class LauncherServer(object):
address_family = socket.AF_INET
socket_type = socket.SOCK_DGRAM
max_packet_size = 1024
def __init__(self, address=("localhost", 9999)):
self.address = address
self.shutdown_event = threading.Event()
self.should_shutdown = False
self.socket = socket.socket(self.address_family, self.socket_type)
print "bound to: ", address
self.socket.bind(self.address)
self.address = self.socket.getsockname()
self.launcher = USBMissileLauncher()
self.last_status_time = 0
def fileno(self):
return self.socket.fileno()
def serve(self, sleep=0.01):
self.shutdown_event.clear()
try:
while not self.should_shutdown:
t = time.time()
if t - self.last_status_time > STATUS_INTERVAL:
# heartbeat
self.launcher.status()
r, w, e = select.select([self], [], [], sleep)
if self in r:
self.handle_request()
# sleep
time.sleep(max(0.001, POLL_RATE - (time.time() - t)))
finally:
self.socket.close()
self.should_shutdown = False
self.shutdown_event.set()
def handle_request(self):
try:
data, address = self.socket.recvfrom(self.max_packet_size)
print "processing: ", data
if data == LAUNCHER_EXIT:
self.should_shutdown = True
elif int(data) == FIRE:
# don't respond to requests
self.launcher.fire()
elif int(data) == PRIME:
# don't respond to requests
self.launcher.prime()
else:
self.launcher.send_command(int(data))
except socket.error:
return
class LauncherServer(object):
address_family = socket.AF_INET
socket_type = socket.SOCK_DGRAM
max_packet_size = 1024
def __init__(self, address=("localhost", 9999)):
self.address = address
self.shutdown_event = threading.Event()
self.should_shutdown = False
self.socket = socket.socket(self.address_family, self.socket_type)
print "bound to: ", address
self.socket.bind(self.address)
self.address = self.socket.getsockname()
self.launcher = USBMissileLauncher()
self.last_status_time = 0
def fileno(self):
return self.socket.fileno()
def serve(self, sleep=0.01):
self.shutdown_event.clear()
try:
while not self.should_shutdown:
t = time.time()
if t - self.last_status_time > STATUS_INTERVAL:
# heartbeat
self.launcher.status()
r, w, e = select.select([self], [], [], sleep)
if self in r:
self.handle_request()
# sleep
time.sleep(max(0.001, POLL_RATE - (time.time() - t)))
finally:
self.socket.close()
self.should_shutdown = False
self.shutdown_event.set()
def handle_request(self):
try:
data, address = self.socket.recvfrom(self.max_packet_size)
print "processing: ", data
if data == LAUNCHER_EXIT:
self.should_shutdown = True
elif int(data) == FIRE:
# don't respond to requests
self.launcher.fire()
elif int(data) == PRIME:
# don't respond to requests
self.launcher.prime()
else:
self.launcher.send_command(int(data))
except socket.error:
return
next_targets.append((
fixed_rect,
0,
VELOCITY_DECAY*velocity+(1-VELOCITY_DECAY)*np.array(diff(c_last, c)),
karlness
))
else:
# draw_rects(vis, [rect], (0,0,255))
if misses < MAX_MISSES:
next_targets.append((rect, misses+1, np.zeros(2), 0))
targets = next_targets
if is_auto:
if firing and not primed:
launcher.prime()
primed = True
locked_counter = 0
else: # either not firing, or already primed
victims = [tgt for tgt in targets if tgt[3] >= KARLNESS_THRESHOLD]
last_cmd_sent = targeter.update_targets(victims)
if last_cmd_sent == STOP and victims:
locked_counter += 1
if locked_counter > 4 and firing and primed:
print "firing"
lolz = threading.Thread(target=lolz_thread, args=("pics/%d" % int(time.time()), cam))
lolz.start()
launcher.fire()
lolz.join()
primed = False
s_last, c_last = size_and_center(fixed_rect)
next_targets.append(
(fixed_rect, 0, VELOCITY_DECAY * velocity +
(1 - VELOCITY_DECAY) * np.array(diff(c_last, c)),
karlness))
else:
# draw_rects(vis, [rect], (0,0,255))
if misses < MAX_MISSES:
next_targets.append((rect, misses + 1, np.zeros(2), 0))
targets = next_targets
if is_auto:
if firing and not primed:
launcher.prime()
primed = True
locked_counter = 0
else: # either not firing, or already primed
victims = [
tgt for tgt in targets if tgt[3] >= KARLNESS_THRESHOLD
]
last_cmd_sent = targeter.update_targets(victims)
if last_cmd_sent == STOP and victims:
locked_counter += 1
if locked_counter > 4 and firing and primed:
print "firing"
lolz = threading.Thread(target=lolz_thread,
args=("pics/%d" %
int(time.time()), cam))
lolz.start()
