def handleJSON(self, json_obj):
# do whatever with the incoming data...
if not srv.DELIV_NAV in json_obj:
return
deliv_nav = json_obj[srv.DELIV_NAV]
# update rover status
if srv.STATUS and srv.MESSAGE in deliv_nav:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(
json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = srv.store(
json.loads('{ "DELIV_NAV.STATUS": { "$exists": true } }'),
json_obj, self.col)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "SUCCESS", "STATUS", text)
self.sendToStatusThread(msg)
# update position
elif srv.X and srv.Y in deliv_nav:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(
json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = srv.store(
json.loads('{ "DELIV_NAV.X": { "$exists": true } }'), json_obj,
self.col)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "SUCCESS", "LOC", text)
self.sendToStatusThread(msg)
# update spped and direction
elif srv.RIGHT_DIR and srv.LEFT_DIR and srv.RIGHT_SPEED and srv.LEFT_SPEED in deliv_nav:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(
json_obj)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = srv.store(
json.loads('{ "DELIV_NAV.RIGHT_DIR": { "$exists": true } }'),
json_obj, self.col)
text = re.sub('\"', '', text)
msg = status.StatusMsg(self.name, "SUCCESS", "SPEED", text)
self.sendToStatusThread(msg)
if srv.STATUS in deliv_nav:
if deliv_nav[srv.STATUS] is 0:
# send message for next action (FWD, BACKWARD, etc)
#deliv_nav_rtrn_msg = srv.retrieve(self.seq_num, self.col)
srv.send_msg(self.client, srv.DELIV_NAV_DEFAULT_ACTION)
self.seq_num += 1
return
def handleJSON(self, json_obj):
# handle scanner rover sensing message calls
if srv.SCAN_SENSE in json_obj:
scan_sense = json_obj[srv.SCAN_SENSE]
# update quota status
if srv.ZONE in scan_sense:
if scan_sense[srv.ZONE] is 0:
self.client.send(('{ "SEQ": 0, "ZONE": 1, "ACTION": 1 }').encode())
if srv.RED and srv.GREEN and srv.BLUE in scan_sense:
text = srv.INFO_DB_STORE_ATT + " Data being stored: " + json.dumps(json_obj)
text = re.sub('\"','',text)
msg = status.StatusMsg(self.name, "STORE", "COLOR", text)
self.sendToStatusThread(msg)
text = srv.store(json.loads('{ "SCAN_SENSE.ZONE": ' + str(scan_sense[srv.ZONE]) + ' }'), json_obj, self.col)
# text = re.sub('\"','',text)
msg = status.StatusMsg(self.name, "SUCCESS", "COLOR", text)
self.sendToStatusThread(msg)
if json_obj[srv.SEQ_FIELD] <= 100 and json_obj[srv.SEQ_FIELD] >= 0:
self.client.send(str('{ "SEQ": 0, "ZONE": ' + str(1) + ' , "ACTION": 1 }').encode())
elif json_obj[srv.SEQ_FIELD] <= 200 and json_obj[srv.SEQ_FIELD] > 100:
self.client.send(str('{ "SEQ": 0, "ZONE": ' + str(2) + ' , "ACTION": 1 }').encode())
elif json_obj[srv.SEQ_FIELD] <= 300 and json_obj[srv.SEQ_FIELD] > 200:
self.client.send(str('{ "SEQ": 0, "ZONE": ' + str(3) + ' , "ACTION": 1 }').encode())
elif json_obj[srv.SEQ_FIELD] >= 301:
self.client.send(str('{ "SEQ": 0, "ZONE": 1 , "ACTION": 1 }').encode())
# Begin to handle messages
scan_sense_rtrn_msg = ""
scan_nav_rtrn_msg = ""
deliv_sense_rtrn_msg = ""
deliv_nav_rtrn_msg = ""
# update sequence number
seq_num = srv.handle_seq(seq_num)
# handle scanner rover sensing message calls
if SCAN_SENSE in json_obj:
scan_sense = json_obj[SCAN_SENSE]
# update quota status
if ZONE in scan_sense:
if RED and GREEN and BLUE in scan_sense:
srv.store(json.loads('{ "SCAN_SENSE.ZONE": ' + str(scan_sense[ZONE]) + ' }'), json_obj, scan_snsg_col)
else:
srv.print_msg(FORMAT_ERR, "RED, GREEN, or BLUE fields do not exist!")
else:
srv.print_msg(FORMAT_ERR, "ZONE field does not exist!")
srv.print_msg(FORMAT_ERR, "ZONE field does not exist!")
srv.print_msg(FORMAT_ERR, "ZONE field does not exist!")
# send message back of current action (STOP or CONTINUE)
#scan_sense_rtrn_msg = srv.retrieve(seq_num, scan_snsg_col)
#temp_send = input("Send? ")
#zone = input("Zone: ")
#if temp_send is 'y':
#print("Message sent: ", '{ "SEQ": ' + str(seq_num) + ', "ZONE": ' + zone + ' , "ACTION": 1 }!')
#sys.stdout.flush()