def send_robot_command(self, motor1, motor2, motor3, motor4, robot_name):
total_size = 24 + len(robot_name)
array = bytearray([0] * total_size)
buf = ByteBuffer(array, 0, total_size)
buf.put_SLInt32(total_size + 1)
buf.put_SLInt32(motor1)
buf.put_SLInt32(motor2)
buf.put_SLInt32(motor3)
buf.put_SLInt32(motor4)
buf.put_SLInt32(len(robot_name))
temp = bytearray()
temp.extend(robot_name)
buf.put_bytes(temp, 0, len(temp))
to_send = bytearray([0] * (total_size + 1))
to_send[0] = 0x08
buf.set_position(0)
buf.get(to_send, 1, total_size)
self.socket.sendto(to_send, self.server_address)
def request_sensor_information(self, robot, filter, callback):
if not callable(callback):
print "Invalid callback!"
return
should_filter = filter != ""
filter_size = 0
if should_filter:
filter_size = 4 + len(filter)
total_size = 9 + len(robot) + filter_size
array = bytearray([0] * total_size)
buf = ByteBuffer(array, 0, total_size)
# 4 bytes
buf.put_SLInt32(total_size + 1)
# 4 + 4 = 8
buf.put_SLInt32(len(robot))
# 4 + 4 + 1 = 9
tmp = bytearray([0])
if should_filter:
tmp[0] = 1
buf.put_bytes(tmp, 0, 1)
temp2 = bytearray()
temp2.extend(robot)
buf.put_bytes(temp2, 0, len(temp2))
if should_filter:
buf.put_SLInt32(len(filter))
temp3 = bytearray()
temp3.extend(filter)
buf.put_bytes(temp3, 0, len(temp3))
to_send = bytearray([0] * (total_size + 1))
to_send[0] = 0x07
buf.set_position(0)
buf.get(to_send, 1, total_size)
self.socket.sendto(to_send, self.server_address)
if robot not in self.sensor_callbacks:
self.sensor_callbacks[robot] = list()
self.sensor_callbacks[robot].append(callback)
def trigger_event(self, event_id, event_data, filter):
event = json.dumps(event_data)
should_filter = filter != ""
filter_size = 0
if should_filter:
filter_size = 4 + len(filter)
total_size = 10 + len(event) + filter_size
array = bytearray([0] * total_size)
buf = ByteBuffer(array, 0, total_size)
# 4 bytes
buf.put_SLInt32(total_size + 1)
# 4 + 2 = 6
temp = bytearray([0] * 2)
temp[0] = event_id
if should_filter:
temp[1] = 1
else:
temp[1] = 0
buf.put_bytes(temp, 0, 2)
# 4 + 2 + 4 = 10
buf.put_SLInt32(len(event))
temp2 = bytearray()
temp2.extend(event)
buf.put_bytes(temp2, 0, len(temp2))
if should_filter:
buf.put_SLInt32(len(filter))
temp3 = bytearray()
temp3.extend(filter)
buf.put_bytes(temp3, 0, len(temp3))
to_send = bytearray([0] * (total_size + 1))
to_send[0] = 0x06
buf.set_position(0)
buf.get(to_send, 1, total_size)
self.socket.sendto(to_send, self.server_address)