Example #1
0
	def useLocalController(self, devPath):
        
		self.bot = BotController()
		self.bot.connect(devPath)
		self.bot.start()
		self.bot.enterFullMode()
Example #2
0
class BotNavigator:

	def __init__(self):
		
		self.bot = None
		self.lastBotCommand = None
		self.angularVelocity = 50
		self.linearVelocity = 200
		
		self.isBraked = False
		
		self.keyMap = {
			
			'w':('self.bot.driveStraight', '( self.linearVelocity, )'),
			's':('self.bot.driveStraight', '( -self.linearVelocity, )'),
			'a':('self.bot.rotate', '( self.angularVelocity, )'),
			'd':('self.bot.rotate', '( -self.angularVelocity, )'),
			'q':('self.terminate', None),
			' ':('self.toggleState', None)
			
			}
		
	def useRemoteController(self, uri):
        
		self.bot = xmlrpclib.ServerProxy(uri, allow_none=True)
        
	def useLocalController(self, devPath):
        
		self.bot = BotController()
		self.bot.connect(devPath)
		self.bot.start()
		self.bot.enterFullMode()

	def isBotCommand(self, cmdStr):
		return ( cmdStr.find('self.bot.')==0 )

	def execCommand(self, funcName, argExp):

		cmd = eval(funcName)

		if argExp==None:
			cmd()
		else:
			args = eval(argExp)
			cmd(*args)

		if self.isBotCommand(funcName):
			self.isBraked = False
			self.lastBotCommand = (funcName, argExp)


	def terminate(self):
        
		self.isRunning = False

	def toggleState(self):

		if(self.lastBotCommand == None):
			return

		self.isBraked = not self.isBraked

		if (self.isBraked):
			self.bot.brake()
		else:
			self.execCommand(*(self.lastBotCommand))



	def navigate(self):

		self.isRunning = True

		while(self.isRunning):

			ch = getch()

			try:
				cmdTuple = self.keyMap[ch]
				self.execCommand(*cmdTuple)

			except KeyError:
				pass


		self.bot.brake()