def depCheck():
global deployed, lastCommTime
if (time.time() - lastCommTime) > 90:
if arduino.isDeployed():
deployed = True
navigator.navigateAutomatically(0, 0) # Update
else:
deployed = False
lastCommTime = time.time()
else:
if arduino.isDeployed() == False:
lastCommTime = time.time()
def handle(self):
global lastCommTime, deployed
lastCommTime = time.time()
self.data = self.request.recv(1024).strip()
print "{0} wrote:".format(self.client_address[0])
print self.data
if self.data[3:5] == "PI":
self.request.sendall("RP OK\n")
elif self.data[3:5] == "CL":
self.request.sendall("RP OK " + str(datahandler.latestLat) + " " + str(datahandler.latestLon) + "\n")
elif self.data[3:5] == "MV":
if len(self.data) < 7:
self.request.sendall("RP NP\n")
else:
if self.data[6] == "F":
deployed = True
navigator.manualForward()
status = True
elif self.data[6] == "L":
t = Timer(0, lambda: navigator.manualTurn(0, 90)) # Run in background
t.start()
status = True
elif self.data[6] == "R":
t = Timer(0, lambda: navigator.manualTurn(1, 90)) # Run in background
t.start()
status = True
elif self.data[6] == "B":
navigator.manualBackward()
status = True
else:
status = False
if status:
self.request.sendall("RP OK\n")
else:
self.request.sendall("RP OE\n")
elif self.data[3:5] == "ST":
navigator.manualStop()
self.request.sendall("RP OK\n")
elif self.data[3:5] == "GT":
splitd = self.data[6:].split(" ")
navigator.navigateAutomatically(float(splitd[0]), float(splitd[1]))
self.request.sendall("RP OK\n")
elif self.data[3:5] == "FT":
arduino.formatEEPROM()
self.request.sendall("RP OK\n")
elif self.data[3:5] == "TP":
# temperature, pressure = arduino.readTP()
if (datahandler.latestT == -1) and (datahandler.latestP == -1):
self.request.sendall("RP OE\n")
else:
self.request.sendall("RP OK " + str(datahandler.latestT) + " " + str(datahandler.latestP) + "\n")
elif self.data[3:5] == "DP":
realDeployed = arduino.isDeployed()
if realDeployed:
self.request.sendall("RP OK D\n")
else:
self.request.sendall("RP OK N\n")
else:
self.request.sendall("RP NC")
