import zmq
import Locker
import constraints as c
import cPickle
import commands
# The port to which this server will listen
PORT = '5060'
# Setting up 0mq to work as socket server
context = zmq.Context()
socket = context.socket(zmq.REP)
socket.bind("tcp://0.0.0.0:%s" % PORT)
lock = Locker.Lock(300)
# In testing mode no drive commands are executed
TESTING_MODE = True
#import Controller
#from Manual_Drive import *
# create controller entity
#controller = Controller.Controller()
#manualDrive = ManualDrive(controller.start_command,controller.forward,controller.backward,controller.left,controller.right,controller.stop)
# A dictionnary containing the possible commands (keys)
# Correct formated command : {'command':'NameCommand',ID:{}}
commands = {
'LOCK':{'nb_of_arguments':0,'function':func_lock},
'UNLOCK':{'nb_of_arguments':0,'function':func_unlock},
import Locker
import constraints as c
import cPickle
from commands import *
DEBUG = True
scriptPath = os.path.realpath(os.path.dirname(sys.argv[0]))
os.chdir(scriptPath)
#append the relative location you want to import from
sys.path.append("../Socket")
import sockets_server
# Setting up a new a new socket server
socket = sockets_server.SocketServer(6001)
socket.start()
# Create a lock entity with a lock time of 20 minutes
lock = Locker.Lock(1200)
if not DEBUG:
# Import controller, entity responsible for starting and stopping controller commands
import Controller
# Import commands that the controller can start
import ControllerCommands
# Import manual drive is entity to select the right controller command given the chosen keys
from ManualDrive import *
# create controller entity
print 'Start controller'
controller = Controller.Controller()
manualDrive = ManualDrive(
controller.start_command, ControllerCommands.forward,
ControllerCommands.backward, ControllerCommands.left,
ControllerCommands.right, ControllerCommands.forward_left,
ControllerCommands.forward_right, ControllerCommands.backward_left,
