Added python scripts for receiving data from phone.

receiver_script/labcomm_data_format_lc.py

+#!/usr/bin/python
+# Auto generated labcomm_data_format_lc
+
+import labcomm
+
+class script2extctrl(object):
+    signature = labcomm.sample('script2extctrl', 
+        labcomm.struct([
+            ('data', labcomm.array([3],
+                labcomm.FLOAT())),
+            ('scalar', labcomm.DOUBLE())]))
+
+class extctrl2script(object):
+    signature = labcomm.sample('extctrl2script', 
+        labcomm.struct([
+            ('data', labcomm.array([3],
+                labcomm.FLOAT())),
+            ('scalar', labcomm.DOUBLE())]))
+

receiver_script/serverSocket.py

+import socket

receiver_script/start_bolc

+#!/bin/sh
+
+PYTHONPATH=/opt/robot/ python testPhone.py $@

receiver_script/start_bolc_acc_gyro

+#!/bin/sh
+
+PYTHONPATH=/opt/robot/ python test_phone_acc_gyro.py $@

receiver_script/testPhone.py

+#!/usr/bin/env python
+'''
+    orca_labcomm_basic.py --- Created by Patrik Cairen, LTH, April 2014
+    call e.g., with:     
+       ./start_bolc turing 2000
+
+    where 'start_bolc' mainly sets up the PYTHON_PATH and passes on the
+    arugments to 'orca_labcomm_basic.py'
+    
+       PYTHONPATH=/opt/robot/ python orca_labcomm_basic.py $@
+
+    
+'''
+import threading
+
+from  orca.connection import writer
+import labcomm_data_format_lc
+import time
+import sys
+import labcomm
+import orca
+import time
+
+
+import socket
+
+class orca_data_struct(object):
+    '''
+        Variables in this class needs to match the layout of your struct in
+        the .lc-file. 
+                
+        This is to match the notation normally used by structs, e.g., 
+            orca_data_struct.scalar
+            orca_data_struct.data[3]
+    '''
+    def __init__(self, scalar, data):
+        self.scalar = scalar
+        self.data = data
+        
+class bolc( threading.Thread ):
+    '''
+    
+    '''
+    def __init__(self, args=None):
+        threading.Thread.__init__(self)
+        self.host_addr  = args[0]
+        self.host_port  = int(args[1])
+        self.encoder    = None
+        self.decoder    = None        
+        self._stop      = threading.Event()
+        
+        self.s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.s.bind(("", 12345))
+        self.sSend = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+     #   threading.Thread(target=self.print_time).start()
+
+    def setup_orca_and_labcomm(self):
+        '''
+            
+        '''
+        try:
+	   
+            o = orca.connection(self.host_addr, self.host_port)
+	  
+            s2 = o.open_and_select(['script2extctrl'], 1, o._directory.input, o._select_input)
+            self.encoder = labcomm.Encoder(writer(s2))
+            self.encoder.add_decl(labcomm_data_format_lc.script2extctrl.signature)
+            self.decoder = o.open_output(['extctrl2script'])
+            return True
+        except:
+            return False 
+                
+    def stop(self):
+        self._stop.set()
+        
+    def stopped(self):
+        return self._stop.isSet() 
+       
+    def run(self):
+        '''
+            Creats a dummy-data struct 'data' 
+        '''
+        print "Connecting to: {host}/{port}".format(host=self.host_addr,port=self.host_port)
+        self.orca_conn_successfull = self.setup_orca_and_labcomm()
+        i = 0
+	count = 0;
+	#print "{connection}".format(connection=self.orca_conn_successfull)
+	count = 0;
+        # MAIN LOOP
+        while not self.stopped():             
+            if self.orca_conn_successfull: 
+		print "starting"
+	    #if True:		
+		dataFromPhone = self.s.recvfrom(1024) # buffer size is 1024 bytes
+        	dataFromPhone=dataFromPhone[0]
+		
+		lista=dataFromPhone.split(' ')
+		
+		print lista
+           	
+           	#for i in range(len(lista)):
+            	# 	if lista[i]=='m':
+             	#	   lista[i]='-';
+                #        if lista[i]==',':
+                #           lista[i]=' ';
+              	#
+               	#	   dataFromPhone="".join(lista)
+                #	   dataFromPhone=' '.join(dataFromPhone.split(','))
+#
+               # 	   dataFromPhone=dataFromPhone.split();
+		#	   #dataFromPhonePrevious=dataFromPhone;
+		#try:
+		#	for x in range(0,6):
+		#		 #if dataFromPhone[x][1]=='-'||dataFromPhone[x][1]=='+'
+		#			
+		#        	 dataFromPhone[x]=float(dataFromPhone[x]);
+		#		 #dataFromPhonePrevious[x]=dataFromPhone[x];
+		#
+		#	
+		#	dataFromPhonePrevious=dataFromPhone;
+		#except:
+		#	dataFromPhone=dataFromPhonePrevious;
+                        
+				
+		
+		#count = count + 1;
+		#print count	   
+		
+		
+		
+            	data2ext = orca_data_struct(scalar=2.5, data=[float(lista[2]),float(lista[1]),float(lista[0])])
+		
+                
+                #data = orca_data_struct(scalar=2.5,data=[1.25,2.2*(i%3),3.75])
+         	self.encoder.encode(data2ext, labcomm_data_format_lc.script2extctrl.signature)
+                #(recv,_) = self.decoder.decode() # blocking, returning data +sender-IP (discarded with _)
+                                                 # type for recv defined from .lc-file
+                #if i % 100 == 0 and recv <> None: # NOTE: returns None at first sample 
+                #    s2 = "input: {data:<20} output: {scalar}\r".format(data=data.data, scalar=recv.scalar)
+                #    sys.stdout.write(s2), sys.stdout.flush()  # NOTE: force flush of printout to be sure
+                #i+=1
+            else:
+                print "err: connection failed!"
+                self.stop()
+
+if __name__ == "__main__":   
+    b = bolc(sys.argv[1:])   # exclude own name and _init_
+    b.start()                # run-method
+    while not b.stopped():
+        try:
+            time.sleep(0.1)
+        except KeyboardInterrupt:
+            b.stop()
+    sys.exit(0)

