class VehicleServer(UdpServer):
vehicle = None
def __init__(self, bindTo = "", port = SERVER_PORT):
UdpServer.__init__(self, bindTo, port)
io = DigitalIO()
mch1 = MCtlChannel(io.getOutput(7), io.getOutput(8))
mch2 = MCtlChannel(io.getOutput(9), io.getOutput(10))
mctl = DualChannelMCtl(mch1, mch2)
self.vehicle = Vehicle(mctl)
def dispatch(self, seq, data, clientIp, clientPort):
print "[%s %s]: %i %s" % (clientIp,clientPort, seq, data)
try:
c = data["msgId"]
res = { "msgId" : "ok" }
if c == "fw":
print " -> set vehicle to: FORWARD"
self.vehicle.fw()
elif c == "bw":
print " -> set vehicle to: BACKWARD"
self.vehicle.bw()
elif c == "le":
print " -> set vehicle to: LEFT"
self.vehicle.le()
elif c == "ri":
print " -> set vehicle to: RIGHT"
self.vehicle.ri()
elif c == "br":
print " -> set vehicle to BREAK"
self.vehicle.br()
else:
res = { "msgId" : "err", "msg" : "Unknown command" }
self.respond(clientIp,clientPort, seq, res)
except Exception as e:
print e
res = { "msgId" : "err", "msg" : "Data format mismatch" }
self.respond(clientIp,clientPort, seq, res)
def __init__(self, bindTo = "", port = SERVER_PORT): UdpServer.__init__(self, bindTo, port) io = DigitalIO() mch1 = MCtlChannel(io.getOutput(7), io.getOutput(8)) mch2 = MCtlChannel(io.getOutput(9), io.getOutput(10)) mctl = DualChannelMCtl(mch1, mch2) self.vehicle = Vehicle(mctl)
cs.getScreen().addstr("* - UP \t\tforward\n", RED)
cs.getScreen().addstr("* - DOWN\tbackward\n", RED)
cs.getScreen().addstr("* - LEFT\tleft\n", RED)
cs.getScreen().addstr("* - RIGHT\tright\n", RED)
cs.getScreen().addstr("* - SPACE\tbreak\n", RED)
cs.getScreen().addstr("* - q\t\tquit\n", RED)
cs.getScreen().addstr("**\n\n", RED)
cur_y = 11;
io = DigitalIO()
mch1 = MCtlChannel(io.getOutput(7), io.getOutput(8))
mch2 = MCtlChannel(io.getOutput(9), io.getOutput(10))
mctl = DualChannelMCtl(mch1, mch2)
veh = Vehicle(mctl)
while True:
max_y, max_x = cs.getScreen().getmaxyx()
if cur_y >= max_y:
cs.getScreen().clear()
cs.getScreen().addstr("** screenwrap **\n", RED)
cur_y = 2
c = cs.getScreen().getch()
cs.getScreen().addstr("-> ", BLUE)
if c == curses.KEY_UP:
