try:
port = 5555
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.bind(("", port))
print "waiting on port:", port
data = bytearray(10)
while True:
s.recvfrom_into(data)
direction = data[0]
angle = struct.unpack_from('<d', data, 1)[0]
if direction == 0:
car.stop()
elif direction == 1:
car.forward()
elif direction == 2:
car.backward()
car.stear(angle)
except KeyboardInterrupt:
pass
except:
raise
finally:
car.cleanup()
cmd = ""
# Move onto next character
i += 1
##
## Main starting piont of server
##
running = True
try:
while running:
print "Waiting ..."
# Wait to accept a connection from client control app
conn, addr = s.accept()
print 'Connected with ' + addr[0] + ':' + str(addr[1])
# Start listening to new socket on seperate thread
start_new_thread(clientthread ,(conn,))
finally:
print "Exiting"
try:
car.stop() # Stop the car if we get here in error
except:
pass
s.close()
time.sleep(0.1) # wait a little for threads to finish
car.cleanup()