- improved Ev3Server

- implemted PID controller in Lasertrack. Provide motor power directly to EV3
  (use lasertracker.ev3)



git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@343 b431acfa-c32f-4a4a-93f1-934dc6c82436

ev3/Ev3Server.py

@@ -12,6 +12,7 @@ class LocalServer(object):
 		self.thread = None
 		self.cancel = False
 		self.sockTcpEv3 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+		self.sockTcpEv3.settimeout(1.0)
 		self.sockTcpEv3.connect((ip, port))
 		print ("EV3 connected")
 		self.sockTcpEv3.send(b'ET /target?sn=')
@@ -59,7 +60,7 @@ class LocalServer(object):
 							if sock == conn:
 								data = sock.recv(1024)
 								if data:
-									print ("Client: Received data (" + str(len(data)) + ")")
+#									print ("Client: Received data (" + str(len(data)) + ")")
 									self.sockTcpEv3.send(data)  # send to EV3
 								else:
 									print ('Client: Connection closed:' + str(addr))
@@ -67,7 +68,7 @@ class LocalServer(object):
 							if sock == self.sockTcpEv3:
 								data = sock.recv(1024)
 								if data:
-									print ("EV3: Received data (" + str(len(data)) + ")")
+#									print ("EV3: Received data (" + str(len(data)) + ")")
 									conn.send(data)  # send to Client
 								else:
 									print ('EV3: Connection closed:' + str(addr))
@@ -88,7 +89,7 @@ if ("__main__" == __name__):
 	UDP_IP = "0.0.0.0"
 	UDP_PORT = 3015
 	sockUdp = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-	sockUdp.settimeout(10.0)
+	sockUdp.settimeout(30.0)
 	sockUdp.bind((UDP_IP, UDP_PORT))
 	localTcpServer = None
 	while True:
@@ -114,17 +115,17 @@ if ("__main__" == __name__):
 
 #		print (keyValueDict)
 		if keyValueDict['Protocol'] == 'EV3':
-			print ("EV3 discovered")
 			sockUdp.sendto(b'A', addr)
 			if localTcpServer is None:
+				print ("EV3 discovered")
 				try:
 					localTcpServer = LocalServer(addr[0], int(keyValueDict['Port']))
 					localTcpServer.start()
 				except Exception as e:
 					print (e)
 					if localTcpServer is not None:
-						localTcpServer = None
 						del localTcpServer
+						localTcpServer = None
 
 	if localTcpServer is not None:
 		localTcpServer.stop()