def on_get_chunk(self, interface, response):
'''Handle receiving a chunk of block headers'''
if self.bc_requests:
req_if, data = self.bc_requests[0]
req_idx = data.get('chunk_idx')
# Ignore unsolicited chunks
if req_if == interface and req_idx == response['params'][0]:
idx = self.blockchain.connect_chunk(req_idx, response['result'])
# If not finished, get the next chunk
if idx < 0 or not idx or self.get_local_height() >= data['if_height']:
self.bc_requests.popleft()
if not idx:
interface.print_error("header didn't match checkpoint, dismissing interface")
interface.stop()
else:
self.request_chunk(interface, data, idx)
def on_get_header(self, interface, response):
'''Handle receiving a single block header'''
if self.bc_requests:
req_if, data = self.bc_requests[0]
req_height = data.get('header_height', -1)
# Ignore unsolicited headers
if req_if == interface and req_height == response['params'][0]:
next_height = self.blockchain.connect_header(data['chain'], response['result'])
# If not finished, get the next header
if next_height in [True, False]:
self.bc_requests.popleft()
if next_height:
self.notify('updated')
else:
interface.print_error("header didn't connect, dismissing interface")
interface.stop()
else:
self.request_header(interface, data, next_height)
def on_get_header(self, interface, response):
'''Handle receiving a single block header'''
if self.bc_requests:
req_if, data = self.bc_requests[0]
req_height = data.get('header_height', -1)
# Ignore unsolicited headers
if req_if == interface and req_height == response['params'][0]:
next_height = self.blockchain.connect_header(data['chain'], response['result'])
# If not finished, get the next header
if next_height in [True, False]:
self.bc_requests.popleft()
if next_height:
self.notify('updated')
else:
interface.print_error("header didn't connect, dismissing interface")
interface.stop()
else:
self.request_header(interface, data, next_height)
def on_get_chunk(self, interface, response):
'''Handle receiving a chunk of block headers'''
if self.bc_requests:
req_if, data = self.bc_requests[0]
req_idx = data.get('chunk_idx')
# Ignore unsolicited chunks
if req_if == interface and req_idx == response['params'][0]:
idx = self.blockchain.connect_chunk(req_idx,
response['result'])
# If not finished, get the next chunk
if idx < 0 or not idx or self.get_local_height(
) >= data['if_height']:
self.bc_requests.popleft()
if not idx:
interface.print_error(
"header didn't match checkpoint, dismissing interface"
)
interface.stop()
else:
self.request_chunk(interface, data, idx)
def handle_bc_requests(self):
'''Work through each interface that has notified us of a new header.
Send it requests if it is ahead of our blockchain object'''
while self.bc_requests:
interface, data = self.bc_requests.popleft()
# If the connection was lost move on
if not interface.is_connected():
continue
req_time = data.get('req_time')
if not req_time:
# No requests sent yet. This interface has a new height.
# Request headers if it is ahead of our blockchain
if not self.bc_request_headers(interface, data):
continue
elif time.time() - req_time > 10:
interface.print_error("blockchain request timed out")
interface.stop()
continue
# Put updated request state back at head of deque
self.bc_requests.appendleft((interface, data))
break
def handle_bc_requests(self):
'''Work through each interface that has notified us of a new header.
Send it requests if it is ahead of our blockchain object'''
while self.bc_requests:
interface, data = self.bc_requests.popleft()
# If the connection was lost move on
if not interface.is_connected():
continue
req_time = data.get('req_time')
if not req_time:
# No requests sent yet. This interface has a new height.
# Request headers if it is ahead of our blockchain
if not self.bc_request_headers(interface, data):
continue
elif time.time() - req_time > 10:
interface.print_error("blockchain request timed out")
interface.stop()
continue
# Put updated request state back at head of deque
self.bc_requests.appendleft((interface, data))
break
# seconds/0.03 seconds ~ 20 times.
for i in range(20):
if (interface.readButton() == 1):
x += 1
# if the button is recorded to be pressed, stop the robot.
if (x >= 1):
interface.drive(0, 0, 0, 0)
interface.sleep()
x = 0
interface.sleep()
# if the button is pressed again, breaks the loop and starts
# the robot.
while (interface.readButton() == 0):
if (interface.readButton() == 1):
break
# waits 0.015 seconds for codes to process.
interface.sleep()
# resets the button press count to 0.
x = 0
# waits another 0.015 seconds for the codes to process.
interface.sleep()
# stops the robot from driving.
interface.drive(0, 0, 0, 0)
# stops robot.
interface.stop()
# closes connection.
connection.close()
