def __init__(self):
# TODO Break all modules into their own threads and implement queues
if settings.USE_BLUETOOTH:
print "Bringing up Bluetooth interface..."
self.comms = BluetoothCommunicationsModule()
else:
print "Bringing up network interface..."
self.comms = NetworkCommunicationsModule()
# If your video device is on a different /dev/ node, you need to modify
# this to take that into account.
self.camera = CameraModule()
self.motion = ArduinoMotionModule()
# TODO Perhaps we should break this out into an 'install()' method
# or perform a list comprehension (use inheritence to define modules)
self.installed_modules = [self.camera, self.motion, self.comms]
class BotDriver:
def __init__(self):
# TODO Break all modules into their own threads and implement queues
if settings.USE_BLUETOOTH:
print "Bringing up Bluetooth interface..."
self.comms = BluetoothCommunicationsModule()
else:
print "Bringing up network interface..."
self.comms = NetworkCommunicationsModule()
# If your video device is on a different /dev/ node, you need to modify
# this to take that into account.
self.camera = CameraModule()
self.motion = ArduinoMotionModule()
# TODO Perhaps we should break this out into an 'install()' method
# or perform a list comprehension (use inheritence to define modules)
self.installed_modules = [self.camera, self.motion, self.comms]
def wait_for_connections(self):
"""Open a communications channel and wait for connections."""
self.comms.wait_for_connections()
def read_and_execute(self):
"""Read incoming commands and execute them."""
for packet in self.comms.get_packets():
self.parse_and_execute(packet)
def parse_and_execute(self, packet_data):
#print "Received packet", packet_data
# TCP is a streaming protocol, which means that we can't rely on our
# packets coming nice and orderly and one at a time. We have to
# implement some structure on top of the stream to do that; the simplest
# way is to simply add delimiters between requests. Fortunately, Pilot
# implements a little bit of flow control for image requests on its
# side.
for packet in packet_data.split(";"):
if packet == "QUIT":
self.clean_up()
exit(0)
elif packet == "IMAGE":
try:
img = self.camera.capture_jpeg()
except CameraError:
print "An error occurred while trying to capture an image."
continue # Not much we can do about a camera error.
self.comms.send_media(img)
# Swapping video modes is pretty simple from this end...
elif packet == "EDGE":
self.camera.set_mode(CameraModule.EDGE_DETECT_MODE)
elif packet == "RAW":
self.camera.set_mode(CameraModule.RAW_VIDEO_MODE)
elif packet == "DOOR":
self.camera.set_mode(CameraModule.DOOR_DETECT_MODE)
# as is directing movement.
elif packet.startswith("MOVE"):
packet_parts = packet.split()
desired_motion = packet_parts[1]
self.motion.move(desired_motion)
elif packet.startswith("ROTATE"):
packet_parts = packet.split()
rotation = packet_parts[1]
self.motion.rotate(rotation)
def clean_up(self):
"""Free up module resources in preparation for closing."""
for module in self.installed_modules:
module.close()