def grab_cup():
"""
After reaching the cup intersection, the robot should turn around and go backwards until it reaches he intersection again,
the robot should then pickup a cup.
"""
value = follow_line_with_gyro_recorded()
forward_adjust()
robot.stop()
time.sleep(0.1)
robot.rotate_by_degree_special(target=value + 178)
robot.stop()
#lift down a bit less so the grabber clears the stand
robot.lift_down(position_offset=285, blocking=False)
robot.set_ramp_value(7000)
backwards_moving_using_gyro(value + 178)
robot.reset_ramp_value()
robot.stop()
robot.close_grabber(long=True)
robot.lift_up()
robot.straight_line_moving(duration=1100)
time.sleep(1.2)
try:
client_socket.send('X')
except:
pass
def grab_cup():
"""
After reaching the cup intersection, the robot should turn around and go backwards until it reaches he intersection again,
the robot should then pickup a cup.
"""
value = follow_line_with_gyro_recorded()
print(value)
# robot.straight_line_moving(speed = 150, duration = 2000)
# time.sleep(2)
forward_adjust()
robot.rotate_by_degree_special(target = value + 140, speed = 250)
robot.rotate_by_degree_special(target = value + 170, speed = 100)
robot.stop()
#turn_around(direction='right', slow_end = True)
#lift down a bit less so the grabber clears the stand
robot.lift_down(position_offset = 285)
backwards_moving_using_gyro(value + 180)
#backwards_until_intersection()
robot.stop()
robot.close_grabber()
robot.lift_up()
robot.straight_line_moving(duration = 1000)
time.sleep(1)
try:
client_socket.send('X')
except:
pass
def proxy_handler(client_socket, remote_host, remote_port, receive_first):
# connect to the remote host
remote_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
remote_socket.connect((remote_host, remote_port))
# remote data from the remote end if necessary
if receive_first:
remote_buffer = receive_from(remote_socket)
hexdump(remote_buffer)
# send it our response proxy_handler
remote_buffer = response_handler(remote_buffer)
# if we have data to send out local cliente, send it
if len(remote_buffer):
print('[<==] sending %d bytes to localhost' % len(remote_buffer))
client_socket.send(remote_buffer)
# now lets loop and read from localhost
# send to remote, send to local
# rinse,wash, repeat
while True:
# read from local local host
local_buffer = receive_from(client_socket)
if len(local_buffer):
print('[==>] Received %d butes from localhost.' % len(local_buffer))
hexdump(local_buffer)
# send it to our request handler
local_buffer = request_handler(local_buffer)
# send off the data to the remote local_host
remote_socket.send(local_buffer)
print('[==>] Sent to remote')
# receive back the response
remote_buffer = receiver_from(remote_socket)
if len(remote_buffer):
print('[<==] Received %d bytes from remote' % len(remote_buffer))
hexdump(remote_buffer)
# send to our response proxy_handler
remote_buffer = response_handler(remote_buffer)
# send the response to tha local socket
client_socket.send(remote_buffer)
print('[<==] Sent to localhost')
# if no more data on eiteher side, close the connections
if no len(local_buffer) or not len(remote_buffer):
client_socket.close()
remote_socket.close()
print('[*] No more data. Closing connections')
break
def handle_client(client_socket):
request = client_socket.recv(1024)
try:
text_file = open("output.txt", "a") # append instead of w = write
text_file.write("Received: %s" % request)
text_file.close()
except:
print("Error while receiving")
print "[*] Received: %s" % request
client_socket.send("ACK!")
client_socket.close()
def run(self):
send(localPicPath, self.generatePicName())
# 图片发送成功之后就要开始开始等待新的图片了到来了,这里要开启一个定时器，因为定时向服务器请求图片是否处理成功
self.startWaitRePicFla.emit()