def __init__(self):
# Storing the engines of this car
self.__leftengine = Engine('A')
self.__rightengine = Engine('B')
self.__leftled = Light.Light('D')
self.__rightled = Light.Light('C')
self.__distance_sensor = DistanceSensor(17, 4)
# Storing the distance between the centers of the cars
# TODO measure width and gearratio
self.__widthcar = 20.
self.__gearratio = 1. / 3.
# Storing the perimeter of the wheels (2*pi*r)
self.__perimeter = 2 * math.pi * 2.579
print 'initing Controller'
ControllerCommands.init(self.__leftengine, self.__rightengine,
self.__distance_sensor, self.__perimeter,
self.__gearratio, self.__widthcar,
self.__leftled, self.__rightled)
print 'Controller inited'
# Storing a reference to a brickpi thread
self.__io = IO_Thread([self.__leftengine, self.__rightengine],
[self.__distance_sensor],
[self.__leftled, self.__rightled])
self.__command_going = False
self.__command_thread = None
self.__parcours = None
def __init__(self):
# Storing the engines of this car
self.__leftengine = Engine("A")
self.__rightengine = Engine("B")
self.__engines = [self.__leftengine, self.__rightengine]
# Storing the distance between the centers of the cars
self.__widthcar = 2.6 + 11.1 - 0.2
self.__gearratio = 1.0
# Storing the perimeter of the wheels (2*pi*r)
self.__perimeter = 2 * math.pi * 2.579
ControllerCommands.init(
self.__leftengine, self.__rightengine, self.__perimeter, self.__gearratio, self.__widthcar
)
# Storing a reference to a brickpi thread
self.__brickpi = BrickPi_Thread(self.__engines)
self.__command_going = False
self.__command_thread = None
self.__parcours = None
def __init__(self):
# Storing the engines of this car
self.__leftengine = Engine('A')
self.__rightengine = Engine('B')
self.__engines = [self.__leftengine, self.__rightengine]
# Storing the distance between the centers of the cars
self.__widthcar = 2.6 + 11.1 - .2
self.__gearratio = 1.
# Storing the perimeter of the wheels (2*pi*r)
self.__perimeter = 2 * math.pi * 2.579
ControllerCommands.init(self.__leftengine, self.__rightengine,
self.__perimeter, self.__gearratio,
self.__widthcar)
# Storing a reference to a brickpi thread
self.__brickpi = BrickPi_Thread(self.__engines)
self.__command_going = False
self.__command_thread = None
self.__parcours = None
def __init__(self):
# Storing the engines of this car
self.__leftengine = Engine('A')
self.__rightengine = Engine('B')
self.__distance_sensor = DistanceSensor(17,4)
# Storing the distance between the centers of the cars
# TODO measure width and gearratio
self.__widthcar = 20.
self.__gearratio = 1./3.
# Storing the perimeter of the wheels (2*pi*r)
self.__perimeter = 2*math.pi* 2.579
print 'initing Controller'
ControllerCommands.init(self.__leftengine,self.__rightengine,self.__distance_sensor,self.__perimeter,self.__gearratio,self.__widthcar)
print 'Controller inited'
# Storing a reference to a brickpi thread
self.__io = IO_Thread([self.__leftengine,self.__rightengine],[self.__distance_sensor])
self.__command_going = False
self.__command_thread = None
self.__parcours = None
else:
return True
else:
return False
if __name__ == "__main__":
while True:
# check if any new data is available
conn, message = socket.get_data()
# Check if the current lock has expired
lock.check_expire()
print "Received request: ", message
# Check if the incomming message is valid
if message.get("command", None) == "INITSOCKET":
ControllerCommands.init_socket(message["adress"], message["port"])
return_message = "OK"
else:
messageOK = check_message(message)
return_message = "SORRY"
if messageOK:
command = str(message["command"])
identifier = message["ID"]
argument = message.get("arguments", [])
opt_arguments = commands[command].get("optional_arguments", None)
if opt_arguments != None:
argument = opt_arguments + argument
f = commands[command]["function"]
return_message = f(identifier, argument, lock)
else:
return False
if __name__ == '__main__':
while True:
# check if any new data is available
conn, message = socket.get_data()
# Check if the current lock has expired
lock.check_expire()
print "Received request: ", message
# Check if the incomming message is valid
if DEBUG:
return_message = 'OK'
else:
if message.get('command', None) == 'INITSOCKET':
ControllerCommands.init_socket(message["adress"],
message["port"])
return_message = 'OK'
else:
messageOK = check_message(message)
return_message = 'SORRY'
if (messageOK):
command = str(message['command'])
identifier = message['ID']
argument = message.get('arguments', [])
opt_arguments = commands[command].get(
'optional_arguments', None)
if opt_arguments != None:
argument = opt_arguments + argument
f = commands[command]['function']
return_message = f(identifier, argument, lock)
