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Client.py
128 lines (111 loc) · 3.61 KB
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Client.py
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import threading,naoqi,select,Network,struct,time
class Client(threading.Thread):
def __init__(self,connection,address,server,pid,ip):
threading.Thread.__init__(self)
self.connection = connection # Connection Information
self.address = address # Client Address Properties
self.server = server # Reference to main server
self.connected = True # Connection status
self.ip=ip
self.pid=pid
self.robotIP="127.0.0.1"#"192.168.43.214"
self.robotPort=60856
self.buffer=Network.Buff(self)
self.msg_id=-1
def sendmessage(self):
types = ''.join(self.buffer.BufferWriteT)
self.connection.send(struct.pack("="+types,*self.buffer.BufferWrite))
def case_message_connect(self):
self.buffer.string_size=self.buffer.readshort()
ip=self.buffer.readstring()
#self.robotIP=self.buffer.readstring()
self.buffer.string_size=self.buffer.readshort()
port=int(self.buffer.readstring())
#self.robotPort=int(self.buffer.readstring())
print("Trying to connect to",self.robotIP,self.robotPort)
try:
tts=naoqi.ALProxy("ALTextToSpeech",self.robotIP,self.robotPort)
self.buffer.clearbuffer()
self.buffer.writebyte(1)
self.sendmessage()
print("Sucessfully connected to",self.robotIP,self.robotPort)
except:
self.buffer.clearbuffer()
self.buffer.writebyte(0)
self.sendmessage()
print("Failed to connect to",self.robotIP,self.robotPort)
def case_message_tts(self):
self.buffer.string_size=self.buffer.readshort()
line=self.buffer.readstring()
speed=self.buffer.readbyte()
pitch=self.buffer.readbyte()
try:
tts=naoqi.ALProxy("ALTextToSpeech",self.robotIP,self.robotPort)
tts.setParameter("speed", int(float(speed)+50))
tts.setParameter("pitchShift", float(pitch+50)/100.0)
tts.say(line)
self.buffer.clearbuffer()
self.buffer.writebyte(1)
self.sendmessage()
except:
self.buffer.clearbuffer()
self.buffer.writebyte(0)
self.sendmessage()
def case_message_battery(self):
try:
bat = naoqi.ALProxy("ALBattery",self.robotIP,self.robotPort)
self.buffer.clearbuffer()
self.buffer.writebyte(bat.getBatteryCharge())
self.sendmessage()
except:
self.buffer.clearbuffer()
self.buffer.writebyte(255)
self.sendmessage()
def case_message_volume(self):
vol=self.buffer.readbyte()
try:
aud = ALProxy("ALAudioDevice", self.robotIP,self.robotPort)
realvol=aud.getOutputVolume()
if vol!=255:
aud.setOutputVolume(vol)
self.buffer.clearbuffer()
self.buffer.writebyte(realvol)
self.sendmessage()
except:
self.buffer.clearbuffer()
self.buffer.writebyte(255)
self.sendmessage()
def case_message_posture(self):
self.buffer.string_size=self.buffer.readshort()
posture=self.buffer.readstring()
speed=float(self.buffer.readbyte())/100.0
print(posture,speed)
try:
pp=naoqi.ALProxy("ALRobotPosture",self.robotIP,self.robotPort)
pp.goToPosture(posture,speed)
self.buffer.clearbuffer()
self.buffer.writebyte(1)
self.sendmessage()
except:
self.buffer.clearbuffer()
self.buffer.writebyte(0)
self.sendmessage()
def run(self):
while self.connected:
data=self.connection.recv(1)
if data!=b'':
self.msg_id=struct.unpack('!B',data)[0]
if self.msg_id==1:
self.case_message_connect()
if self.msg_id==2:
self.case_message_tts()
if self.msg_id==3:
self.case_message_battery()
if self.msg_id==4:
self.case_message_volume()
if self.msg_id==5:
self.case_message_posture()
#self.connected=False
time.sleep(1.0/60.0)
self.connection.close()
print("Disconnected")