<s> """<STR_LIT>""" <EOL> import select <EOL> import socket <EOL> import threading <EOL> import multiprocessing <EOL> import libardrone <EOL> import arvideo <EOL> class ARDroneNetworkProcess ( multiprocessing . Process ) : <EOL> """<STR_LIT>""" <EOL> def __init__ ( self , nav_pipe , video_pipe , com_pipe ) : <EOL> multiprocessing . Process . __init__ ( self ) <EOL> self . nav_pipe = nav_pipe <EOL> self . video_pipe = video_pipe <EOL> self . com_pipe = com_pipe <EOL> def run ( self ) : <EOL> video_socket = socket . socket ( socket . AF_INET , socket . SOCK_DGRAM ) <EOL> video_socket . setblocking ( <NUM_LIT:0> ) <EOL> video_socket . bind ( ( '<STR_LIT>' , libardrone . ARDRONE_VIDEO_PORT ) ) <EOL> video_socket . sendto ( "<STR_LIT>" , ( '<STR_LIT>' , libardrone . ARDRONE_VIDEO_PORT ) ) <EOL> nav_socket = socket . socket ( socket . AF_INET , socket . SOCK_DGRAM ) <EOL> nav_socket . setblocking ( <NUM_LIT:0> ) <EOL> nav_socket . bind ( ( '<STR_LIT>' , libardrone . ARDRONE_NAVDATA_PORT ) ) <EOL> nav_socket . sendto ( "<STR_LIT>" , ( '<STR_LIT>' , libardrone . ARDRONE_NAVDATA_PORT ) ) <EOL> stopping = False <EOL> while not stopping : <EOL> inputready , outputready , exceptready = select . select ( [ nav_socket , video_socket , self . com_pipe ] , [ ] , [ ] ) <EOL> for i in inputready : <EOL> if i == video_socket : <EOL> while <NUM_LIT:1> : <EOL> try : <EOL> data = video_socket . recv ( <NUM_LIT> ) <EOL> except IOError : <EOL> break <EOL> w , h , image , t = arvideo . read_picture ( data ) <EOL> self . video_pipe . send ( image ) <EOL> elif i == nav_socket : <EOL> while <NUM_LIT:1> : <EOL> try : <EOL> data = nav_socket . recv ( <NUM_LIT> ) <EOL> except IOError : <EOL> break <EOL> navdata = libardrone . decode_navdata ( data ) <EOL> self . nav_pipe . send ( navdata ) <EOL> elif i == self . com_pipe : <EOL> _ = self . com_pipe . recv ( ) <EOL> stopping = True <EOL> break <EOL> video_socket . close ( ) <EOL> nav_socket . close ( ) <EOL> class IPCThread ( threading . Thread ) : <EOL> """<STR_LIT>""" <EOL> def __init__ ( self , drone ) : <EOL> threading . Thread . __init__ ( self ) <EOL> self . drone = drone <EOL> self . stopping = False <EOL> def run ( self ) : <EOL> while not self . stopping : <EOL> inputready , outputready , exceptready = select . select ( [ self . drone . video_pipe , self . drone . nav_pipe ] , [ ] , [ ] , <NUM_LIT:1> ) <EOL> for i in inputready : <EOL> if i == self . drone . video_pipe : <EOL> while self . drone . video_pipe . poll ( ) : <EOL> image = self . drone . video_pipe . recv ( ) <EOL> self . drone . image = image <EOL> elif i == self . drone . nav_pipe : <EOL> while self . drone . nav_pipe . poll ( ) : <EOL> navdata = self . drone . nav_pipe . recv ( ) <EOL> self . drone . navdata = navdata <EOL> def stop ( self ) : <EOL> """<STR_LIT>""" <EOL> self . stopping = True </s>
