80 lines
2.5 KiB
Python
80 lines
2.5 KiB
Python
|
import Robot
|
||
|
|
import asyncio;
|
||
|
|
import json
|
||
|
|
import websockets;
|
||
|
|
import sys;
|
||
|
|
import Container
|
||
|
|
from PWMDriver import PWMDriver
|
||
|
|
robot = Robot.Robot()
|
||
|
|
#robot = Robot.Robot()
|
||
|
|
#t = robot.Translation
|
||
|
|
#r = robot.Rotation
|
||
|
|
#sd = t.sd
|
||
|
|
#v = t.droit
|
||
|
|
#d = t.trv
|
||
|
|
class commandHandler:
|
||
|
|
def ping(self):
|
||
|
|
return "Pong"
|
||
|
|
"""def set_vector(self,vector_type:str,vector_args):
|
||
|
|
print(f"{vector_type=}, {vector_args=}")
|
||
|
|
for i in range(len(vector_args)):
|
||
|
|
vector_args[i]= float(vector_args[i])
|
||
|
|
if vector_type =='trans':
|
||
|
|
if abs(vector_args[0])>=0.1 and abs(vector_args[1])<=0.1:
|
||
|
|
v((vector_args[0]*10))
|
||
|
|
if abs(vector_args[1])>=0.1 and abs(vector_args[0])<=0.1:
|
||
|
|
sd((vector_args[1]*10))
|
||
|
|
if abs(vector_args[1])>=0.1 and abs(vector_args[0])>=0.1:
|
||
|
|
if vector_args[0]>0:
|
||
|
|
d((vector_args[0]+vector_args[1]//2)*10,True)
|
||
|
|
elif vector_args[0]<0:
|
||
|
|
d((vector_args[0]+vector_args[1]//2)*10,False)
|
||
|
|
if vector_type == 'rot':
|
||
|
|
r(vector_args[1]*10)
|
||
|
|
return f"{vector_type=},{vector_args=}"
|
||
|
|
"""
|
||
|
|
def set_direction(self,arg):
|
||
|
|
try:
|
||
|
|
return robot.translation(arg)
|
||
|
|
except Exception as e:
|
||
|
|
return 'error'
|
||
|
|
|
||
|
|
cmd_handler = commandHandler()
|
||
|
|
async def handler(websocket, path):
|
||
|
|
print('new handler created with '+websocket+' at path'+path)
|
||
|
|
while True:
|
||
|
|
try :
|
||
|
|
data = await websocket.recv()
|
||
|
|
except websockets.exceptions.ConnectionClosedOK:
|
||
|
|
break
|
||
|
|
print(data)
|
||
|
|
if not data:
|
||
|
|
data = {
|
||
|
|
'cmd':'ping',
|
||
|
|
'args':{}
|
||
|
|
}
|
||
|
|
else:
|
||
|
|
data = json.loads(data)
|
||
|
|
if data['cmd'] =='STOP':
|
||
|
|
sys.exit()
|
||
|
|
try:
|
||
|
|
callable = getattr(cmd_handler, data['cmd'])
|
||
|
|
except AttributeError:
|
||
|
|
await websocket.send(json.dumps({"type":"err","message":"Invalid Command"}))
|
||
|
|
continue
|
||
|
|
|
||
|
|
try:
|
||
|
|
res = callable(**data['args'])
|
||
|
|
except TypeError:
|
||
|
|
await websocket.send(json.dumps({"type":"err","message":"Invalid Args"}))
|
||
|
|
|
||
|
|
continue
|
||
|
|
await websocket.send(json.dumps({"type":"success","message":res}))
|
||
|
|
print('server running at 0.0.0.0 with port 1567')
|
||
|
|
start_server = websockets.serve(handler, "0.0.0.0", 1567)
|
||
|
|
|
||
|
|
|
||
|
|
asyncio.get_event_loop().run_until_complete(start_server)
|
||
|
|
|
||
|
|
asyncio.get_event_loop().run_forever()
|