Mercurial > circuitpython-spiderwing

annotate python/server.py @ 0:cf2cd5a35d24 draft

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Initial commit
author Radomir Dopieralski <sheep-devel@sheep.art.pl>
date Mon, 15 May 2017 16:36:08 +0200
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Radomir Dopieralski <sheep-devel@sheep.art.pl>
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1 import socket
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2 import math
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3
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4 from robot import Robot
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5 from gait import Creep
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6
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7
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8 def main():
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9 robot = Robot()
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10 gait = Creep(robot)
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11 run = gait.run()
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12
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13 sock = socket.socket()
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14 addr = socket.getaddrinfo("0.0.0.0", 1010)[0][4]
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15 sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
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16 sock.setblocking(False)
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17 sock.bind(addr)
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18 sock.listen(1)
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19 try:
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20 while True:
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21 try:
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22 client, addr = sock.accept()
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23 except OSError:
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24 next(run)
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25 else:
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26 try:
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27 client.setblocking(False)
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28 while True:
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29 command = client.read(1)
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30 if command == b' ':
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31 gait.dx = 0
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32 gait.dy = 0
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33 gait.rotation = 0
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34 elif command == b'w':
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35 gait.dy = min(3, gait.dy + 0.25)
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36 elif command == b's':
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37 gait.dy = max(-3, gait.dy - 0.25)
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38 elif command == b'a':
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39 gait.rotation = min(math.pi/90,
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40 gait.rotation + math.pi/360)
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41 elif command == b'd':
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42 gait.rotation = max(-math.pi/90,
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43 gait.rotation - math.pi/360)
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44 next(run)
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45 finally:
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46 client.close()
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47 finally:
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48 sock.close()