def runClient(self):
try:
send_msg = Queue()
recive_msg = Queue()
sending = Process(target=self.send, args=(send_msg))
reciveing = Process(target=self.receive, arg=(recive_msg))
sending.start()
reciveing.start()
while True:
reciveing.join()
command = recive_msg.get()
# Arduino Parts
Start_point = time.time()
self.arduino.Value_to_T_data(self.position.BF_desire,
self.position.LR_desire)
self.arduinoSerial_write()
self.arduinoSerial_read()
if self.arduino.R_data != "":
print(self.arduino.R_data)
send_msg.put(self.arduino.R_data)
send_msg.join()
End_point = time.time()
time.sleep(self.arduino.Loop_time - (End_point - Start_point))
reciveing.run()
send_msg.run()
except KeyboardInterrupt:
print("Emergency stop!!!!")
self.sock.close()
reciveing.close()
send_msg.close()
finally:
print("OFF")
self.sock.close()
reciveing.close()
send_msg.close()