From db3e02077c4d2318436551678ff029dde0321538 Mon Sep 17 00:00:00 2001
From: Felix Agner <felix.agner@control.lth.se>
Date: Tue, 1 Nov 2022 13:55:58 +0100
Subject: [PATCH] some polish...
---
README.md | 4 +--
src/omnibot/tcp.py | 68 ++++++++++++++++++++--------------------------
2 files changed, 31 insertions(+), 41 deletions(-)
diff --git a/README.md b/README.md
index e0b3866..eedb94e 100644
--- a/README.md
+++ b/README.md
@@ -40,8 +40,8 @@ with Connection(HOST) as bot:
bot.set_speeds([vset,vset,vset])
# print position
- print('x:'+bot.get_x())
- print('y:'+bot.get_y())
+ print('x:'+str(bot.get_x()))
+ print('y:'+str(bot.get_y()))
sleep(0.1)
```
diff --git a/src/omnibot/tcp.py b/src/omnibot/tcp.py
index d5e4742..986ebd0 100644
--- a/src/omnibot/tcp.py
+++ b/src/omnibot/tcp.py
@@ -1,8 +1,7 @@
import socket
class Connection(object):
- """
- A class that implements a servo-client which is capable of sending servo speed-settings
+ """A class that implements a servo-client which is capable of sending servo speed-settings
to an omnibot.
HOST: Host name of server (string)
@@ -16,8 +15,7 @@ class Connection(object):
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
def __enter__(self):
- """
- Boot up the socket and connect to the omnibot server
+ """Boot up the socket and connect to the omnibot server
"""
if self.verbose:
print("Connecting to HOST: " + str(self.HOST) + ", PORT: " + str(self.PORT))
@@ -30,15 +28,25 @@ class Connection(object):
return self
def __exit__(self, exc_type, exc_value, exc_tb):
- """
- Close down the socket after closing the client
+ """Close down the socket after closing the client
"""
if self.verbose:
print("Closing down socket")
self.sock.close()
- def send_and_receive(self,message):
- """Send a message to the omnibot and return the answer that the omnibot gave."""
+ def _send_and_receive(self,message):
+ """Send a message (string) to the omnibot and return the answer (string) that the omnibot gave.
+
+ Message format (string):
+ "abc"
+ a: w or r, signifying write to servo or read from crazyflie
+ b: if a=w, b is the vector index of the servo to write to. If a=r, b is the type of information to read
+ c: if a=w, c is the speed to be written.
+
+ Examples of message format:
+ w110, "write speed 10 to servo of vector index 1"
+ rx, "read x coordinate"
+ """
# Send the package
self.sock.sendall(bytes(message,'utf-8'))
# Receive confirmation
@@ -47,14 +55,8 @@ class Connection(object):
return ret
def set_speed(self,i,v):
- """
- Set the speed of servo i to v
-
-
- Communicates with messages on the form "wivvvv"
- where w stands for "write"self.
- i stands for index of desired servo
- vvvv stands for requested target speed for the servo
+ """Set the speed of servo i (int) to v (int). Return a string with status of the operation from the omnibot.
+ i can take values 0, 1 or 2, and it should be tested which of these values maps to which servo.
"""
package = 'w'+str(i)+str(v)
@@ -62,30 +64,27 @@ class Connection(object):
print("Sending " + package)
- ret = self.send_and_receive(package)
+ ret = self._send_and_receive(package)
if ret[0] == "e":
raise Exception(ret)
elif self.verbose:
print(ret)
+ return ret
def set_speeds(self,v):
- """
- Set the speed of the servos to the values in vector v
+ """Set the speed of the servos to the values in vector v (ints).
"""
for (i,vi) in enumerate(v):
self.set_speed(i,vi)
def get_x(self):
- """Get x coordinate
-
- Sends a message "rx"
- where "r" stands for "read" and "x" stands for "x"
+ """Get x coordinate as float
"""
if self.verbose:
print("Requesting x")
- ret = self.send_and_receive("rx")
+ ret = self._send_and_receive("rx")
if ret[0] == "e":
raise Exception(ret)
@@ -95,15 +94,12 @@ class Connection(object):
return float(ret)
def get_y(self):
- """Get y coordinate
-
- Sends a message "ry"
- where "r" stands for "read" and "y" stands for "y"
+ """Get y coordinate as float
"""
if self.verbose:
print("Requesting y")
- ret = self.send_and_receive("ry")
+ ret = self._send_and_receive("ry")
if ret[0] == "e":
raise Exception(ret)
@@ -113,15 +109,12 @@ class Connection(object):
return float(ret)
def get_z(self):
- """Get z coordinate
-
- Sends a message "rz"
- where "r" stands for "read" and "z" stands for "z"
+ """Get z coordinate as float
"""
if self.verbose:
print("Requesting z")
- ret = self.send_and_receive("rz")
+ ret = self._send_and_receive("rz")
if ret[0] == "e":
raise Exception(ret)
@@ -131,15 +124,12 @@ class Connection(object):
return float(ret)
def get_theta(self):
- """Get x coordinate
-
- Sends a message "rtheta"
- where "r" stands for "read" and "theta" stands for "theta"
+ """Get angle theta as float
"""
if self.verbose:
print("Requesting theta")
- ret = self.send_and_receive("rtheta")
+ ret = self._send_and_receive("rtheta")
if ret[0] == "e":
raise Exception(ret)
--
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