Mercurial > tote-had
changeset 14:3b9ed9cd63ef
Add simple client and server
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Thu, 07 Apr 2016 15:37:19 +0200 |
| parents | 94feb678de75 |
| children | 5e5d58fa1440 |
| files | client.py doc/scad/Makefile doc/scad/leg01.scad doc/scad/leg02.scad doc/scad/tote.png python/gait.py python/main.py python/server.py |
| diffstat | 8 files changed, 89 insertions(+), 5 deletions(-) [+] |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/client.py Thu Apr 07 15:37:19 2016 +0200 @@ -0,0 +1,35 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import socket +import sys + +import pygame + + +pygame.init() +pygame.display.set_mode((100, 100)) + +sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) +sock.connect((sys.argv[1], 1010)) +sock.setblocking(False) + +while True: + event = pygame.event.wait() + if event.type == pygame.KEYDOWN: + key = event.key + if key == pygame.K_UP: + sock.send("w") + elif key == pygame.K_DOWN: + sock.send("s") + elif key == pygame.K_LEFT: + sock.send("a") + elif key == pygame.K_RIGHT: + sock.send("d") + elif key == pygame.K_SPACE: + sock.send(" ") + elif key == pygame.K_ESCAPE: + break + elif event.type == pygame.QUIT: + break +sock.close()
--- a/doc/scad/Makefile Thu Apr 07 09:40:26 2016 +0200 +++ b/doc/scad/Makefile Thu Apr 07 15:37:19 2016 +0200 @@ -10,7 +10,8 @@ body01.png SIZE=1280,960 -COLORSCHEME=BeforeDawn +COLORSCHEME=Nature +#BeforeDawn SCAD=openscad --imgsize=$(SIZE) --projection=p -m make --colorscheme=$(COLORSCHEME) --csglimit=100000 all: images
--- a/doc/scad/leg01.scad Thu Apr 07 09:40:26 2016 +0200 +++ b/doc/scad/leg01.scad Thu Apr 07 15:37:19 2016 +0200 @@ -1,4 +1,4 @@ use <parts.scad> use <tote.scad> -coxa(10); +coxa(0);
--- a/doc/scad/leg02.scad Thu Apr 07 09:40:26 2016 +0200 +++ b/doc/scad/leg02.scad Thu Apr 07 15:37:19 2016 +0200 @@ -1,4 +1,4 @@ use <parts.scad> use <tote.scad> -femur(10); +femur(0);
--- a/python/gait.py Thu Apr 07 09:40:26 2016 +0200 +++ b/python/gait.py Thu Apr 07 15:37:19 2016 +0200 @@ -72,11 +72,12 @@ return (2, 0, 3, 1) # forward - def run(self, steps): - for step in range(steps): + def run(self): + while True: leg = self.robot.legs[self.last_leg] for frame in self.step(leg): self.move() self.robot.update() delay(40) # 25 FPS + yield self.last_leg = self.step_order()[self.last_leg]
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/python/main.py Thu Apr 07 15:37:19 2016 +0200 @@ -0,0 +1,9 @@ +import network +import server + +wlan = network.WLAN(network.STA_IF) +ap = network.WLAN(network.AP_IF) +while not wlan.isconnected() and not ap.isconnected(): + pass + +server.main()
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/python/server.py Thu Apr 07 15:37:19 2016 +0200 @@ -0,0 +1,38 @@ +import socket +import math + +from robot import Robot +from gait import Creep + + +def main(): + sock = socket.socket() + addr = socket.getaddrinfo("0.0.0.0", 1010)[0][4] + sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + sock.setblocking(False) + sock.bind(addr) + sock.listen(0) + + robot = Robot() + gait = Creep(robot) + + while True: + client, addr = sock.accept() + client.setblocking(False) + for frame in gait.run(): + command = client.read(1) + if command == b' ': + gait.dx = 0 + gait.dy = 0 + gait.rotation = 0 + elif command == b'w': + gait.dy = min(3, gait.dy + 0.25) + elif command == b's': + gait.dy = max(-3, gait.dy - 0.25) + elif command == b'a': + gait.rotation = min(math.pi/90, gait.rotation + math.pi/360) + elif command == b'd': + gait.rotation = max(-math.pi/90, gait.rotation - math.pi/360) + + +