def handle(self):
s=self.socket
#diabase thn katastash sthn opoia 8elei na metabei o xrhsths
#success=0
while(True):
try:
state=int(s.recv(32))
print(state)
except ValueError:
print("Not a valid number")
if (state==1):#metabash sthn katastash xeirismou xrhsimopoiontas koumpia
print("Simple control")
x=py_to_joy(s)
x.controller()
del x
elif(state==2):#metabash sthn katastash xeirismou xrhsimopoiontas tous ais8hthres
print("Sensor control")
try:
turnSens=float(s.recv(64))
s.sendall("1")
moveSens=float(s.recv(64))
except ValueError:
print("Not a valid float {} , {}".format(turnSens,moveSens))
x=py_to_joy(s,turnSens,moveSens)
x.sensor_controller()
del x
elif(state==0):
return False
def handle(self):
s = self.socket
#diabase thn katastash sthn opoia 8elei na metabei o xrhsths
#success=0
while (True):
try:
state = int(s.recv(32))
print(state)
except ValueError:
print("Not a valid number")
if (state == 1
): #metabash sthn katastash xeirismou xrhsimopoiontas koumpia
print("Simple control")
x = py_to_joy(s)
x.controller()
del x
elif (
state == 2
): #metabash sthn katastash xeirismou xrhsimopoiontas tous ais8hthres
print("Sensor control")
try:
turnSens = float(s.recv(64))
s.sendall("1")
moveSens = float(s.recv(64))
except ValueError:
print("Not a valid float {} , {}".format(
turnSens, moveSens))
x = py_to_joy(s, turnSens, moveSens)
x.sensor_controller()
del x
elif (state == 0):
return False
def handle(self):
s=self.socket
#diabase thn katastash sthn opoia 8elei na metabei o xrhsths
#success=0
rospy.init_node('python_to_joy')
##################
x=mapInfo(s)
x.garbage()#first publish is never published
del x
##################
z=None
while(True):
try:
state=(str(s.recv(1024))).split()
#state=int(s.recv(32))
if(self.debug):
print("State = {}".format(state[0]))
except ValueError:
print("Not a valid number at state {}|".format(state))
return False
if (int(state[0])==1):#metabash sthn katastash xeirismou xrhsimopoiontas koumpia
if(self.debug):
print("simple control:State 1")
x=py_to_joy(s)
x.controller()
del x
elif(int(state[0])==2):#metabash sthn katastash xeirismou xrhsimopoiontas tous ais8hthres
if(self.debug):
print("sensor control:State 2")
try:
#turnSens=float(s.recv(64))
turnSens=float(state[1])
print("passed here!")
#s.sendall('1')
#moveSens=float(s.recv(64))
moveSens=float(state[2])
print("and here!")
except ValueError:
print("Not a valid float {} , {}".format(turnSens,moveSens))
x=py_to_joy(s,turnSens,moveSens)
x.sensor_controller()
del x
elif(int(state[0])==3):#send the map
if(self.debug):
print("send map:State 3")
x=mapInfo(s)
x.sendMap()
del x
elif(int(state[0])==4):
if(self.debug):
print("set location:State 4")
x=mapInfo(s)
x.setStart()#set current location of the robot
del x
elif(int(state[0])==5):
if(self.debug):
print("set destination:State 5")
x=mapInfo(s)
x.setDestination()#set point to go
del x
elif(int(state[0])==6):#cancel automatic navigation
if(self.debug):
print("cancel route:State 6")
x=py_to_joy(s)
x.cancelRoute()
del x
elif(int(state[0])==7):#monitor robots movements
if(self.debug):
print("movement feedback:state 7")
if(z==None):
z=RoboskelPos(s)
z.sendPoints()
elif(int(state[0])==8):#initiate camera steam
s.sendall("1")
if(self.debug):
print("stream:state 8")
x=py_to_joy(s)
x.stream()
elif(int(state[0])==9):
if(self.debug):#execute saved pattern
print("begin maneuver:State 9")
x=py_to_joy(s)
x.beginManeuver()
s.sendall("1")
elif(int(state[0])==10):#stop playback
if(self.debug):
print("stop maneuver:State 10")
