def boardupdate(self, boarddata=None):
super().boardupdate()
if boarddata is None:
return
if self.motor_port is None:
if boarddata["fw"] in POSSIBLE_MOTOR_FIRMWARES:
self.set_motor_port(boarddata["port"])
if self.motor_port == boarddata["port"]:
try:
self.ws.write_to_socket(
commandmessage(
cmd="set_acceleration",
sender=self.name,
target="gui",
acceleration=list(boarddata["acceleration"])[0],
))
self.ws.write_to_socket(
commandmessage(
cmd="set_steps_per_mm",
sender=self.name,
target="gui",
steps_per_mm=list(boarddata["steps_per_mm"])[0],
))
self.ws.write_to_socket(
commandmessage(
cmd="set_max_mm_sec",
sender=self.name,
target="gui",
max_mm_sec=list(boarddata["max_mm_sec"])[0],
))
except:
self.logger.exception(Exception)
def ask_for_identification(self):
self.server.logger.debug("ask for identification")
self.sendMsg(
commandmessage(
sender="server",
cmd="indentify",
requires_password=self.server.password is not None,
))
self.sendMsg(
commandmessage(sender="server",
cmd="set_time",
time=self.server.t0))
def get_vials(self, data_target="gui"):
self.ws.write_to_socket(
commandmessage(
cmd="set_vials",
sender=self.name,
target=data_target,
vials=self.config.get("vials", default=[]),
))
def identify(self, data):
cmd_data = data["data"]
if not self.server.verify_password(cmd_data["kwargs"].get(
"password", "")):
self.sendMsg(commandmessage(sender="server", cmd="password_reset"))
self.ask_for_identification()
if "name" in cmd_data["kwargs"]:
self.name = cmd_data["kwargs"]["name"]
self.identified = True
def get_frame_size(self, data_target="gui"):
self.ws.write_to_socket(
commandmessage(
cmd="set_frame_size",
sender=self.name,
target=data_target,
width=self.config.get("frame", "size", "width", default=100),
height=self.config.get("frame", "size", "height", default=100),
savedist=self.config.get("frame", "savedist", default=0),
))
def set_steps_per_mm(self, steps_per_mm=None):
if steps_per_mm is None or self.motor_port is None:
return
self.ws.write_to_socket(
commandmessage(
cmd="boardfunction",
board_cmd="set_steps_per_mm",
sender=self.name,
target=self.motor_port,
steps_per_mm=[steps_per_mm, steps_per_mm, 200],
))
def set_acceleration(self, acceleration=None):
if acceleration is None or self.motor_port is None:
return
self.ws.write_to_socket(
commandmessage(
cmd="boardfunction",
board_cmd="set_acceleration",
sender=self.name,
target=self.motor_port,
acceleration=[acceleration, acceleration, 1],
))
def set_max_mm_sec(self, max_mm_sec=None):
if max_mm_sec is None or self.motor_port is None:
return
self.ws.write_to_socket(
commandmessage(
cmd="boardfunction",
board_cmd="set_max_mm_sec",
sender=self.name,
target=self.motor_port,
max_mm_sec=[max_mm_sec, max_mm_sec, 10],
))
def set_position(self, x, y):
if self.motor_port is None:
return
if self.switchxy:
x, y = y * (-1 if self.iverty else 1), x * (-1
if self.ivertx else 1)
self.ws.write_to_socket(
commandmessage(cmd="boardfunction",
sender=self.name,
target=self.motor_port,
**dict(board_cmd="set_position",
xyz=[x + y, x - y, 0])))
def move_to(self, x, y):
if self.motor_port is None:
return
w = self.config.get("frame", "size", "width", default=400)
h = self.config.get("frame", "size", "height", default=400)
sd = self.config.get("frame", "savedist", default=0)
x = min(max(sd, x), w - sd)
y = min(max(sd, y), h - sd)
if self.switchxy:
x, y = y * (-1 if self.iverty else 1), x * (-1
if self.ivertx else 1)
self.ws.write_to_socket(
commandmessage(cmd="boardfunction",
sender=self.name,
target=self.motor_port,
**dict(board_cmd="move_to", xyz=[x + y, x - y, 0])))
def pass_ball(
self,
catch=None
): #methods called by the message validator should have default attributes to be valid against "TypeError: pass_ball() missing 1 required positional argument: 'catch'"
if catch is None:
print("End of the game because the ball went missing somewhere")
return
print(self.pingpong) # prints ping or pong
if not catch:
print("Damn!") # dont like losing the ball
time.sleep(
1
) # delay in game because it would be way to fast without, maybe the flytime of the ball :)
self.wsc.write_to_socket(
commandmessage(
cmd="pass_ball", # the command to call at the reciver
sender=self.name, # sender of the command
target=self.opponent, # reciver
catch=random.random() < 0.8, # 80% ball catch
))
def __init__(self,
name,
logger=None,
host=None,
reconnect=True,
password=None):
self.password = password
name = str(name)
self.message_cmd_functions = {}
self.message_types = {}
self.ws = None
self.time = time.time()
self._on_open_functions = {}
self._on_error_functions = {}
self._on_close_functions = {}
self._on_message_functions = {}
if logger is None:
logger = logging.getLogger("ListenWebsocket_" + name)
self.logger = logger
self.ws_thread = None
self.reconnect = reconnect
self.host = None
self.reconnect_time = 1
self.name = name
self.add_on_message(name="default", func=self.default_messagevalidator)
self.add_message_type("cmd", self.default_command_validator)
self.add_cmd_function(
"indentify",
lambda: self.write_to_socket(
commandmessage(cmd="indentify",
sender=self.name,
name=self.name,
password=self.password)),
)
self.add_cmd_function("set_time", self.set_time)
if host is not None:
self.connect_to_socket(host)