def chat_client(host='192.168.1.2', port=9009):
if (host == None or port == None):
if (len(sys.argv) < 3):
print('Usage: python chat_client.py hostname port')
sys.exit()
host = sys.argv[1]
port = int(sys.argv[2])
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.settimeout(2)
# connect to remote host
try:
s.connect((host, port))
except:
print('Unable to connect')
sys.exit()
print('Connected to remote host. You can start sending messages')
print('[Me] ')
sys.stdout.flush()
while True:
socket_list = [sys.stdin, s]
# Get the list sockets which are readable
ready_to_read, ready_to_write, in_error = select.select(
socket_list, [], [])
for sock in ready_to_read:
if sock == s:
# incoming message from remote server, s
data = sock.recv(4096)
if not data:
print('\nDisconnected from chat server')
sys.exit()
else:
#print data
#print('\033[2J')
print '\033[2J',
print data
print '[Me] ',
else:
# user entered a message
msg = print_data()
s.send(msg)
print '\r\033[A\033[K',
print msg + '\n[Me]',
def init(self):
body = bodyclass()
leg = [legclass() for i in xrange(4)]
leg[0].setpins(29, 30, 31)
leg[1].setpins(16, 17, 18)
leg[2].setpins(0, 1, 2)
leg[3].setpins(13, 14, 15)
leg[0].setcenters(1433, 1500, 1500)
leg[1].setcenters(1550, 1360, 1450)
leg[2].setcenters(1557, 1550, 1560)
leg[3].setcenters(1534, 1523, 1509)
leg[0].setdirections(-1, -1, 1)
leg[1].setdirections(1, 1, -1)
leg[2].setdirections(1, -1, 1)
leg[3].setdirections(-1, 1, -1)
leg[0].setlimits(-40.0, 90.0, -60.0, 45.0, -45.0, 45.0)
leg[1].setlimits(-40.0, 90.0, -60.0, 45.0, -45.0, 45.0)
leg[2].setlimits(-90.0, 40.0, -60.0, 45.0, -45.0, 45.0)
leg[3].setlimits(-90.0, 40.0, -60.0, 45.0, -45.0, 45.0)
leg[0].setoffsets(63.5, 63.5, 0.0)
leg[1].setoffsets(63.5, 63.5, 0.0)
leg[2].setoffsets(63.5, 63.5, 0.0)
leg[3].setoffsets(63.5, 63.5, 0.0)
leg[0].setfootneutral(-110.0, 110.0, -70.0)
leg[1].setfootneutral(110.0, 110.0, -70.0)
leg[2].setfootneutral(110.0, -110.0, -70.0)
leg[3].setfootneutral(-110.0, -110.0, -70.0)
leg[0].setfootposition(-110.0, 110.0, -70.0)
leg[1].setfootposition(110.0, 110.0, -70.0)
leg[2].setfootposition(110.0, -110.0, -70.0)
leg[3].setfootposition(-110.0, -110.0, -70.0)
leg[0].setquadrant(2)
leg[1].setquadrant(1)
leg[2].setquadrant(4)
leg[3].setquadrant(3)
turret = turretclass()
turret.setpins(23, 24)
turret.setcenters(1600, 1500)
turret.setdirections(1, 1)
turret.setlimits(-45.0, 45.0, -15.0, 35.0)
gun = gunclass()
gun.pin = 4
#serial = serialclass('COM3',9600)
#serial = serialclass('/dev/tty.usbserial-A6007wbX', 9600) # Xbee
serial = serialclass('/dev/tty.usbserial-A800csbR', 115200) # XbeePro
serial.connect()
gait = gaitclass()
camera = cameraclass('192.168.1.101', 'admin', 'admin')
controls = controlsclass()
controlconditions = controlconditionsclass()
return serial, leg, body, turret, gun, gait, camera, controls, controlconditions
def __init__(self, port_a, port_b): self.yasnac = serial.connect(port= port_a, baudrate=4800,parity=serial.PARITY_EVEN,timeout=0) self.floppy = serial.connect(port= port_b, baudrate=4800,parity=serial.PARITY_EVEN,timeout=0) sleep(2)
