def handleMessages(self):
if self.conn.poll():
received = comm.recv_msg(self.conn)
received_split = received.split(" ")
if received_split[0] == "controller":
controller_values = received_split[1].split("-")
print(received_split)
print(controller_values)
# Grab positions
self.left_joy_xpos = int(controller_values[0].split(":")[1])
self.right_joy_xpos = int(controller_values[1].split(":")[1])
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Received")
if received == "Stop":
self.is_stopped = True
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Stopped")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
while self.is_stopped:
received = comm.recv_msg(self.conn)
if received == "Start":
self.is_stopped = False
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Started")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
def start(self):
if self.assignment is None:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"Please load an assignment first.")
elif self.started:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"The assignment has already started.")
return
elif self.assignment_conn is not None:
comm.send_msg(self.assignment_conn, comm.MsgTypes.COMMAND, "Start")
while comm.recv_msg(self.assignment_conn,
comm.MsgTypes.REPLY) != "Started":
continue
self.started = True
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
self.assignment.name() + " started.")
else:
parent_conn, child_conn = Pipe()
self.assignment_conn = parent_conn
self.assignment_proc = Process(target=self.assignment.start,
args=(child_conn, ))
self.assignment_proc.start()
while comm.recv_msg(self.assignment_conn,
comm.MsgTypes.REPLY) != "Started":
continue
self.started = True
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
self.assignment.name() + " started.")
def run(self):
while True:
if self.interface_conn.poll():
received = comm.recv_msg(self.interface_conn).split(" ")
if received[0] == "exit":
self.exit()
if received[0] == "load":
self.load(received[1])
elif received[0] == "unload":
self.unload(True)
elif received[0] == "start":
self.start()
elif received[0] == "stop":
self.stop()
elif received[0] == "send":
self.send(" ".join(received[1:]))
elif received[0] == "monitoring":
self.monitoring(received[1])
if self.started and self.assignment_conn.poll():
received = comm.recv_msg(self.assignment_conn)
comm.send_msg(self.interface_conn, comm.MsgTypes.STATUS,
received)
if self.monitoring_started and self.monitoring_conn.poll():
received = comm.recv_msg(self.monitoring_conn)
comm.send_msg(self.interface_conn, comm.MsgTypes.STATUS,
received)
def handleMessages(self):
if self.conn.poll():
received = comm.recv_msg(self.conn)
received_split = received.split(" ")
if received_split[0] == "controller":
controller_values = ",".join(received_split[1:]) + ";"
print(received_split)
self.serial.write(bytes(controller_values, "utf-8"))
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Received")
if received == "Stop":
self.is_stopped = True
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Stopped")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
elif received == "turn":
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Received")
self.moving = True
while self.is_stopped:
received = comm.recv_msg(self.conn)
if received == "Start":
self.is_stopped = False
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Started")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
def handleMessages(self):
if self.conn.poll():
received = comm.recv_msg(self.conn)
received_split = received.split(" ")
if received_split[0] == "controller":
controller_values = received_split[1].split("-")
print(received_split)
print(controller_values)
# Grab positions
self.right_joy_ypos = int(
controller_values[0].split(":")[1].split(",")[0])
self.left_joy_ypos = int(
controller_values[1].split(":")[1].split(",")[0])
self.right_joy_xpos = int(
controller_values[0].split(":")[1].split(",")[1])
self.left_joy_xpos = int(
controller_values[1].split(":")[1].split(",")[1])
# Update motor
left_speed, left_polarity, right_speed, right_polarity = self.motor_driver.update(
self.left_joy_ypos, self.right_joy_ypos)
motor_values = str(int(
round(left_speed))) + "," + str(left_polarity) + "," + str(
int(round(right_speed))) + "," + str(right_polarity)
comm.send_msg(self.conn, comm.MsgTypes.STATUS, motor_values)
# Write to serial
self.serial.write(bytes(motor_values + ";", "utf-8"))
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Received")
if received == "Stop":
self.is_stopped = True
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Stopped")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
while self.is_stopped:
received = comm.recv_msg(self.conn)
if received == "Start":
self.is_stopped = False
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Started")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
def send(self, msg):
if self.started:
comm.send_msg(self.assignment_conn, comm.MsgTypes.COMMAND, msg)
while comm.recv_msg(self.assignment_conn,
comm.MsgTypes.REPLY) != "Received":
continue
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"Message sent.")
else:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"No assignment is currently running.")
def handleMessages(self):
if self.conn.poll():
received = comm.recv_msg(self.conn)
if received == "Stop":
self.is_stopped = True
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Stopped")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
while self.is_stopped:
received = comm.recv_msg(self.conn)
if received == "Start":
self.is_stopped = False
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Started")
elif received == "Unload":
self.unload()
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Unloaded")
sys.exit()
def stop(self):
if self.started:
comm.send_msg(self.assignment_conn, comm.MsgTypes.COMMAND, "Stop")
self.started = False
while comm.recv_msg(self.assignment_conn,
comm.MsgTypes.REPLY) != "Stopped":
continue
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
self.assignment.name() + " stopped.")
return
else:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"No assignment is currently running.")
def monitoring(self, msg):
if self.monitoring_conn is None:
comm.send_msg(
self.interface_conn, comm.MsgTypes.REPLY,
"Monitoring has been unloaded, please restart the application."
