def talk_to_home(): print 'Awaiting network connection' onboard.waitalert1() self.data_loop = False network.wait(whenHearCall=heard) print 'Network connection made' onboard.waitalert2() onboard.connalert1() while True: if network.isConnected()==False: onboard.connalert2() print 'Disconnected. Waiting for connection' cut = False while cut==False: #print 'attempt hang up' try: network.hangUp() onboard.waitalert1() network.wait(whenHearCall=heard) cut = True #print 'hang up successful' except: pass #print 'cannot hang up' print "Connection made" onboard.waitalert2() onboard.connalert1()
def run_server():
trace("run_server")
start_ticker()
while True:
try:
trace("waiting for connection...")
network.wait(whenHearCall=incoming, port=PORT)
trace("connected!")
while network.isConnected():
time.sleep(1)
print("wasting time...")
print("connection lost")
finally:
stop_status_reports()
network.hangUp()
def heard(line):
global state
global network
if (state == 0): # GET / HTTP/1.0
handleRequest(line)
state = 1
elif (state == 1): # headers
if (len(line.strip()) == 0): # blank separator
state = 2
else:
handleHeader(line)
elif (state == 2): # body
# This is a GET so just send the body
handleBody(line)
network.hangUp() # done
def test_controller():
global result, reason
# CONNECT to the t controller
trace("connecting...")
network.call(ADDRESS, whenHearCall=incoming, port=PORT)
trace("connected!")
try:
run_control_test()
finally:
try:
trace("deallocating...")
send("tel %s dealloc" % NAME)
time.sleep(2)
trace("closing...")
network.hangUp()
except Exception as e:
print("Failed to dealloc: %s" % e)
def __init__(self):
def heard(phrase):
onboard.inalert1() #remove with eh
print "INCOMING:" + phrase
words = str(phrase)
self.homemsg = eval(words)
onboard.inalert2()
if network.isConnected():
if self.homemsg['MSG'] == 'DATA'::
onboard.outalert1()
response = onboard.sense_DATA()
print"RESPONSE:" + str(response)
try:
network.say(str(response))
except:
print 'could not send message'
onboard.outalert2()
else:
print"NO CONNECTION TO RESPOND"
def scale(val, src, dst):
"""
Scale the given value from the scale of src to the scale of dst.
val: float or int
src: tuple
dst: tuple
example: print(scale(99, (0.0, 99.0), (-1.0, +1.0)))
"""
return (float(val - src[0]) / (src[1] - src[0])) * (dst[1] - dst[0]) + dst[0]
def scale_stick(value):
return scale(value,(0,255),(-1,1))
def scale_trigger(value):
return int(scale(value,(0,255),(0,100)))
def control_wait():
print 'Awaiting controller connection'
self.gamepad = None
while self.gamepad == None:
devices = [evdev.InputDevice(fn) for fn in evdev.list_devices()]
for device in devices:
if device.name == 'PLAYSTATION(R)3 Controller':
ps3dev = device.fn
self.gamepad = evdev.InputDevice(ps3dev)
print 'Controller connection made'
def define_allkeys():
self.allkeys = { #control name: [event type, event code]
'CROSS_btn': [1, 302], #cross button
'TRIAN_btn': [1, 300], #triangle button
'CIRCL_btn': [1, 301], #circle button
'SQUAR_btn': [1, 303], #square button
'LEFTA_btn': [1, 295], #left arrow button
'RIGHT_btn': [1, 293], #right arrow button
'UPARR_btn': [1, 292], #up arrow button
'DOWNA_btn': [1, 294], #down arrow button
'SELCT_btn': [1, 288], #select button
'START_btn': [1, 291], #start button
'LEFT1_btn': [1, 298], #L1 button
'LEFT2_btn': [1, 296], #L2 button
'RIHT1_btn': [1, 299], #R1 button
'RIHT2_btn': [1, 297], #R2 button
'LSTCK_btn': [1, 289], #left stick button
'RSTCK_btn': [1, 290], #right stick button
'LEFTY_stk': [3, 1], #left joystick y-axis
'RIHTY_stk': [3, 5], #right joystick y-axis
'LEFTX_stk': [3, 0], #left joystick x-axis
'RIHTX_stk': [3, 2], #right joystick x-axis
'LEFT1_trg': [3, 50], #L1 trigger
'LEFT2_trg': [3, 48], #L2 trigger
'RIHT1_trg': [3, 51], #R1 trigger
'RIHT2_trg': [3, 49] #R2 trigger
#'XAXIS_acc': [3, 59], #x-axis accelerometer
#'YAXIS_acc': [3, 60] #y-axis accelerometer
}
self.command = 'CMO:0||LMO:0||RMO:0||DOOR:0'
def pass_command():
acc = scale_trigger(self.keyval['RIHT2_trg'])-scale_trigger(self.keyval['LEFT2_trg'])
turn = scale_stick(self.keyval['LEFTX_stk'])
pivot = self.keyval['SQUAR_btn']
#sensitivity threshold of 15% kept both motors turning okay
if (abs(turn)>0.15) and (pivot==0): #no pivot turn - 1 wheel stationary
if turn < 0: #left turn - right motor fwd/rev, left motor stationary
l_acc = 0
r_acc = int(acc*-1*turn)
elif turn > 0: #right turn - right motor fwd/rev, right motor stationary
r_acc = 0
l_acc = int(acc*turn)
elif (abs(turn)>0.15) and (pivot!=0):
if turn < 0: #left turn - right motor fwd/rev, left motor oppose
l_acc = int(turn*acc)
r_acc = int(-1*turn*acc)
elif turn > 0: #right turn - left motor fwd/rev, right motor oppose
r_acc = int(turn*-1*acc)
l_acc = int(turn*acc)
else: #no turn
l_acc = acc
r_acc = acc
string = 'CMO:0||'+'LMO:'+str(l_acc)+'||RMO:'+str(r_acc)+'||DOOR:0'
if string != self.command:
self.command = string
print self.command
def control():
control_wait()
define_allkeys()
self.keyval = {} #key values
for key in self.allkeys:
self.keyval[key] = 0 #initialize all values to zero
try:
for event in self.gamepad.read_loop():
for key in self.allkeys:
[etype, ecode] = self.allkeys[key]
if event.type == etype and event.code == ecode:
self.keyval[key] = event.value
pass_command()
except:
pass
############ this is where the program starts its loop
t = threading.Thread(target=control)# need to work on this some more
t.start()
print 'Awaiting network connection'
onboard.waitalert1()
network.wait(whenHearCall=heard)
print 'Network connection made'
onboard.waitalert2()
onboard.connalert1()
while True:
while network.isConnected():
talk = True
if network.isConnected()==False:
onboard.connalert2()
print 'Disconnected. Waiting for connection'
network.hangUp()
onboard.waitalert1()
network.wait(whenHearCall=heard)
print "Connection made"
onboard.waitalert2()
onboard.connalert1()