receiver_script/test_phone_acc_gyro.py

+#!/usr/bin/env python
+'''
+    orca_labcomm_basic.py --- Created by Patrik Cairen, LTH, April 2014
+    call e.g., with:     
+       ./start_bolc turing 2000
+
+    where 'start_bolc' mainly sets up the PYTHON_PATH and passes on the
+    arugments to 'orca_labcomm_basic.py'
+    
+       PYTHONPATH=/opt/robot/ python orca_labcomm_basic.py $@
+
+    
+'''
+import threading
+
+from  orca.connection import writer
+import mt_imu
+import time
+import sys
+import labcomm
+import orca
+import time
+
+
+import socket
+
+class orca_data_struct(object):
+    '''
+        Variables in this class needs to match the layout of your struct in
+        the .lc-file. 
+                
+        This is to match the notation normally used by structs, e.g., 
+            orca_data_struct.scalar
+            orca_data_struct.data[3]
+    '''
+    def __init__(self, scalar, data):
+        self.scalar = scalar
+        self.data = data
+        
+class bolc( threading.Thread ):
+    '''
+    
+    '''
+    def __init__(self, args=None):
+        threading.Thread.__init__(self)
+        self.host_addr  = args[0]
+        self.host_port  = int(args[1])
+        self.encoder    = None
+        self.decoder    = None        
+        self._stop      = threading.Event()
+        
+        self.s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.s.bind(("", 12345))
+        self.sSend = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+     #   threading.Thread(target=self.print_time).start()
+
+    def setup_orca_and_labcomm(self):
+        '''
+            
+        '''
+        try:
+	   
+            o = orca.connection(self.host_addr, self.host_port)
+	  
+            s2 = o.open_and_select(['acc_gyro'], 1, o._directory.input, o._select_input)
+            self.encoder = labcomm.Encoder(writer(s2))
+            self.encoder.add_decl(mt_imu.acc_gyro.signature)
+            #self.decoder = o.open_output(['acc_gyro'])
+            return True
+        except:
+            return False 
+                
+    def stop(self):
+        self._stop.set()
+        
+    def stopped(self):
+        return self._stop.isSet() 
+       
+    def run(self):
+        '''
+            Creats a dummy-data struct 'data' 
+        '''
+        print "Connecting to: {host}/{port}".format(host=self.host_addr,port=self.host_port)
+        self.orca_conn_successfull = self.setup_orca_and_labcomm()
+        i = 0
+	count = 0;
+	#print "{connection}".format(connection=self.orca_conn_successfull)
+	count = 0;
+        # MAIN LOOP
+        while not self.stopped():             
+            if self.orca_conn_successfull: 
+		print "starting"
+	    #if True:		
+		dataFromPhone = self.s.recvfrom(1024) # buffer size is 1024 bytes
+        	dataFromPhone=dataFromPhone[0]
+		
+		lista=dataFromPhone.split(' ')
+		
+		#print lista
+           	
+           	#for i in range(len(lista)):
+            	# 	if lista[i]=='m':
+             	#	   lista[i]='-';
+                #        if lista[i]==',':
+                #           lista[i]=' ';
+              	#
+               	#	   dataFromPhone="".join(lista)
+                #	   dataFromPhone=' '.join(dataFromPhone.split(','))
+#
+               # 	   dataFromPhone=dataFromPhone.split();
+		#	   #dataFromPhonePrevious=dataFromPhone;
+		#try:
+		#	for x in range(0,6):
+		#		 #if dataFromPhone[x][1]=='-'||dataFromPhone[x][1]=='+'
+		#			
+		#        	 dataFromPhone[x]=float(dataFromPhone[x]);
+		#		 #dataFromPhonePrevious[x]=dataFromPhone[x];
+		#
+		#	
+		#	dataFromPhonePrevious=dataFromPhone;
+		#except:
+		#	dataFromPhone=dataFromPhonePrevious;
+                        
+				
+		
+		#count = count + 1;
+		#print count	   
+		
+		
+		
+            	data2ext = orca_data_struct(scalar=2.5, data=[float(lista[1]),float(lista[2]),float(lista[3]),float(lista[4]),float(lista[5]),float(lista[6]),float(lista[6]),float(lista[6]),float(lista[6])])
+		#print data2ext.data
+                
+                #data = orca_data_struct(scalar=2.5,data=[1.25,2.2*(i%3),3.75])
+         	self.encoder.encode(data2ext.data, mt_imu.acc_gyro.signature)
+                #(recv,_) = self.decoder.decode() # blocking, returning data +sender-IP (discarded with _)
+                                                 # type for recv defined from .lc-file
+                #if i % 100 == 0 and recv <> None: # NOTE: returns None at first sample 
+                #    s2 = "input: {data:<20} output: {scalar}\r".format(data=data.data, scalar=recv.scalar)
+                #    sys.stdout.write(s2), sys.stdout.flush()  # NOTE: force flush of printout to be sure
+                #i+=1
+            else:
+                print "err: connection failed!"
+                self.stop()
+
+if __name__ == "__main__":   
+    b = bolc(sys.argv[1:])   # exclude own name and _init_
+    b.start()                # run-method
+    while not b.stopped():
+        try:
+            time.sleep(0.1)
+        except KeyboardInterrupt:
+            b.stop()
+    sys.exit(0)