<reponame>zhanyanchen8/r2-locomotion-ece
#!/usr/bin/env python

import select
import serial
import signal
import socket
import struct
import sys
import time
import traceback
import readchar
import sys
import json
from threading import Thread

sys.path.insert(0, "../../protocol/reference")
import R2Protocol


HOST = '0.0.0.0'
PORT = 10000
voice_data = -1



class ListenThread(Thread):
    def __init__(self):
        Thread.__init__(self)


    def run(self):
        self.recvSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        self.recvSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        self.recvSocket.bind((HOST, PORT))
        self.recvSocket.listen(0)
        conn, addr = self.recvSocket.accept()
        print(conn,addr)
        print('Connected by', addr)
        while True:
            data = conn.recv(1024)
            # data = json.loads(data1.decode('utf-8'))
            if not data:
                break
                print("Here")
            try:
                global voice_data
                voice_data = (data.decode())
            except Exception as e:
                print (e)

# thread = ListenThread()
# thread.start()






TCP_IP = '0.0.0.0'
TCP_PORT = 9000
BUFFER_SIZE = 64

MOVE_DATA = R2Protocol.encode(b"BM", b"\x00a\x00a")
STOP_DATA = R2Protocol.encode(b"BM", b"\x00\x19\x00\x19")

def dir(x):
  return 1 if x < 0 else 0

def clamp(x, l, u):
  if x < l:
    return l
  if x > u:
    return u
  return x

motors = serial.Serial('/dev/ttyACM0', baudrate=115200, timeout=1)

def signal_handler(signal, frame):
  print("Exiting")
  motors.write(STOP_DATA)
  motors.close()
  sys.exit(0)

signal.signal(signal.SIGINT, signal_handler)

time.sleep(2)

# s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# s.setblocking(0)
# s.bind((TCP_IP, TCP_PORT))
# s.listen(1)

print("Listening")


ls = int(255 * clamp(float(-50), -1.0, 1.0))
rs = int(255 * clamp(float(50), -1.0, 1.0))
print(ls)
send_data = R2Protocol.encode(b"BM", struct.pack("4B",
    dir(ls), clamp(abs(ls), 25, 230),
    dir(rs), clamp(abs(rs), 25, 230)))
last = time.time()
last_executed = time.time()
interval = 5.0
last_moved = -2
while True:
        global voice_data
        time.sleep(0.1)
        print (voice_data)
        # ch = input('')
        
        x = 0
        y = 0
        
        ch = readchar.readchar()
        print (ch)
        if ch == 'x':
            print ("exit")
            sys.exit()
        if ch == 'w':
            x = -1
            y = -1
        if ch == 's':
            x = 1
            y = 1
        if ch == 'a':
            x = 1
            y = -1
        if ch == 'd':
            x = -1
            y = 1
        
        

        if time.time() - last > 180:
            print ("exit")
            sys.exit()

        ls = int(255 * clamp(float(x*50), -1.0, 1.0))
        rs = int(255 * clamp(float(y*50), -1.0, 1.0))
        print(ls)
        send_data = R2Protocol.encode(b"BM", struct.pack("4B",
            dir(ls), clamp(abs(ls), 25, 230),
            dir(rs), clamp(abs(rs), 25, 230)))
    
        print (send_data)
        motors.write(send_data)
        time.sleep(0.5)
        x = 0
        y = 0
        ls = int(255 * clamp(float(x*50), -1.0, 1.0))
        rs = int(255 * clamp(float(y*50), -1.0, 1.0))
        print(ls)
        send_data = R2Protocol.encode(b"BM", struct.pack("4B",
            dir(ls), clamp(abs(ls), 25, 230),
            dir(rs), clamp(abs(rs), 25, 230)))
    
        print (send_data)
        motors.write(send_data)
        
print("After")
try:
  while True:
    motors.write(STOP_DATA)
    try:
      conn, addr = s.accept()
      print("Accept")
      last_time = time.time()
      data = b""
      while True:
        try:
          r = conn.recv(BUFFER_SIZE)
          if not r:
            print("No data")
            break

          data += r
          if data[-1] == ord('\n'):
            data = data.strip().decode("utf8")
            print(data)
            speeds = data.split(",")
            if len(speeds) >= 2:
              try:
                ls = int(255 * clamp(float(speeds[0]), -1.0, 1.0))
                rs = int(255 * clamp(float(speeds[1]), -1.0, 1.0))
                send_data = R2Protocol.encode(b"BM", struct.pack("4B",
                    dir(ls), clamp(abs(ls), 25, 230),
                    dir(rs), clamp(abs(rs), 25, 230)))
                motors.write(send_data)
              except ValueError:
                motors.write(STOP_DATA)

              if len(speeds) == 3:
                try:
                  hs = int(45 * clamp(float(speeds[2]), -1.0, 1.0)) + 90
                  send_data = R2Protocol.encode(b"HM", struct.pack("3B", hs, 0, 100))
                  motors.write(send_data)
                except ValueError:
                  pass

            data = b""
            last_time = time.time()
        except BlockingIOError:
          curr_time = time.time()
          if curr_time - last_time > 1.0:
            print("Stale data")
            last_time = curr_time
            motors.write(STOP_DATA)

      motors.write(STOP_DATA)
      print("Close")
      conn.close()
    except BlockingIOError:
      pass
except Exception as e:
  motors.write(STOP_DATA)
  print(e)
  traceback.print_exc()

