def comm(self):
if self.keepRunning:
# recieve posn
[self.curposKal,
self.curgas] = encode.recievePacket(sock=self.conn)
# print x,y,theta,velocity
print("robot thinks position", self.curposKal)
self.curpos = [
self.curposAT[0], self.curposAT[1], self.curangAT[1]
]
print("robot actual position", self.curpos)
print(self.curgas)
self.addGas()
# send desired velocities
print(self.desired, self.index)
self.desired[2] = self.index
self.desired[3] = self.curposAT[0]
self.desired[4] = self.curposAT[1]
self.desired[5] = self.curangAT[0]
encode.sendPacket(sock=self.conn, message=self.desired)
print("desired v sent", self.desired)
else:
# send out packet
encode.sendPacket(sock=self.conn, message="out")
# wait for confirmation of reception
rcv = encode.recievePacket(sock=self.conn)
# Clean up the connection
print("Closing Connection")
self.conn.close()
def loopComms(self):
snd = [self.curpos, self.gas]
print("send coordinates:", snd)
# send curpos
encode.sendPacket(sock=self.sock, message=snd)
# recieve message
rcv = encode.recievePacket(sock=self.sock)
print("rcv:", rcv)
# determine what to do with message
if rcv == "out":
encode.sendPacket(sock=self.sock, message="out")
self.quits() # TODO: does this work?
elif rcv is None: # base station not cooperating, this catches when it closes and there is an empty socket connection, and (should) gracefullly kill the robot
print("exiting i guess :(")
self.quits()
else:
self.desired[0] = rcv[0]
self.desired[1] = rcv[1]
self.gasindex = rcv[2]
self.ATxytOLD = self.ATxyt
self.ATxyt[0] = rcv[3]
self.ATxyt[1] = rcv[4]
self.ATxyt[2] = rcv[5]
return
def comm(self):
if self.keepRunning:
#recieve posn
[self.curpos, self.curgas] = encode.recievePacket(sock=self.conn)
#print x,y,theta,velocity
print(self.curpos)
print(self.curgas)
self.addGas()
#send desired velocities
encode.sendPacket(sock=self.conn, message=self.desired)
else:
#send out packet
encode.sendPacket(sock=self.conn, message="out")
#wait for confirmation of reception
rcv = encode.recievePacket(sock=self.conn)
# Clean up the connection
print("Closing Connection")
self.conn.close()
def loopComms(self):
snd = [self.curpos, self.gas]
# send curpos
encode.sendPacket(sock=self.sock, message=snd)
# recieve message
rcv = encode.recievePacket(sock=self.sock)
print(rcv)
# determine what to do with message
if rcv == "out":
encode.sendPacket(sock=self.sock, message="out")
quit()
else:
self.desired[0] = rcv[0]
self.desired[1] = rcv[1]
return
def run(self):
#catch all robots
#all yur robots are belong to us
#make a thread for every robot communication
while self.keepRunning:
conn, client_address = self.sock.accept()
print("Connection from", client_address)
ID = encode.recievePacket(sock=conn)
robot = Robot.Robot(ID, conn)
thread = threading.Thread(target=robot.run())
thread.start()
thread.join()
self.robotThreads.append(thread)
self.robots.append(robot)
#make sure to kill the threads!
for thread in self.robots:
thread.terminate()
