def _receive(self):
# Wait for incoming messages for 0.1 seconds
recv_timeout = 0.1 # Receive timeout 0.1 seconds
data = ""
self.client_sock.settimeout(recv_timeout)
try:
data = self.client_sock.recv(1024).decode('utf-8')
except bluetooth.btcommon.BluetoothError:
# Recieved when server responds to shutdown
pass
except OSError:
pass
self.client_sock.settimeout(0)
if self.restart_demanded:
# Restart requested
self.client_sock.close()
del self.client_sock
return "RESTART"
elif self.exit_demanded:
# Shutdown requested
self.client_sock.close()
del self.client_sock
return "EXIT"
if data:
data = literal_eval(data)
bt_in_task = BT_task(data[0], data[1])
self.queue_handler.post_in_queue(bt_in_task)
print("Bt client received: ", str(data[1]))
return ""
def pop_outgoing():
"""
Called from server.
Pops next outgoing BT_task from answer queue,
tasks already processed by main unit.
Returns popped task.
"""
answer_queue = open("bt_answers.txt", "rb")
task = None
task_q = []
while (True):
try:
task_i = pickle.load(answer_queue)
task_q.append(task_i)
except EOFError:
break
if task_q:
task = BT_task(task_q[0].cmd_id, task_q[0].data)
del task_q[0]
answer_queue = open("bt_answers.txt", "wb")
for task_i in task_q:
pickle.dump(task_i, answer_queue)
answer_queue.close()
return task
def pop_incoming():
"""
Called from main unit.
Pops and returns next BT_task from commands queue,
to be processed by the main unit.
"""
command_queue = open("bt_commands.txt", "rb")
task = None
task_q = []
while (True):
try:
task_i = pickle.load(command_queue)
task_q.append(task_i)
except EOFError:
break
if task_q:
task = BT_task(task_q[0].cmd_id, task_q[0].data)
del task_q[0]
command_queue = open("bt_commands.txt", "wb")
for task_i in task_q:
pickle.dump(task_i, command_queue)
command_queue.close()
return task
def _send(self):
bt_out_task = self.queue_handler.pop_out_queue()
if bt_out_task:
self.current_out_task = bt_out_task
try:
self.client_sock.send(str(bt_out_task.cmd_id))
except bluetooth.btcommon.BluetoothError:
pass
except OSError:
pass
if bt_out_task.cmd_id == protocol.BT_SERVER_SHUTDOWN:
self.exit_demanded = True
elif bt_out_task.cmd_id == protocol.BT_SERVER_RESTART:
self.restart_demanded = True
else:
self.current_out_task = BT_task(0, 0)
def pop_outgoing():
answer_queue = open("bt_answers.txt", "rb")
task = None
task_q = []
while (True):
try:
task_i = pickle.load(answer_queue)
task_q.append(task_i)
except EOFError:
break
if task_q:
task = BT_task(task_q[0].cmd_id, task_q[0].data)
del task_q[0]
answer_queue = open("bt_answers.txt", "wb")
for task_i in task_q:
pickle.dump(task_i, answer_queue)
answer_queue.close()
return task
def pop_incoming():
command_queue = open("bt_commands.txt", "rb")
task = None
task_q = []
while (True):
try:
task_i = pickle.load(command_queue)
task_q.append(task_i)
except EOFError:
break
if task_q:
task = BT_task(task_q[0].cmd_id, task_q[0].data)
del task_q[0]
command_queue = open("bt_commands.txt", "wb")
for task_i in task_q:
pickle.dump(task_i, command_queue)
command_queue.close()
return task
def bt_shutdown():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_SERVER_SHUTDOWN))
def bt_forward_left():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_FORWARD_LEFT))
def bt_turn_left():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_TURN_LEFT))
def bt_forward_right():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_FORWARD_RIGHT))
def bt_turn_right():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_TURN_RIGHT))
def bt_return_map_data(data):
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_RETURN_MAP_DATA, data))
def bt_switch_to_manual():
EventBus.post(BLUETOOTH_ADDR, BT_task(MANUAL_MODE))
def bt_return_sensor_data(data):
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_RETURN_SENSOR_DATA, data))
def bt_request_servo_data():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_REQUEST_SERVO_DATA))
def bt_request_sensor_data():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_REQUEST_SENSOR_DATA))
def request_ip():
EventBus.post(BLUETOOTH_ADDR, BT_task(REQUEST_PI_IP))
def notify_mode_changed(new_mode):
EventBus.post(BLUETOOTH_ADDR, BT_task(CMD_MODE_SET, new_mode))
def bt_restart():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_SERVER_RESTART))
def bt_return_ip(ip):
EventBus.post(BLUETOOTH_ADDR, BT_task(RETURN_PI_IP, ip))
def bt_switch_to_auto():
EventBus.post(BLUETOOTH_ADDR, BT_task(AUTONOMOUS_MODE))
def bt_drive_back():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_BACK))
def bt_request_map_data():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_REQUEST_MAP_DATA))
def bt_return_servo_data(data):
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_RETURN_SERVO_DATA, data))
def post_to_incoming(self):
"""
Puts saved incoming data to queue to robot.
"""
bt_task_handler.post_incoming(BT_task(self.incoming_data, ""))
def bt_drive_forward():
EventBus.post(BLUETOOTH_ADDR, BT_task(BT_DRIVE_FORWARD))