class Robot(object):
def __init__(self, ipAddress):
self.sq = Queue()
self.rq = Queue()
self.struct = Struct('BBbB') #command, selector, value, checksum
self.sender = TCP(isServer=False,
isSender=True,
host=ipAddress,
port=1234,
q=self.sq)
self.receiver = TCP(isServer=False,
isSender=False,
host=ipAddress,
port=5678,
q=self.rq)
def motor(self, device, value):
self.send(1, device, value)
def send(self, command, device, value):
self.sq.put(self.struct.pack(command, device, value))
def connect(self):
self.sender.start()
self.receiver.start()
def listen(self):
pass
def disconnect(self):
while not self.sq.empty():
sleep(0.01)
self.sender.running = False
self.receiver.running = False
self.sender.disconnect()
self.receiver.disconnect()
self.sender.join()
self.receiver.join()
