class ClientInterface(object):
def __init__(self, host, port):
self.camera_pos = (0.0, 0.0)
self.wheel_speed = (0.0, 0.0)
self.headlights = False
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect((host, port))
self.cs = ControlSocket(self.socket)
self.oldcontrol = {}
def __del__(self):
self.socket.close()
def setCameraPos(self, x, y):
self.camera_pos = (x, y)
def getCameraPos(self):
return self.camera_pos
def setWheelSpeed(self, l, r):
self.wheel_speed = (l, r)
def getWheelSpeed(self):
return self.wheel_speed
def setHeadlights(self, h):
self.headlights = h
def getHeadlights(self):
return self.headlights
def updateControl(self):
newcontrol = {"left_motor" : self.wheel_speed[0], "right_motor" : self.wheel_speed[1]}
if self.oldcontrol != newcontrol:
self.cs.transmitControl(newcontrol)
self.oldcontrol = newcontrol
sendcounter = 0
while (1):
pygame.event.pump()
pkeys = pygame.key.get_pressed()
up, down, left, right, quit = [
(1.0 if pkeys[x] else 0.0)
for x in [pygame.K_w, pygame.K_s, pygame.K_a, pygame.K_d, pygame.K_q]
]
if quit > 0.5:
break
left_motor = clamp(up + right - left - down, -1, 1) / 2 + 0.5
right_motor = clamp(up + left - right - down, -1, 1) / 2 + 0.5
sendcounter += 1
if sendcounter > 5:
cs.transmitControl({
"left_motor": left_motor,
"right_motor": right_motor
})
sendcounter = 0
clientsocket.close()
pygame.quit()
exit(0)
