From 89705bc5a8e4b1752c274cf5c5b78470ff951ac4 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Thu, 3 Nov 2016 21:32:03 +0000
Subject: [PATCH] - proper handling of Ctrl-C

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@347 b431acfa-c32f-4a4a-93f1-934dc6c82436
---
 ev3/Ev3Server.py | 71 +++++++++++++++++++++++++-----------------------
 lasertrack.py    |  4 +--
 2 files changed, 39 insertions(+), 36 deletions(-)

diff --git a/ev3/Ev3Server.py b/ev3/Ev3Server.py
index c45a48d..2330748 100755
--- a/ev3/Ev3Server.py
+++ b/ev3/Ev3Server.py
@@ -93,42 +93,45 @@ if ("__main__" == __name__):
 	sockUdp.settimeout(30.0)
 	sockUdp.bind((UDP_IP, UDP_PORT))
 	localTcpServer = None
-	while True:
-		try:
-			data, addr = sockUdp.recvfrom(1024) # buffer size is 1024 bytes
-		except:
-			print ("UDP: Timeout")
-			if localTcpServer is not None:
-				localTcpServer.stop()
-				del localTcpServer
-				localTcpServer = None
-			continue
-#		print ("Received from " + str(addr))
-#		print ("Message (" + str(len(data)) + ") :")
-		dataStr = data.decode("utf-8")
-		keyValueStrList = dataStr.replace('\r', '').replace(' ', '').split('\n')
+	try:
+		while True:
+			try:
+				data, addr = sockUdp.recvfrom(1024) # buffer size is 1024 bytes
+			except (socket.timeout):
+				print ("UDP: Timeout")
+				if localTcpServer is not None:
+					localTcpServer.stop()
+					del localTcpServer
+					localTcpServer = None
+				continue
+	#		print ("Received from " + str(addr))
+	#		print ("Message (" + str(len(data)) + ") :")
+			dataStr = data.decode("utf-8")
+			keyValueStrList = dataStr.replace('\r', '').replace(' ', '').split('\n')
 
-		keyValueDict = {}
-		for keyValueStr in keyValueStrList:
-			keyValue = keyValueStr.split(':')
-			if len(keyValue) == 2:
-				keyValueDict[keyValue[0]] = keyValue[1]
-
-#		print (keyValueDict)
-		if keyValueDict['Protocol'] == 'EV3':
-			if localTcpServer is None:
-				sockUdp.sendto(b'A', addr)
-				print ("EV3 discovered")
-				try:
-					time.sleep(0.2)
-					localTcpServer = LocalServer(addr[0], int(keyValueDict['Port']))
-					localTcpServer.start()
-				except Exception as e:
-					print (e)
-					if localTcpServer is not None:
-						del localTcpServer
-						localTcpServer = None
+			keyValueDict = {}
+			for keyValueStr in keyValueStrList:
+				keyValue = keyValueStr.split(':')
+				if len(keyValue) == 2:
+					keyValueDict[keyValue[0]] = keyValue[1]
 
+	#		print (keyValueDict)
+			if keyValueDict['Protocol'] == 'EV3':
+				if localTcpServer is None:
+					sockUdp.sendto(b'A', addr)
+					print ("EV3 discovered")
+					try:
+						time.sleep(0.2)
+						localTcpServer = LocalServer(addr[0], int(keyValueDict['Port']))
+						localTcpServer.start()
+					except Exception as e:
+						print (e)
+						if localTcpServer is not None:
+							del localTcpServer
+							localTcpServer = None
+	except (KeyboardInterrupt):
+		print ("\nKeyboardInterrupt")
+		
 	if localTcpServer is not None:
 		localTcpServer.stop()
 		del localTcpServer
diff --git a/lasertrack.py b/lasertrack.py
index e6638e9..bff74d4 100755
--- a/lasertrack.py
+++ b/lasertrack.py
@@ -42,9 +42,9 @@ ap.add_argument("-y", "--height", type=int, default=240,
 	help="height")
 ap.add_argument("-kp", "--kp", type=float, default=6.0,		# 1.0
 	help="kp")
-ap.add_argument("-ki", "--ki", type=float, default=2.0,		# 0.2
+ap.add_argument("-ki", "--ki", type=float, default=3.0,		# 0.2
 	help="ki")
-ap.add_argument("-kd", "--kd", type=float, default=2.0,		# 8.0
+ap.add_argument("-kd", "--kd", type=float, default=3.0,		# 8.0
 	help="kd")
 args = vars(ap.parse_args())