def __init__(self, host, port):
self.camera_pos = (0.0, 0.0)
self.wheel_speed = (0.0, 0.0)
self.headlights = False
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect((host, port))
self.cs = ControlSocket(self.socket)
self.oldcontrol = {}
class ClientInterface(object):
def __init__(self, host, port):
self.camera_pos = (0.0, 0.0)
self.wheel_speed = (0.0, 0.0)
self.headlights = False
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.socket.connect((host, port))
self.cs = ControlSocket(self.socket)
self.oldcontrol = {}
def __del__(self):
self.socket.close()
def setCameraPos(self, x, y):
self.camera_pos = (x, y)
def getCameraPos(self):
return self.camera_pos
def setWheelSpeed(self, l, r):
self.wheel_speed = (l, r)
def getWheelSpeed(self):
return self.wheel_speed
def setHeadlights(self, h):
self.headlights = h
def getHeadlights(self):
return self.headlights
def updateControl(self):
newcontrol = {"left_motor" : self.wheel_speed[0], "right_motor" : self.wheel_speed[1]}
if self.oldcontrol != newcontrol:
self.cs.transmitControl(newcontrol)
self.oldcontrol = newcontrol
import socket
import time
import pygame
from util.control import ControlSocket
pygame.init()
screen = pygame.display.set_mode((100, 100))
clientsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
clientsocket.connect(("192.168.42.1", 1337))
cs = ControlSocket(clientsocket)
def clamp(v, l, h):
return min((max((v, l)), h))
sendcounter = 0
while (1):
pygame.event.pump()
pkeys = pygame.key.get_pressed()
up, down, left, right, quit = [
(1.0 if pkeys[x] else 0.0)
for x in [pygame.K_w, pygame.K_s, pygame.K_a, pygame.K_d, pygame.K_q]
]
if quit > 0.5:
break
l_motor,r_motor = mc.motors[0:2]
# Open listening server socket
serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serversocket.bind(("192.168.42.1", 1337))
serversocket.listen(1)
sockets.append(serversocket)
while(1):
clientsocket,address = serversocket.accept()
sockets.append(clientsocket)
try:
cs = ControlSocket(clientsocket)
while(1):
cdict = cs.receiveControl()
print cdict
l_motor.retry_write(cdict["left_motor"])
r_motor.retry_write(cdict["right_motor"])
except Exception as e:
print e.message
continue
clientsocket.close()