def sendCoordinate(coordinate):
"""Send route to robot via TCP."""
client2Robot = sockets.TCPsocket("client", "localhost", 50005)
messageSent = 0
while messageSent == 0:
messageSent = client2Robot.sendMessage(
"1;ROUTE;%s" % (str(coordinate)), "localhost", 50005)
client2Robot.close()
def sendDemo(s):
print "JACO: DEMO"
clientsocket = sockets.TCPsocket("client", "localhost", 50004)
ret = clientsocket.sendMessage("1;DODEMO", "localhost", 50005)
if (ret == 1):
print "OKOK"
else:
print "FAIL"
clientsocket.close()
def sendGet(s):
print "JACO: GET POINT"
clientsocket = sockets.TCPsocket("client", "localhost", 50004)
ret = clientsocket.sendMessage("1;GETPOINT", "localhost", 50005)
if (ret == 1):
print "OKOK"
else:
print "FAIL"
clientsocket.close()
def sendHome(s):
print "JACO: HOME"
clientsocket = sockets.TCPsocket("client", "localhost", 50004)
ret = clientsocket.sendMessage("1;GOTOHOME", "localhost", 50005)
if (ret == 1):
print "OKOK"
else:
print "FAIL"
clientsocket.close()
def send_svg(s):
print "JACO: SVGROUTE"
global points
point_string = json.dumps(points)
clientsocket = sockets.TCPsocket("client", "localhost", 50004)
ret = clientsocket.sendMessage("1;ROUTE;" + point_string, "localhost",
50005)
if (ret == 1):
print "OKOK"
else:
print "FAIL"
clientsocket.close()
def sendXYZ(s):
clientsocket = sockets.TCPsocket("client", "localhost", 50004)
print "sending coordinates:"
print "x", dx
print "y", dy
print "z", dz
try:
ret = clientsocket.sendMessage(
"1;XYZ;" + str(dx) + ";" + str(dy) + ";" + str(dz), "localhost",
50005)
except:
print "FAIL"
ret = None
if (ret == 1):
print "OKOK"
else:
print "FAIL"
clientsocket.close()
def sendCoordinates2RobotInterface(fullRoute):
"""Send routes by each layer. Enter is required for next layer."""
server2Robot = sockets.TCPsocket("server", "localhost", 50003)
layerIndex = 0
for layer in fullRoute:
layerIndex += 1
for route in layer:
first = True
coordinate_string = "["
for coordinate in route:
if not first:
coordinate_string = coordinate_string + ", "
first = False
coordinate_string = coordinate_string + "[%f, %f, %f]" % (
coordinate.x, coordinate.y, coordinate.z)
coordinate_string = coordinate_string + "]"
sendCoordinate(coordinate_string)
while server2Robot.getMessage()[0] != "ACK":
pass
print "Sent layer " + str(layerIndex)
print "Press Enter to proceed."
raw_input()
print "Sent all layers."
server2Robot.close()