x=py_to_joy(s)
x.stopManeuver()
s.sendall("1")
elif(int(state[0])==11):#record a pattern of moves
if(self.debug):
print("begin recording:State 11")
x=py_to_joy(s)
x.beginRecording()
elif(int(state[0])==12):#stop recording pattern
if(self.debug):
print("stop recording:State 12")
x=py_to_joy(s)
x.stopRecording()
elif(int(state[0])==13):#send multiple destination points
if(self.debug):
print("multiple destination points")
x=mapInfo(s)
x.setMultDestinations()
elif(int(state[0])==14):#rotate the mast
if(self.debug):
print("mast rotation")
x=mastRotation(s)
x.rotateMast()
elif(int(state[0])==15):#change control mode (manual/assisted)
mode = state[1]
if(self.debug):
print("The mode now is: "+mode)
controlMode(mode)
elif(int(state[0])==0):
print("Ending control")
return False
def handle(self):
s=self.socket
#diabase thn katastash sthn opoia 8elei na metabei o xrhsths
#success=0
rospy.init_node('python_to_joy')
##################
x=mapInfo(s)
x.garbage()#first publish is never published
del x
##################
z=None
while(True):
try:
state=(str(s.recv(1024))).split()
#state=int(s.recv(32))
if(self.debug):
print("State = {}".format(state))
except ValueError:
print("Not a valid number at state {}|".format(state))
return False
if (int(state[0])==1):#metabash sthn katastash xeirismou xrhsimopoiontas koumpia
if(self.debug):
print("simple control:State 1")
x=py_to_joy(s)
x.controller()
del x
elif(int(state[0])==2):#metabash sthn katastash xeirismou xrhsimopoiontas tous ais8hthres
if(self.debug):
print("sensor control:State 2")
try:
#turnSens=float(s.recv(64))
turnSens=float(state[1])
print("passed here!")
#s.sendall('1')
#moveSens=float(s.recv(64))
moveSens=float(state[2])
print("and here!")
except ValueError:
print("Not a valid float {} , {}".format(turnSens,moveSens))
x=py_to_joy(s,turnSens,moveSens)
x.sensor_controller()
del x
elif(int(state[0])==3):#send the map
if(self.debug):
print("send map:State 3")
x=mapInfo(s)
x.sendMap()
del x
elif(int(state[0])==4):
if(self.debug):
print("set location:State 4")
x=mapInfo(s)
x.setStart()#set current location of the robot
del x
elif(int(state[0])==5):
if(self.debug):
print("set destination:State 5")
x=mapInfo(s)
x.setDestination()#set point to go
del x
elif(int(state[0])==6):#cancel automatic navigation
if(self.debug):
print("cancel route:State 6")
x=py_to_joy(s)
x.cancelRoute()
del x
elif(int(state[0])==7):#monitor robots movements
if(self.debug):
print("movement feedback:state 7")
if(z==None):
z=RoboskelPos(s)
z.sendPoints()
elif(int(state[0])==8):#initiate camera steam
s.sendall("1")
if(self.debug):
print("stream:state 8")
x=py_to_joy(s)
x.stream()
elif(int(state[0])==9):
if(self.debug):#execute saved pattern
print("begin maneuver:State 9")
x=py_to_joy(s)
x.beginManeuver()
s.sendall("1")
elif(int(state[0])==10):#stop playback
if(self.debug):
print("stop maneuver:State 10")
x=py_to_joy(s)
x.stopManeuver()
s.sendall("1")
elif(int(state[0])==11):#record a pattern of moves
if(self.debug):
print("begin recording:State 11")
x=py_to_joy(s)
x.beginRecording()
elif(int(state[0])==12):#stop recording pattern
if(self.debug):
print("stop recording:State 12")
x=py_to_joy(s)
x.stopRecording()
elif(int(state[0])==13):#send multiple destination points
if(self.debug):
print("multiple destination points")
x=mapInfo(s)
x.setMultDestinations()
elif(int(state[0])==14):#rotate the mast
if(self.debug):
print("mast rotation")
x=mastRotation(s)
x.rotateMast()
elif(int(state[0])==0):
print("Ending control")
return False
