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#! /usr/bin/env python
""" Human control with keyboard through sockets
this example is meant to show how to use services with sockets.
After the connection with the socket, we just send a message well formed.
You can control the human with the numpad : 8 and 5 for forward and backward,
and 4 and 6 for left and right.
"""
import sys
import socket
import tty, termios
HOST = '127.0.0.1'
PORT = 4000
def getchar():
""" Returns a single character from standard input """
fd = sys.stdin.fileno()
old_settings = termios.tcgetattr(fd)
try:
tty.setraw(sys.stdin.fileno())
ch = sys.stdin.read(1)
finally:
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
return ch
def _connect_port(port):
""" Establish the connection with the given MORSE port"""
sock = None
for res in socket.getaddrinfo(HOST, port, socket.AF_UNSPEC, socket.SOCK_STREAM):
af, socktype, proto, canonname, sa = res
try:
sock = socket.socket(af, socktype, proto)
except socket.error:
sock = None
continue
try:
sock.connect(sa)
except socket.error:
sock.close()
sock = None
continue
break
return sock
def main():
sock = _connect_port(PORT)
if not sock:
sys.exit(1)
print("sock connected")
print("Please press q to quit and use 8456 to move")
esc = 0
_id = 0
while not esc:
c = getchar()
speed = 0
rot = 0
if (c == "8"):
speed = 0.1
elif (c == "5"):
speed = -0.1
elif (c == "4"):
rot = 0.1
elif (c == "6"):
rot = -0.1
if (speed != 0 or rot != 0):
data_out = "id%d human move [%f, %f]\n" % (_id, speed, rot)
sent = sock.send(data_out)
print ("SENT DATA (%d bytes): %s" % (sent, data_out))
_id = _id + 1
if c == "q":
esc = 1
sock.close()
print("\nBye bye!")
main()
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