def __init__(self, host="", port=9000):
threading.Thread.__init__(self)
self.socket = None
self.host = host
self.port = port
self.turtle = Turtlebot()
self.running = True
self.start()
class TurtleClient(threading.Thread):
"""
Class representing a client which receive turtlebot commands
and send turtlebot odometry.
"""
def __init__(self, host="", port=9000):
threading.Thread.__init__(self)
self.socket = None
self.host = host
self.port = port
self.turtle = Turtlebot()
self.running = True
self.start()
def run(self):
"""
Main loop.
"""
print "TurtleClient: Connecting.."
connected = False
while not connected:
try:
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect((self.host, self.port))
self.socket.settimeout(2)
connected = True
except socket.error:
continue
print "TurtleClient: Connected to host."
while self.running:
try:
msg = self.socket.recv(1)
if len(msg) == 0:
print "Connection to server lost."
self.close()
elif msg == chr(0):
print "Initialize."
self.turtle.initialize()
self.socket.send(str(self.turtle.getSize()))
self.socket.send("\n")
elif msg == chr(1):
print "Shutdown"
self.turtle.shutdown()
self.close()
elif msg == chr(2):
print "Move forward."
self.turtle.move(ord(msg))
self.socket.send(self.turtle.get_odometry())
elif msg == chr(3):
print "Turn right."
self.turtle.move(ord(msg))
self.socket.send(self.turtle.get_odometry())
elif msg == chr(4):
print "Turn left."
self.turtle.move(ord(msg))
self.socket.send(self.turtle.get_odometry())
elif msg == chr(5):
print "Wait."
self.turtle.move(ord(msg))
self.socket.send(self.turtle.get_odometry())
else:
print "Error: Invalid command!"
except socket.timeout:
pass
except socket.error, error:
print error
self.close()
except KeyboardInterrupt:
print "Interrupted."
self.close()