#!/usr/bin/env python

import select
import serial
import signal
import socket
import struct
import sys
import time
import traceback
import readchar
import sys
import json
from threading import Thread

sys.path.insert(0, "../../protocol/reference")
import R2Protocol


HOST = '0.0.0.0'
PORT = 10000
voice_data = -1



class ListenThread(Thread):
    def __init__(self):
        Thread.__init__(self)


    def run(self):
        self.recvSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
        self.recvSocket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
        self.recvSocket.bind((HOST, PORT))
        self.recvSocket.listen(0)
        conn, addr = self.recvSocket.accept()
        print(conn,addr)
        print('Connected by', addr)
        while True:
            data = conn.recv(1024)
            # data = json.loads(data1.decode('utf-8'))
            if not data:
                break
                print("Here")
            try:
                global voice_data
                voice_data = (data.decode())
            except Exception as e:
                print (e)

# thread = ListenThread()
# thread.start()






TCP_IP = '0.0.0.0'
TCP_PORT = 9000
BUFFER_SIZE = 64

MOVE_DATA = R2Protocol.encode(b"BM", b"\x00a\x00a")
STOP_DATA = R2Protocol.encode(b"BM", b"\x00\x19\x00\x19")

def dir(x):
  return 1 if x < 0 else 0

def clamp(x, l, u):
  if x < l:
    return l
  if x > u:
    return u
  return x

motors = serial.Serial('/dev/ttyACM0', baudrate=115200, timeout=1)

def signal_handler(signal, frame):
  print("Exiting")
  motors.write(STOP_DATA)
  motors.close()
  sys.exit(0)

signal.signal(signal.SIGINT, signal_handler)

time.sleep(2)

# s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# s.setblocking(0)
# s.bind((TCP_IP, TCP_PORT))
# s.listen(1)

print("Listening")


ls = int(255 * clamp(float(-50), -1.0, 1.0))
rs = int(255 * clamp(float(50), -1.0, 1.0))
print(ls)
send_data = R2Protocol.encode(b"BM", struct.pack("4B",
    dir(ls), clamp(abs(ls), 25, 230),
    dir(rs), clamp(abs(rs), 25, 230)))
last = time.time()
last_executed = time.time()
interval = 5.0
last_moved = -2
while True:
        global voice_data
        time.sleep(0.1)
        print (voice_data)
        # ch = input('')
        
        x = 0
        y = 0
        
        ch = readchar.readchar()
        print (ch)
        if ch == 'x':
            print ("exit")
            sys.exit()
        if ch == 'w':
            x = -1
            y = -1
        if ch == 's':
            x = 1
            y = 1
        if ch == 'a':
            x = 1
            y = -1
        if ch == 'd':
            x = -1
            y = 1
        
        

        if time.time() - last > 180:
            print ("exit")
            sys.exit()

        ls = int(255 * clamp(float(x*50), -1.0, 1.0))
        rs = int(255 * clamp(float(y*50), -1.0, 1.0))
        print(ls)
        send_data = R2Protocol.encode(b"BM", struct.pack("4B",
            dir(ls), clamp(abs(ls), 25, 230),
            dir(rs), clamp(abs(rs), 25, 230)))
    
        print (send_data)
        motors.write(send_data)
        time.sleep(0.5)
        x = 0
        y = 0
        ls = int(255 * clamp(float(x*50), -1.0, 1.0))
        rs = int(255 * clamp(float(y*50), -1.0, 1.0))
        print(ls)
        send_data = R2Protocol.encode(b"BM", struct.pack("4B",
            dir(ls), clamp(abs(ls), 25, 230),
            dir(rs), clamp(abs(rs), 25, 230)))
    
        print (send_data)
        motors.write(send_data)
        
print("After")
try:
  while True:
    motors.write(STOP_DATA)
    try:
      conn, addr = s.accept()
      print("Accept")
      last_time = time.time()
      data = b""
      while True:
        try:
          r = conn.recv(BUFFER_SIZE)
          if not r:
            print("No data")
            break

          data += r
          if data[-1] == ord('\n'):
            data = data.strip().decode("utf8")
            print(data)
            speeds = data.split(",")
            if len(speeds) >= 2:
              try:
                ls = int(255 * clamp(float(speeds[0]), -1.0, 1.0))
                rs = int(255 * clamp(float(speeds[1]), -1.0, 1.0))
                send_data = R2Protocol.encode(b"BM", struct.pack("4B",
                    dir(ls), clamp(abs(ls), 25, 230),
                    dir(rs), clamp(abs(rs), 25, 230)))
                motors.write(send_data)
              except ValueError:
                motors.write(STOP_DATA)

              if len(speeds) == 3:
                try:
                  hs = int(45 * clamp(float(speeds[2]), -1.0, 1.0)) + 90
                  send_data = R2Protocol.encode(b"HM", struct.pack("3B", hs, 0, 100))
                  motors.write(send_data)
                except ValueError:
                  pass

            data = b""
            last_time = time.time()
        except BlockingIOError:
          curr_time = time.time()
          if curr_time - last_time > 1.0:
            print("Stale data")
            last_time = curr_time
            motors.write(STOP_DATA)

      motors.write(STOP_DATA)
      print("Close")
      conn.close()
    except BlockingIOError:
      pass
except Exception as e:
  motors.write(STOP_DATA)
  print(e)
  traceback.print_exc()
#!/usr/bin/env python # data = json.loads(data1.decode('utf-8')) # thread = ListenThread() # thread.start() # s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # s.setblocking(0) # s.bind((TCP_IP, TCP_PORT)) # s.listen(1) # ch = input('')