def __init__(self, address=("localhost", 9999)):
self.address = address
self.shutdown_event = threading.Event()
self.should_shutdown = False
self.socket = socket.socket(self.address_family, self.socket_type)
print "bound to: ", address
self.socket.bind(self.address)
self.address = self.socket.getsockname()
self.launcher = USBMissileLauncher()
self.last_status_time = 0
class LauncherServer(object):
address_family = socket.AF_INET
socket_type = socket.SOCK_DGRAM
max_packet_size = 1024
def __init__(self, address=("localhost", 9999)):
self.address = address
self.shutdown_event = threading.Event()
self.should_shutdown = False
self.socket = socket.socket(self.address_family, self.socket_type)
print "bound to: ", address
self.socket.bind(self.address)
self.address = self.socket.getsockname()
self.launcher = USBMissileLauncher()
self.last_status_time = 0
def fileno(self):
return self.socket.fileno()
def serve(self, sleep=0.01):
self.shutdown_event.clear()
try:
while not self.should_shutdown:
t = time.time()
if t - self.last_status_time > STATUS_INTERVAL:
# heartbeat
self.launcher.status()
r, w, e = select.select([self], [], [], sleep)
if self in r:
self.handle_request()
# sleep
time.sleep(max(0.001, POLL_RATE - (time.time() - t)))
finally:
self.socket.close()
self.should_shutdown = False
self.shutdown_event.set()
def handle_request(self):
try:
data, address = self.socket.recvfrom(self.max_packet_size)
print "processing: ", data
if data == LAUNCHER_EXIT:
self.should_shutdown = True
elif int(data) == FIRE:
# don't respond to requests
self.launcher.fire()
elif int(data) == PRIME:
# don't respond to requests
self.launcher.prime()
else:
self.launcher.send_command(int(data))
except socket.error:
return
class LauncherServer(object):
address_family = socket.AF_INET
socket_type = socket.SOCK_DGRAM
max_packet_size = 1024
def __init__(self, address=("localhost", 9999)):
self.address = address
self.shutdown_event = threading.Event()
self.should_shutdown = False
self.socket = socket.socket(self.address_family, self.socket_type)
print "bound to: ", address
self.socket.bind(self.address)
self.address = self.socket.getsockname()
self.launcher = USBMissileLauncher()
self.last_status_time = 0
def fileno(self):
return self.socket.fileno()
def serve(self, sleep=0.01):
self.shutdown_event.clear()
try:
while not self.should_shutdown:
t = time.time()
if t - self.last_status_time > STATUS_INTERVAL:
# heartbeat
self.launcher.status()
r, w, e = select.select([self], [], [], sleep)
if self in r:
self.handle_request()
# sleep
time.sleep(max(0.001, POLL_RATE - (time.time() - t)))
finally:
self.socket.close()
self.should_shutdown = False
self.shutdown_event.set()
def handle_request(self):
try:
data, address = self.socket.recvfrom(self.max_packet_size)
print "processing: ", data
if data == LAUNCHER_EXIT:
self.should_shutdown = True
elif int(data) == FIRE:
# don't respond to requests
self.launcher.fire()
elif int(data) == PRIME:
# don't respond to requests
self.launcher.prime()
else:
self.launcher.send_command(int(data))
except socket.error:
return
def __init__(self, address=("localhost", 9999)):
self.address = address
self.shutdown_event = threading.Event()
self.should_shutdown = False
self.socket = socket.socket(self.address_family, self.socket_type)
print "bound to: ", address
self.socket.bind(self.address)
self.address = self.socket.getsockname()
self.launcher = USBMissileLauncher()
self.last_status_time = 0
# print
# print x_timeout, y_timeout, (x_timeout > cur_time), (y_timeout > cur_time), cur_time, x_cmd, y_cmd
# print
# print
cmd = 0
if x_timeout > cur_time:
cmd |= x_cmd
if y_timeout > cur_time:
cmd |= y_cmd
if not cmd:
cmd = STOP
send_command(cmd)
launcher = USBMissileLauncher()
def add_controller_command(timeout_x, timeout_y, cmd):
# given a launcher, execute this command completely
cur_time = time.time()
x_cmd = cmd & (LEFT | RIGHT)
y_cmd = cmd & (UP | DOWN)
cmds = [(timeout_x, x_cmd), (timeout_y, y_cmd)]
while True:
cmd = 0
for t, c in cmds:
if t > time.time():
cmd |= c
if not cmd:
break
# print x_timeout, y_timeout, (x_timeout > cur_time), (y_timeout > cur_time), cur_time, x_cmd, y_cmd
# print
# print
cmd = 0
if x_timeout > cur_time:
cmd |= x_cmd
if y_timeout > cur_time:
cmd |= y_cmd
if not cmd:
cmd = STOP
send_command(cmd)
launcher = USBMissileLauncher()
def add_controller_command(timeout_x, timeout_y, cmd):
# given a launcher, execute this command completely
cur_time = time.time()
x_cmd = cmd & (LEFT | RIGHT)
y_cmd = cmd & (UP | DOWN)
cmds = [(timeout_x, x_cmd), (timeout_y, y_cmd)]
while True:
cmd = 0
for t, c in cmds:
if t > time.time():
cmd |= c
import time
from usbturret import LEFT, RIGHT, UP, DOWN, STOP, USBMissileLauncher, FIRE
launcher = USBMissileLauncher()
def reset_to_lower_left():
down_done = False
left_done = False
while not down_done or not left_done:
cmd = 0
if not down_done:
cmd = cmd | DOWN
if not left_done:
cmd = cmd | LEFT
status = launcher.send_command(cmd)
if status & DOWN:
down_done = True
if status & LEFT:
left_done = True
def move_for_time(secs, cmd):
start = time.time()
# while time.time() - start < secs:
# status = launcher.send_command(cmd)
status = launcher.send_command(cmd)
time.sleep(max(0, secs - (time.time() - start)))
launcher.send_command(STOP)
