class InterCom(Comm):
'''Intercom'''
def __init__(self, socket):
super(self.__class__, self).__init__(socket)
self.logger = logging.getLogger("intercom")
self.queued_sender = Queued_sender(self.socket)
self.queued_sender.start()
class Can(Comm):
'''Comm sur le bus can'''
def __init__(self, socket):
super(self.__class__, self).__init__(socket)
self.logger = logging.getLogger("can")
self.queued_sender = Queued_sender(self.socket)
self.queued_sender.start()
def send(self, message):
if Robot.side == "red":
cmds = message.lower().split()
self.logger.debug("[old] %s" % message)
if cmds[0] == "asserv":
if len(cmds) == 3 and cmds[1] == "rot":
cmds[2] = str(-int(cmds[2]))
elif len(cmds) >= 4 and cmds[1] == "speed":
left = cmds[2]
cmds[2] = cmds[3]
cmds[3] = left # old left = new right
elif cmds[0] == "rangefinder":
if len(cmds) > 1:
if cmds[1] == "1":
cmds[1] = "2"
elif cmds[1] == "2":
cmds[1] = "1"
elif cmds[0] == "odo":
if len(cmds) > 4:
cmds[2] = str(-int(cmds[2]))
cmds[4] = str((-int(cmds[4])+54000)%36000)
elif cmds[0] == "ax":
if len(cmds) >= 3 and cmds[2] == "angle" and cmds[3] == "set":
if cmds[1] == "2":
cmds[1] = "1"
elif cmds[1] == "1":
cmds[1] = "2"
message = " ".join(cmds)
self.logger.debug("[new] %s" % message)
return self.queued_sender.add_action(message)