Done for today

Control System/bootup.py

@@ -6,20 +6,20 @@
 # 1 for executing the first action in the priority queue
 
 from Propioception import *
-from commands import *
+# from commands import *
 
 import re
 import threading
 import socket
 import heapq
 import time
-import serial
+#import serial
 
 class Receiver:
   def __init__(self, host, port):
-    self.commands = [""]
-    self.execute = [""]
-    self.transmit = [""]
+    self.commands = []
+    self.executions = []
+    self.transmit = []
     self.timer = 0
     self.HOST = host
     self.PORT = port
@@ -46,6 +46,7 @@ class Receiver:
       action = self.conn.recv(1024).decode('UTF-8')
       if len(action) > 0:
         heapq.heappush(self.commands,action)
+        print("Received|"+action)
         heapq.heappush(self.transmit,"Received|"+action)
           
   """Method checks commands from queue and adds to execution queue"""
@@ -57,35 +58,43 @@ class Receiver:
         #in command statement
         pattern = "^[0-5]\|.*\|[0-9]{2}:[0-9]{2}\|" #everything but the checksum value
         checksum = "\w+$" #checksum value
-        popped = heapq.heapop(self.commands) #gets smallest value command
+        popped = heapq.heappop(self.commands) #gets smallest value command
         com = re.findall(pattern, popped) 
         numval = re.findall(checksum, popped)
+        numval = numval[0]
         numval = int(numval,16) #converts hex to int
+        print(com[0])
+        print(sum([ord(i) for i in com[0]]))
         if numval == sum([ord(i) for i in com[0]]):
+          print("working")
           heapq.heappush(self.transmit, "Correct|"+popped)
-          heapq.heappush(self.execute, popped)
+          heapq.heappush(self.executions, popped)
+          print(self.transmit)
+          print(self.executions)
         else: 
-          heappq.heappush(self.transmit, "Incorrect|"+popped)
+          heapq.heappush(self.transmit, "Incorrect|"+popped)
         
   def telemetryTransmit(self):
     while True:
       if len(self.transmit) > 0:
-        self.conn.send((heapq.heappop(self.transmit)).encode())    
+        print("Transmit queue", self.transmit)
+        self.conn.send(bytes(heapq.heappop(self.transmit),'utf-8'))    
 
   def execute(self):
-    while len(self.actions) > 0:
-      if self.timer == 0:
-        command = heapq.heappop(self.actions)
-        if command == "Password A_on_LED":
-          if onAndOfffLed():
-            print("Executed: ", command)
-          else:
-            print("Did not execute correctly ", command)
-        
+    while True:
+      if len(self.executions) > 0:
+        command = heapq.heappop(self.executions)
+        print(command)
+        heapq.heappush(self.transmit, "Executed|"+command)
+        # if command == "Password A_on_LED":
+          # if onAndOfffLed():
+          #   print("Executed: ", command)
+          # else:
+          #   print("Did not execute correctly ", command)
+        print("Inside execute",self.executions)
         time.sleep(5)
-        if "Password Balancing" not in self.actions:
-          heapq.heappush(self.actions, "Password Balancing")
-      print("Inside execute",self.actions)
+        if "Balancing" not in self.executions:
+          heapq.heappush(self.executions, "Balancing")
 
   def balance(self):
     print("Nothing")
@@ -97,16 +106,17 @@ class Receiver:
     print("Nothing")
 
   def sensorData(self):
+    var = ""
     # Test
-    print("Inside")
-    ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)
-    ser.reset_input_buffer()
-    while True:
-      print("Inside data")
-      # Read from Arduinos to know what motors and sensors there are
-      ser.write("Send ****s plz\n".encode('utf-8'))
-      line = ser.readline().decode('utf-8').rstrip()
-      print(line)
+  #  print("Inside")
+  #  ser = serial.Serial('/dev/ttyACM0', 115200, timeout=1)
+  #  ser.reset_input_buffer()
+  #  while True:
+  #    print("Inside data")
+  ##    # Read from Arduinos to know what motors and sensors there are
+    #  ser.write("Send ****s plz\n".encode('utf-8'))
+    #  line = ser.readline().decode('utf-8').rstrip()
+    #  print(line)
 
   def runSimul(self):
     threading.Thread(target=self.telemetryReceive).start()
@@ -114,12 +124,12 @@ class Receiver:
     threading.Thread(target=self.telemetryTransmit).start()
     threading.Thread(target=self.execute).start()
 
-    threading.Thread(target=self.sensorData).start()
-    
-    threading.Thread(target=self.balance).start()
-    threading.Thread(target=self.gaitGen).start()
-    threading.Thread(target=self.comuterVision).start()
+    # threading.Thread(target=self.sensorData).start()
+
+    # threading.Thread(target=self.balance).start()
+    # threading.Thread(target=self.gaitGen).start()
+    # threading.Thread(target=self.comuterVision).start()
 
 def startBoot():
-  simulation = Receiver('10.235.1.148',12345)
+  simulation = Receiver('10.235.1.145',12345)
   simulation.runSimul()

client1.py

@@ -1,13 +1,27 @@
 import socket
+import threading
 
-HOST = '10.235.1.127' # Enter IP or Hostname of your server
+HOST = '10.235.1.145' # Enter IP or Hostname of your server
 PORT = 12345 # Pick an open Port (1000+ recommended), must match the server port
 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 s.connect((HOST,PORT))
 
 #Lets loop awaiting for your input
-while True:
-	command = input('Enter your command: ')
-	s.send(bytes(command, 'utf-8'))
-	reply = s.recv(1024)
-	print(reply)
+
+def telemetryReceive():
+	while True:
+		reply = s.recv(1024)
+		if reply != None:
+			print(reply)
+
+def telemetrySend():
+	while True:
+		command = input('Enter your command: ')
+		if command != None:
+			s.send(bytes(command, 'utf-8'))
+
+def main():
+	threading.Thread(target=telemetryReceive).start()
+	threading.Thread(target=telemetrySend).start()
+
+main()