public InputChannel(PythonConnection pyConn, string ipAddress, int port)
{
IPAddress ip = IPAddress.Parse(ipAddress);
using (var sr = new System.IO.StreamReader("setup_socket.py"))
{
String line;
while ((line = sr.ReadLine ()) != null) {
if (line.Contains ("sock_port = "))
line = String.Format ("sock_port = {0}", port);
pyConn.execute (line);
}
}
dataConnection = new Socket(AddressFamily.InterNetwork, SocketType.Stream,ProtocolType.Tcp);
dataConnection.Connect(new IPEndPoint(ip, port));
pyConn.execute("connection, _ = sock.accept()");
}
public InputChannel(PythonConnection pyConn, string ipAddress, int port)
{
IPAddress ip = IPAddress.Parse(ipAddress);
using (var sr = new System.IO.StreamReader("setup_socket.py"))
{
String line;
while ((line = sr.ReadLine()) != null)
{
if (line.Contains("sock_port = "))
{
line = String.Format("sock_port = {0}", port);
}
pyConn.execute(line);
}
}
dataConnection = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
dataConnection.Connect(new IPEndPoint(ip, port));
pyConn.execute("connection, _ = sock.accept()");
}
public JointControl(PythonConnection connection, string joint, double max, double speed)
{
this.connection = connection;
this.command = String.Format("print startMove(\"{0}\", {1}, {2})", joint, toString(max), toString(speed));
}
public WalkControl(PythonConnection connection, double deltaSpeed, double deltaAngle, double deltaFrequency)
{
this.connection = connection;
this.deltaSpeed = deltaSpeed;
this.deltaAngle = deltaAngle;
this.deltaFrequency = deltaFrequency;
}
protected void OnConnectionToggleToggled(object sender, EventArgs e)
{
bool active = connectionToggle.Active;
if (active)
{
commandConnection = new PythonConnection(ipEntry.Text, userNameEntry.Text, passwordEntry.Text);
// Open a separate data connection:
// Has to be done before sending prep_code.py as it defines necessary variables for prep_code.py
videoChannel = new InputChannel (commandConnection, ipEntry.Text, 4711);
using (var sr = new System.IO.StreamReader("prep_code.py"))
{
String line;
while ((line = sr.ReadLine()) != null)
commandConnection.execute(line);
}
}
else
{
controlToggle.Active = false;
cameraToggle.Active = false;
commandConnection.execute("close()");
commandConnection.Dispose();
videoChannel.Dispose();
commandConnection = null;
videoChannel = null;
}
stiffnessToggle.Sensitive = active;
cameraToggle.Sensitive = active;
ttsButton.Sensitive = active;
ipEntry.Sensitive = !active;
userNameEntry.Sensitive = !active;
passwordEntry.Sensitive = !active;
}
