Work

.replit

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+language = "undefined"
+run = ""

Control System/Propioception.py

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+"""
+This class keeps track of all the motors, sensors and import variables needed for the robot.
+"""
+class Propioception:
+    """
+    Standard kwargs to give for this function
+
+    data = {
+        # Motors (all units are in degrees)
+        'left_hip_pitch': 0,
+        'left_hip_yaw': 0,
+        'left_hip_roll': 0,
+        'left_knee_pitch': 0,
+        'left_ankle_pitch': 0,
+        'left_ankle_yaw': 0,
+        'left_ankle_roll': 0,
+        'right_hip_pitch': 0,
+        'right_hip_yaw': 0,
+        'right_hip_roll': 0,
+        'right_knee_pitch': 0,
+        'right_ankle_pitch': 0,
+        'right_ankle_yaw': 0,
+        'right_ankle_roll': 0,
+        'left_shoulder_pitch': 0,
+        'left_shoulder_yaw': 0,
+        'left_shoulder_roll': 0,
+        'left_elbow_pitch': 0,
+        'right_shoulder_pitch': 0,
+        'right_shoulder_yaw': 0,
+        'right_shoulder_roll': 0,
+        'right_elbow_pitch': 0,
+        'torso_pitch': 0,
+        'torso_yaw': 0,
+        'torso_roll': 0,
+        'neck_pitch': 0,
+        'neck_yaw': 0,
+        'neck_roll': 0,
+
+        # Sensors
+        # Add later
+    }
+
+    This will also have the constants
+    """
+    def __init__(self, **kwargs):
+        self.data = {
+            # Add defualt later
+        }
+        self.constants = {
+            # Add some constants here later
+        }
+        for key, value in kwargs.items():
+            self.data[str(key)] = value
+
+    def update(self, partsAndValues):
+        """
+        This function updates the dictionary
+
+        arg artsAndValues is {string --> int or float}
+
+        Error codes:
+        1 is success
+        -1 is the error for NoneType variables
+        -2 is for incorrect datatypes
+        -3 is for when the key is not in the dictionary
+        """
+
+        if partsAndValues == None:
+            return -1
+
+        if type(partsAndValues) != dict:
+            return -2
+
+        for key in partsAndValues.keys():
+            if key in self.data:
+                self.data[str(key)] = partsAndValues[key]
+            else:
+                return -3
+            return 1
+
+    def add(self, partsAndValues):
+        """
+        This function will add a part to the system if needed
+
+        arg artsAndValues is {string --> int or float}
+
+        Error codes:
+        1 is success
+        -1 is the error for NoneType variables
+        -2 is for incorrect datatypes
+        -3 is for when the key is in the dictionary
+        """
+
+        if partsAndValues == None:
+            return -1
+
+        if type(partsAndValues) != dict:
+            return -2
+
+        for key in partsAndValues.keys():
+            if key in self.data:
+                return -3
+            else:
+                self.data[str(key)] = partsAndValues[key]
+            return 1
+
+    def remove(self, partsAndValues):
+        """
+        This function will remove a part to the system if needed
+
+        arg artsAndValues is [string]
+
+        Error codes:
+        1 is success
+        -1 is the error for NoneType variables
+        -2 is for incorrect datatypes
+        -3 is for when the key is not in the dictionary
+        """
+
+        if partsAndValues == None:
+            return -1
+            
+
+        if type(partsAndValues) != list:
+            return -2
+
+        for key in partsAndValues:
+            if key in self.data:
+                self.data.pop(str(key))
+            else:
+                return -3
+            return 1
+        
+
+# Test
+stuff = Propioception(
+        left_hip_pitch= 0,
+        left_hip_yaw= 0,
+        left_hip_roll= 0,
+        left_knee_pitch= 0,
+        left_ankle_pitch= 0,
+        left_ankle_yaw= 0,
+        left_ankle_roll= 0,
+        right_hip_pitch= 0,
+        right_hip_yaw= 0,
+        right_hip_roll= 0,
+        right_knee_pitch= 0,
+        right_ankle_pitch= 0,
+        right_ankle_yaw= 0,
+        right_ankle_roll= 0,
+        left_shoulder_pitch= 0,
+        left_shoulder_yaw= 0,
+        left_shoulder_roll= 0,
+        left_elbow_pitch= 0,
+        right_shoulder_pitch= 0,
+        right_shoulder_yaw= 0,
+        right_shoulder_roll= 0,
+        right_elbow_pitch= 0,
+        torso_pitch= 0,
+        torso_yaw= 0,
+        torso_roll= 0,
+        neck_pitch= 0,
+        neck_yaw= 0,
+        neck_roll= 0
+        )
+        
+"""Update cases"""
+# Success case
+print(stuff.data['neck_roll'])        
+stuff.update({'neck_roll': 21})
+print(stuff.data['neck_roll'])
+
+# -1 case
+print(stuff.update(None))
+
+# -2 case
+print(stuff.update([]))
+
+# -3 case
+print(stuff.update({'test': 21}))
+
+"""Remove cases"""
+# Success case
+print(stuff.data['neck_roll'])        
+print(stuff.remove(['neck_roll']))
+
+# -1 case
+print(stuff.remove(None))
+
+# # -2 case
+print(stuff.remove({}))
+
+# -3 case
+print(stuff.remove(['test']))
+
+"""Add cases"""
+# Success case
+print('test' in stuff.data.keys())        
+stuff.add({'test': 21})
+print(stuff.data['test'])
+
+# -1 case
+print(stuff.add(None))
+
+# -2 case
+print(stuff.add([]))
+
+# -3 case
+print(stuff.add({'test': 21}))

