def main():
control = RoboControl(DEBUG=True)
network = RoboNetwork('192.168.1.2', 29281, 20, 5, DEBUG=True)
controller_connected = False
robot_connected = False
controller_connected = control.connect()
if controller_connected:
print("Controller connected!")
print("Starting controller program")
control.start()
else:
print("No controller connected")
#while not robot_connected:
if not robot_connected:
robot_connected = network.connect()
if robot_connected:
print("Robot connected")
else:
print("No robot detected, timeout")
while (not control.exit):
#if network.connected and len(control.commands) > 0:
if len(control.commands) > 0:
command = control.commands.popleft()
print(command)
if network.connected:
network.conn.send(command[0])
network.conn.send(command[1])
network.exit = True
def __init__(self):
super(RobotApp, self).__init__()
# Setup ui from precompiled file
self.setupUi(self)
# Connect signals to buttons
self.connect_buttons()
# Initiate controlling applications
self.control = RoboControl(DEBUG=True)
#self.network = RoboNetwork('192.168.1.2', 29281, 16, '192.168.1.3', 29282, 15, DEBUG=True)
# Run controlling applications
self.control.start()
#self.network.start()
# UDP Variables
self.UDP_TARGET_IP = '10.0.1.3'
self.UDP_TARGET_PORT = 5500
# Create UDP socket
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
# Set state flags
self.controller_connected = False
self.network_connected = True
# Overall state
self.state = States.DISCONNECTED
self.controllerConnect.setEnabled(False)
self.controllerDisconnect.setEnabled(False)
self.recordPath.setEnabled(False)
# Queue data
self.filename = None
self.queues_data = []
self.queue = []
# Start main thread
self.mainThread = MainThread(self)
self.mainThread.start()
