diff options
Diffstat (limited to 'server.py')
| -rw-r--r-- | server.py | 26 |
1 files changed, 19 insertions, 7 deletions
@@ -61,6 +61,13 @@ from math import sin,cos,tan OVERRIDE_THRESHOLD=0.01 +global_cmd_x = 0 +global_cmd_y = 0 +global_cmd_z = 0 +global_cmd_rot = 0 +global_cmd_hover = False # TODO XXX + + def putStatusText(img, text, pos, activated): cv2.putText(img, text, pos, cv2.FONT_HERSHEY_PLAIN, 1, (0,0,255) if activated else (127,127,127), 2 if activated else 1) @@ -72,16 +79,24 @@ def encode_int(i): class ServerThread(threading.Thread): def run(self): + + global global_cmd_x + global global_cmd_y + global global_cmd_z + global global_cmd_rot + global global_cmd_hover + while True: # Wait for a connection print >>sys.stderr, 'waiting for a connection' connection, client_address = sock.accept() + conn2=connection.makefile() #try: if True: print >>sys.stderr, 'connection from', client_address while True: - data = connection.recv(16) + data = conn2.readline() if data: if data=="get\n": lock.acquire() @@ -99,6 +114,8 @@ class ServerThread(threading.Thread): global_cmd_hover = False # TODO XXX lock.release() print >>sys.stderr, "fly x/y/z/r/hov=",global_cmd_x,",",global_cmd_y,",","global_cmd_z",",",global_cmd_rot,",",global_cmd_hover + else: + print >>sys.stderr, "got corrupted command: '"+data+"'" else: print >>sys.stderr, 'no more data from', client_address break @@ -145,12 +162,6 @@ manual_override_xy = True manual_override_z = True manual_override_rot = True -global_cmd_x = 0 -global_cmd_y = 0 -global_cmd_z = 0 -global_cmd_rot = 0 -global_cmd_hover = False # TODO XXX - drone = libardrone.ARDrone(True, True) drone.reset() @@ -231,6 +242,7 @@ while True: actual_rot = js_rot else: actual_rot = global_cmd_rot + print "global_cmd_rot used, was",global_cmd_rot drone.move_freely( not actual_hover , actual_x, actual_y, actual_z, actual_rot) |