class BotNavigator:
def __init__(self):
self.bot = None
self.lastBotCommand = None
self.angularVelocity = 50
self.linearVelocity = 200
self.isBraked = False
self.keyMap = {
'w':('self.bot.driveStraight', '( self.linearVelocity, )'),
's':('self.bot.driveStraight', '( -self.linearVelocity, )'),
'a':('self.bot.rotate', '( self.angularVelocity, )'),
'd':('self.bot.rotate', '( -self.angularVelocity, )'),
'q':('self.terminate', None),
' ':('self.toggleState', None)
}
def useRemoteController(self, uri):
self.bot = xmlrpclib.ServerProxy(uri, allow_none=True)
def useLocalController(self, devPath):
self.bot = BotController()
self.bot.connect(devPath)
self.bot.start()
self.bot.enterFullMode()
def isBotCommand(self, cmdStr):
return ( cmdStr.find('self.bot.')==0 )
def execCommand(self, funcName, argExp):
cmd = eval(funcName)
if argExp==None:
cmd()
else:
args = eval(argExp)
cmd(*args)
if self.isBotCommand(funcName):
self.isBraked = False
self.lastBotCommand = (funcName, argExp)
def terminate(self):
self.isRunning = False
def toggleState(self):
if(self.lastBotCommand == None):
return
self.isBraked = not self.isBraked
if (self.isBraked):
self.bot.brake()
else:
self.execCommand(*(self.lastBotCommand))
def navigate(self):
self.isRunning = True
while(self.isRunning):
ch = getch()
try:
cmdTuple = self.keyMap[ch]
self.execCommand(*cmdTuple)
except KeyError:
pass
self.bot.brake()