コード例 #1
0
ファイル: module_client.py プロジェクト: edkek/eyeRobot
    def request_sensor_information(self, robot, filter, callback):
        if not callable(callback):
            print "Invalid callback!"
            return

        should_filter = filter != ""
        filter_size = 0
        if should_filter:
            filter_size = 4 + len(filter)

        total_size = 9 + len(robot) + filter_size

        array = bytearray([0] * total_size)
        buf = ByteBuffer(array, 0, total_size)

        # 4 bytes
        buf.put_SLInt32(total_size + 1)

        # 4 + 4 = 8
        buf.put_SLInt32(len(robot))

        # 4 + 4 + 1 = 9
        tmp = bytearray([0])
        if should_filter:
            tmp[0] = 1

        buf.put_bytes(tmp, 0, 1)

        temp2 = bytearray()
        temp2.extend(robot)
        buf.put_bytes(temp2, 0, len(temp2))

        if should_filter:
            buf.put_SLInt32(len(filter))

            temp3 = bytearray()
            temp3.extend(filter)

            buf.put_bytes(temp3, 0, len(temp3))

        to_send = bytearray([0] * (total_size + 1))
        to_send[0] = 0x07
        buf.set_position(0)
        buf.get(to_send, 1, total_size)

        self.socket.sendto(to_send, self.server_address)

        if robot not in self.sensor_callbacks:
            self.sensor_callbacks[robot] = list()

        self.sensor_callbacks[robot].append(callback)
コード例 #2
0
ファイル: kinect_module.py プロジェクト: edkek/eyeRobot
def body(dev, *args):
    global alpha
    global previousAcc
    global velocity
    global was_moving

    acc = freenect.get_accel(dev)

    accX = int(acc[0])
    accY = int(acc[1])
    accZ = int(acc[2])

    accX = accX - previousAcc[0]
    accY = accY - previousAcc[1]
    accZ = accZ - previousAcc[2]

    velocity[0] += accX
    velocity[1] += accY
    velocity[2] += accZ

    previousAcc[0] = int(acc[0])
    previousAcc[1] = int(acc[1])
    previousAcc[2] = int(acc[2])

    if abs(velocity[0]) > 0 or abs(velocity[2]) > 0:
        print("Moving!!\tX: " + str(velocity[0]) + "m/s\tZ: " +
              str(velocity[2]) + "m/s")
        was_moving = True
    elif was_moving:
        print("Stopped moving")
        was_moving = False

    buf = ByteBuffer(bytearray([0] * 24), 0, 24)
    buf.put_SLInt32(accX)
    buf.put_SLInt32(accY)
    buf.put_SLInt32(accZ)
    buf.put_SLInt32(velocity[0])
    buf.put_SLInt32(velocity[1])
    buf.put_SLInt32(velocity[2])

    arr = bytearray([0] * 25)
    arr[0] = 0x03
    buf.set_position(0)
    buf.get(arr, 1, 24)

    sock.send(arr)

    if not keep_running:
        raise freenect.Kill
コード例 #3
0
ファイル: module_client.py プロジェクト: edkek/eyeRobot
    def trigger_event(self, event_id, event_data, filter):
        event = json.dumps(event_data)
        should_filter = filter != ""
        filter_size = 0
        if should_filter:
            filter_size = 4 + len(filter)

        total_size = 10 + len(event) + filter_size

        array = bytearray([0] * total_size)
        buf = ByteBuffer(array, 0, total_size)

        # 4 bytes
        buf.put_SLInt32(total_size + 1)

        # 4 + 2 = 6
        temp = bytearray([0] * 2)
        temp[0] = event_id
        if should_filter:
            temp[1] = 1
        else:
            temp[1] = 0

        buf.put_bytes(temp, 0, 2)

        # 4 + 2 + 4 = 10
        buf.put_SLInt32(len(event))

        temp2 = bytearray()
        temp2.extend(event)

        buf.put_bytes(temp2, 0, len(temp2))

        if should_filter:
            buf.put_SLInt32(len(filter))

            temp3 = bytearray()
            temp3.extend(filter)

            buf.put_bytes(temp3, 0, len(temp3))

        to_send = bytearray([0] * (total_size + 1))
        to_send[0] = 0x06
        buf.set_position(0)
        buf.get(to_send, 1, total_size)

        self.socket.sendto(to_send, self.server_address)
コード例 #4
0
ファイル: module_client.py プロジェクト: edkek/eyeRobot
    def send_robot_command(self, motor1, motor2, motor3, motor4, robot_name):
        total_size = 24 + len(robot_name)
        array = bytearray([0] * total_size)
        buf = ByteBuffer(array, 0, total_size)
        buf.put_SLInt32(total_size + 1)
        buf.put_SLInt32(motor1)
        buf.put_SLInt32(motor2)
        buf.put_SLInt32(motor3)
        buf.put_SLInt32(motor4)
        buf.put_SLInt32(len(robot_name))

        temp = bytearray()
        temp.extend(robot_name)

        buf.put_bytes(temp, 0, len(temp))

        to_send = bytearray([0] * (total_size + 1))
        to_send[0] = 0x08
        buf.set_position(0)
        buf.get(to_send, 1, total_size)

        self.socket.sendto(to_send, self.server_address)