Control System/bootup.py

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+# Create priority queue
+# In main create three threads
+# 1 for managing actions (stores priority queue)
+# 1 for reading sensor data
+# Updates sensor data through wifi and propiosense system
+# 1 for executing the first action in the priority queue
+import threading
+import socket
+import heapq
+import time
+
+class Receiver:
+  def __init__(self, host, port):
+    self.actions = ["Password L"]
+    self.timer = 0
+    self.HOST = host
+    self.PORT = port
+
+  def priorityQueue(self):
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    print('Socket created')
+
+    #managing error exception
+    try:
+      s.bind((self.HOST, self.PORT))
+    except socket.error:
+        print ('Bind failed ')
+
+    s.listen(5)
+    print ('Socket awaiting messages')
+    (conn, addr) = s.accept()
+    print ('Connected')
+
+    # awaiting for message
+    while True:
+      instruction = conn.recv(1024)
+      action = instruction.decode('UTF-8')
+      print("Action received:", action)
+      if "Password" in action:
+        heapq.heappush(self.actions,action)
+        print(self.actions)
+      else:
+        print("Incorrect Command")
+
+      # Sending reply
+      conn.send(action.encode()+bytes(" works",'utf-8'))
+
+  def execute(self):
+    while len(self.actions) > 0:
+      if self.timer == 0:
+        print("Executed: ", heapq.heappop(self.actions))
+        time.sleep(5)
+        heapq.heappush(self.actions, "Password Balancing")
+      print("Inside execute",self.actions)
+
+  def sensorData(self):
+    print("Test")
+
+  def runSimul(self):
+    threading.Thread(target=self.priorityQueue).start()
+    threading.Thread(target=self.execute()).start()
+    threading.Thread(target=self.sensorData()).start()
+
+def main():
+  simulation = Receiver('10.235.1.127',12345)
+  simulation.runSimul()
+
+if __name__ == "__main__":
+  main()

Control System/instructions.py

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+# Use methods online to dehash data packages/ instructions
+# Add instruction to priority queue 
+

client1.py

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-import socket
-
-HOST = '10.235.1.146' # 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)
+import socket
+
+HOST = '10.235.1.127' # 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)

server1.py

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 import socket
 
-HOST = '10.235.1.146' # Server IP or Hostname
+HOST = '10.235.1.127' # Use this for client
 PORT = 12345 # Pick an open Port (1000+ recommended), must match the client sport
 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 print('Socket created')