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)
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:
cs.getScreen().addstr("FORWARD\n", GREEN)
cur_y = cur_y + 1
veh.fw()
elif c == curses.KEY_DOWN:
cs.getScreen().addstr("BACKWARD\n", GREEN)
cur_y = cur_y + 1
veh.bw()
elif c == curses.KEY_LEFT:
cs.getScreen().addstr("LEFT\n", GREEN)
cur_y = cur_y + 1
veh.le()
elif c == curses.KEY_RIGHT:
cs.getScreen().addstr("RIGHT\n", GREEN)
cur_y = cur_y + 1
veh.ri()
elif c == ord(' '):
cs.getScreen().addstr("BREAK\n", GREEN)
cur_y = cur_y + 1
