RoboRally/remote_control/robot.py

38 lines
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import socket
class Robot:
def __init__(self, marker_id, ip):
self.id = marker_id
self.pos = None
self.euler = None
self.ip = ip
self.socket = socket.socket()
# currently active control
self.u1 = 0.0
self.u2 = 0.0
self.connected = False
def connect(self):
# connect to robot
try:
print("connecting to robot {} with ip {} ...".format(self.id, self.ip))
self.socket.connect((self.ip, 1234)) # connect to robot
print("connected!")
self.connected = True
except socket.error:
print("could not connect to robot {} with ip {}".format(self.id, self.ip))
def send_cmd(self, u1=0.0, u2=0.0):
if self.socket:
try:
self.socket.send(f'({u1},{u2})\n'.encode())
except BrokenPipeError:
print(f"error: connection to robot {self.id} with ip {self.ip} lost")
pass
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except ConnectionResetError:
print(f"error: connection to robot {self.id} with ip {self.ip} lost")
pass