add bluetooth

software/raspberry pi/btserver.py

@@ -0,0 +1,97 @@
+#!python
+#
+# 2021  Zhengyu Peng
+# Website: https://zpeng.me
+#
+# `                      `
+# -:.                  -#:
+# -//:.              -###:
+# -////:.          -#####:
+# -/:.://:.      -###++##:
+# ..   `://:-  -###+. :##:
+#        `:/+####+.   :##:
+# .::::::::/+###.     :##:
+# .////-----+##:    `:###:
+#  `-//:.   :##:  `:###/.
+#    `-//:. :##:`:###/.
+#      `-//:+######/.
+#        `-/+####/.
+#          `+##+.
+#           :##:
+#           :##:
+#           :##:
+#           :##:
+#           :##:
+#            .+:
+
+import socket
+from threading import Thread
+import json
+
+
+class BluetoothServer(Thread):
+    ERROR = -1
+    LISTEN = 1
+    CONNECTED = 2
+    STOP = 3
+
+    SIG_NORMAL = 0
+    SIG_STOP = 1
+    SIG_DISCONNECT = 2
+
+    def __init__(self, out_cmd_queue):
+        Thread.__init__(self)
+
+        self.cmd_queue = out_cmd_queue
+
+        with open('./config.json', 'r') as read_file:
+            self.config = json.load(read_file)
+
+        self.mac = '192.168.1.127'
+        self.port = 1234
+        self.bt_socket = socket.socket(
+            socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
+
+        self.signal = self.SIG_NORMAL
+
+    def run(self):
+        try:
+            self.bt_socket.bind((self.mac, self.port))
+            self.bt_socket.listen(1)
+            print('TCP listening')
+        except OSError as err:
+            # print('emit tcp server error')
+            # self.status.emit(self.STOP, '')
+            pass
+        else:
+            while True:
+                # Wait for a connection
+                # print('wait for a connection')
+                # self.status.emit(self.LISTEN, '')
+                try:
+                    self.connection, addr = self.bt_socket.accept()
+                    # self.connection.setblocking(False)
+                    # self.connection.settimeout(1)
+                    print('New connection')
+                except socket.timeout as t_out:
+                    pass
+                else:
+                    while True:
+                        # print('waiting for data')
+                        # if self.signal == self.SIG_NORMAL:
+                        try:
+                            data = self.connection.recv(4096)
+                        except socket.error as e:
+                            print(e)
+                            break
+                        else:
+                            if data:
+                                self.cmd_queue.put(data.decode())
+                            else:
+                                self.cmd_queue.put('standby')
+                                break
+
+        finally:
+            self.bt_socket.close()
+            self.cmd_queue.put('standby')
+            print('exit')

software/raspberry pi/hexapod.py

@@ -44,11 +44,10 @@ from path_generator import gen_climb_path
 from path_generator import gen_rotatex_path, gen_rotatey_path, gen_rotatez_path
 from path_generator import gen_twist_path
 
-import socket
-import errno
 from threading import Thread
 
 from tcpserver import TCPServer
+from btserver import BluetoothServer
 
 
 class Hexapod(Thread):