999
else:
self.PORT = port
self.TESTING = testing
self.ethernet = None
self.NEWMESSAGETOSEND = False
self.PAYLOAD = self.packet.__dict__
self.PING = 'PING'
self.READ_DATAFORMAT = 'ERROR', 'ROLL','PITCH','YAW','WATER_TEMPERATURE','CASE_TEMPERATURE', 'DEPTH', 'BATTERY', 'HUMIDITY' # the format that should come from the Arduino
self.RECEIVE = {'ERROR': 0 , 'ROLL' : 0 , 'PITCH': 0,'YAW': 0,'WATER_TEMPERATURE':0,'CASE_TEMPERATURE': 0,'DEPTH': 0, 'BATTERY':0 ,'HUMIDITY': 0}
self.BEFOREFIRSTARMED = True
self.SENSORDATA = self.RECEIVE
if not self.TESTING:
self.start()
def run(self):
self.ethernet = SwimClient(self.IP,self.PORT,False)
#self.video = SwimVideoClient(360,480,5) # length, width, framerate
try:
while not self.TESTING:
time.sleep(0.055)
############loop()#######
#main loop of the program
if self.ethernet.ISCONNECTED:
#time.sleep(0.5)
if not self.BEFOREFIRSTARMED:
if self.NEWMESSAGETOSEND:
self.NEWMESSAGETOSEND = False
self.updatepayload()
self.ethernet.setpayload(self.PAYLOAD)
self.ethernet.send()
else:
self.ethernet.setpayload('PING')
self.ethernet.send()
else:
neutral_packet = SwimPacket()
self.ethernet.setpayload(str(neutral_packet.__dict__))
self.ethernet.send()
if self.ethernet.NEWMESSAGE:
try:
# tempdict = ast.literal_eval(self.ethernet.getreceive())
self.RECEIVE = ast.literal_eval(self.ethernet.getreceive())
print self.RECEIVE
self.updatesensordata()
# if tempdict.has_key('str'):
# self.video.set_frame(tempdict)
# print "received frame!!"
# else:
# self.RECEIVE = tempdict
except Exception as e:#see what happened
print e
if self.ethernet.ISCONNECTED is False:
print 'disconnected!!'
print "cleaning up"
self.BEFOREFIRSTARMED = True
self.ethernet.cleanup()
print 'cleaned up!'
self.ethernet = SwimClient(self.IP,self.PORT,False)
except:
self.ethernet.ISCONNECTED = False
########################
def updatepayload(self):
self.PAYLOAD = str(self.packet.__dict__)
def updatesensordata(self):
for key in self.READ_DATAFORMAT:
try:
self.SENSORDATA[key] = self.RECEIVE[key]
except:
continue
def getconnectionstatus(self):
if self.ethernet is not None:
return self.ethernet.ISCONNECTED
else:
return False
def setARM(self,arm = bool()):
if self.packet.ARM is not arm:
self.packet.PITCH = 127
self.packet.ROLL = 127
self.packet.YAW = 127
self.packet.X = 127
self.packet.Y = 127
self.packet.Z = 127
self.BEFOREFIRSTARMED = False
self.packet.ARM = arm
self.NEWMESSAGETOSEND = True
def getpacket(self):
return self.packet.__dict__
def setX(self,x = int()):
if self.packet.ARM:
if x > 255:
x = 255
elif x < 0:
x = 0
else:
pass
self.packet.X = x
self.NEWMESSAGETOSEND = True
def setY(self,y = int()):
if self.packet.ARM:
if y > 255:
y = 255
elif y < 0:
y = 0
else:
pass
self.packet.Y = y
self.NEWMESSAGETOSEND = True
def setZ(self,z = int()):
if self.packet.ARM:
if z > 255:
z = 255
elif z < 0:
z = 0
else:
pass
self.packet.Z = z
self.NEWMESSAGETOSEND = True
def setYaw(self,yaw = int()):
if self.packet.ARM:
if yaw > 255:
yaw = 255
elif yaw < 0:
yaw = 0
else:
pass
self.packet.YAW = yaw
self.NEWMESSAGETOSEND = True
def setPitch(self, pitch = int()):
if self.packet.ARM:
if pitch > 255:
pitch = 255
elif pitch < 0:
pitch = 0
else:
pass
self.packet.PITCH = pitch
self.NEWMESSAGETOSEND = True
def setRoll(self,roll = int()):
if self.packet.ARM:
if roll > 255:
roll = 255
elif roll < 0:
roll = 0
else:
pass
self.packet.ROLL = roll
self.NEWMESSAGETOSEND = True
#self.READ_DATAFORMAT ='ROLL','PITCH','YAW','WATER_TEMPERATURE','CASE_TEMPERATURE','HUMIDITY' , 'DEPTH', 'BATTERY' # the format that should come from the Arduino
def getWaterTemperature(self):
try:
return self.SENSORDATA['WATER_TEMPERATURE']
except Exception as e:
raise e
def getCaseTemperature(self):
try:
return self.SENSORDATA['CASE_TEMPERATURE']
except Exception as e:
raise e
def getHumidity(self):
try:
return self.SENSORDATA['HUMIDITY']
except Exception as e:
raise e
def getBatteryLife(self):
try:
return self.SENSORDATA['BATTERY']
except Exception as e:
raise e
def getError(self):
'''
returns true if the arduino connection has malfunctioned
'''
try:
return self.SENSORDATA['ERROR']
except Exception as e:
raise e
def getDepth(self):
try:
return self.SENSORDATA['DEPTH']
except Exception as e:
raise e
def getRoll(self):
try:
return self.SENSORDATA['ROLL']
except Exception as e:
raise e
def getPitch(self):
try:
return self.SENSORDATA['PITCH']
except Exception as e:
raise e
def getYaw(self):
try:
return self.SENSORDATA['YAW']
except Exception as e:
raise e
