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100 lines
3.6 KiB
100 lines
3.6 KiB
#!/usr/bin/env python3
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print("[INFO]: Interpreter started")
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from ev3dev.core import *
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import ev3dev.ev3 as ev3
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print("[INFO]: Imported ev3dev.ev3")
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import socket
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print("[INFO]: Imported socket")
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import os
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print("[INFO]: Imported os")
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import json
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print("[INFO]: Imported json")
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state = True
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moving = False
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motor1 = ev3.LargeMotor("outA")
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motor2 = ev3.LargeMotor("outD")
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cam = ev3.MediumMotor('outB')
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def move(speed):
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moving = True
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motor1.run_forever(speed_sp=speed)
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motor2.run_forever(speed_sp=speed)
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cam.run_to_abs_pos(position_sp=0, speed_sp=500)
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def stop():
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moving = False
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motor1.stop()
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motor2.stop()
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cam.stop()
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HOST = '0.0.0.0'
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PORT = 3131
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pid=os.fork()
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if pid==0: # new process
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mjpeg_loc = "/home/robot/mjpg-streamer/"
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os.system('{0}mjpg_streamer -i "{0}input_uvc.so -f 5" -o "{0}output_http.so -w {0}www"'.format(mjpeg_loc))
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exit()
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power = PowerSupply()
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if power.measured_volts < 7.1:
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print("Change the battery.")
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exit()
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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try:
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s.bind((HOST, PORT))
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while True:
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s.listen()
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print("[INFO]: Listening...")
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conn, addr = s.accept()
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with conn:
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print('[INFO]: Connected by', addr)
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while True:
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if cam.speed == 0 and moving:
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if state:
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cam.run_to_abs_pos(position_sp=4000, speed_sp=500)
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else:
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cam.run_to_abs_pos(position_sp=0, speed_sp=500)
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state = not state
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try:
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recieved = conn.recv(1024)
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if not recieved:
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raise BrokenPipeError
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else:
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recieved = recieved.decode().strip()[-1]
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print(recieved)
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if recieved == 's':
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stop()
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elif recieved == 'm':
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move(200)
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elif recieved == 'i':
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data = {
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"battery_voltage":power.measured_volts,
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"current_drawn":power.measured_amps,
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"lat":31,
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"lng":39
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}
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conn.send((json.dumps(data, ensure_ascii=False)+"\n").encode('gbk'))
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elif recieved == '+':
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cam.run_timed(time_sp=100, speed_sp=750)
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elif recieved == '-':
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cam.run_timed(time_sp=100, speed_sp=-750)
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elif recieved == 'f':
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stop()
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motor1.run_forever(speed_sp=400)
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motor2.run_forever(speed_sp=400)
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elif recieved == 'b':
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stop()
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motor1.run_forever(speed_sp=-400)
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motor2.run_forever(speed_sp=-400)
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elif recieved == 'l':
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motor1.run_forever(speed_sp=400)
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elif recieved == 'r':
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motor2.run_forever(speed_sp=400)
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except BrokenPipeError:
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print("[INFO]: Client disconnected")
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stop()
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break
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except KeyboardInterrupt:
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stop()
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s.close()
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