)
else:
if msg == "start":
if not self.monitoring_started:
comm.send_msg(self.monitoring_conn, comm.MsgTypes.COMMAND,
"Start")
comm.send_msg(
self.interface_conn, comm.MsgTypes.REPLY,
comm.recv_msg(self.monitoring_conn,
comm.MsgTypes.REPLY))
self.monitoring_started = True
else:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"Monitoring is already running.")
elif msg == "stop":
if self.monitoring_started:
comm.send_msg(self.monitoring_conn, comm.MsgTypes.COMMAND,
"Stop")
comm.send_msg(
self.interface_conn, comm.MsgTypes.REPLY,
comm.recv_msg(self.monitoring_conn,
comm.MsgTypes.REPLY))
self.monitoring_started = False
else:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"Monitoring has already been stopped.")
elif msg == "unload":
comm.send_msg(self.monitoring_conn, comm.MsgTypes.COMMAND,
"Unload")
comm.send_msg(
self.interface_conn, comm.MsgTypes.REPLY,
comm.recv_msg(self.monitoring_conn, comm.MsgTypes.REPLY))
self.monitoring_started = False
def run(self):
print("Welcome!")
utils.print_dict_keys(self.assignment_mods, "Available assignments:")
print()
while True:
command = input("=> ")
command_split = command.split(" ")
command_params = command_split[0] + "/" + str(len(command_split))
if command_params in self.commands:
if len(command_split) > 1 and command_split[0] == "load":
if command_split[1] in self.assignment_mods.keys():
self.send(command)
else:
print("Received invalid assignment.\n")
elif len(command_split
) > 1 and command_split[0] == "monitoring":
if command_split[1] in monitoring.commands:
self.send(command)
else:
print("Received invalid monitoring command.\n")
elif command == "quit" or command == "exit":
self.send("exit")
sys.exit()
elif command == "read":
while self.conn.poll():
print(comm.recv_msg(self.conn, strip_header=False))
elif command == "help":
utils.print_dict_keys(self.assignment_mods,
"Available assignments:")
print()
utils.print_list(self.commands, "Available commands:")
else:
self.send(command)
elif len(command_split) > 1 and command_split[0] == "send":
self.send(command)
else:
print("Received invalid command.\n")
def unload(self, wait):
if self.assignment is None:
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"No assignment has been loaded.")
return
else:
if self.assignment_conn is None:
self.assignment.unload()
else:
comm.send_msg(self.assignment_conn, comm.MsgTypes.COMMAND,
"Unload")
while wait and comm.recv_msg(
self.assignment_conn,
comm.MsgTypes.REPLY) != "Unloaded":
continue
assignment = self.assignment
self.assignment = None
self.started = False
self.assignment_conn = None
self.assignment_proc = None
comm.send_msg(self.interface_conn, comm.MsgTypes.REPLY,
"Unloaded " + assignment.name() + ".")
return
def send(self, command):
comm.send_msg(self.conn, comm.MsgTypes.COMMAND, command)
print(comm.recv_msg(self.conn, comm.MsgTypes.REPLY) + "\n")
def run(self):
mac_addr = constants.bl_mac_address
print("Connecting...")
try:
self.socket = utils.get_socket(mac_addr)
except bluetooth.btcommon.BluetoothError:
print("Unable to connect, exiting.")
self.send("exit")
sys.exit()
print("Connection established.\n")
#self.bl_send("Hello Everyone!")
print('Listening..')
while True:
try:
commands = self.bl_recv()
for command in commands:
print(command)
command_split = command.split(" ")
command_params = command_split[0] + "/" + str(
len(command_split))
if command_params in self.commands:
if len(command_split
) > 1 and command_split[0] == "load":
if command_split[1] in self.assignment_mods.keys():
self.send(command)
else:
print("Received invalid assignment.\n")
if len(command_split
) > 1 and command_split[0] == "monitoring":
if command_split[1] in monitoring.commands:
self.send(command)
else:
print("Received invalid monitoring command.\n")
elif command == "quit" or command == "exit":
self.send("exit")
sys.exit()
elif command == "read":
while self.conn.poll():
self.bl_send(
comm.recv_msg(self.conn,
strip_header=False))
else:
self.send(command)
elif len(command_split) > 1 and command_split[0] == "send":
self.send(command)
else:
print("Received invalid command.\n")
self.bl_send("2|Received")
except bluetooth.BluetoothError:
print("Exiting...")
self.send("exit")
sys.exit()
except IOError:
pass
