class Controller:
"""
Drives the server side of TARS application. Controls the signals through GPIO pins based on the messages received
from the client connection.
"""
def __init__(self):
self.soc = ServerSocket()
#self.gpio_handler = GPIOHandler()
self.camera = ServerCameraHandler()
def parse_message(self, msg):
content = msg.split("|")
result = re.match(DIRECTION_TUPLE_PATTERN, content[1])
direction = list(result.groups())
for i in xrange(0, len(direction)):
direction[i] = int(direction[i])
settings = (tuple(direction), int(content[2]), float(content[3]))
return settings
def run(self):
try:
while True:
msg = self.soc.listen()
if msg == STARTUP:
print "startup"
#self.gpio_handler.startup()
elif msg.startswith(MOTOR_CHANGE):
settings = self.parse_message(msg)
#self.gpio_handler.motor_change(settings)
elif msg == DETECT_OBSTACLE:
#self.soc.reply("@" + str(self.gpio_handler.detect_obstacle()))
if randint(0,2):
self.soc.reply("@False")
else:
self.soc.reply("@True")
elif msg == CLICK_PICTURE:
self.soc.reply(str(self.camera.click_picture()))
elif msg in {STANDBY, SOCKET_ERROR}:
self.soc.standby()
elif msg == SHUTDOWN:
#self.gpio_handler.shutdown()
pass
except KeyboardInterrupt:
self.soc.shutdown()
#self.gpio_handler.shutdown()
sys.exit()
def __init__(self):
self.soc = ServerSocket()
#self.gpio_handler = GPIOHandler()
self.camera = ServerCameraHandler()
