- 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

@@ -93,18 +93,19 @@ if ("__main__" == __name__):
 	sockUdp.settimeout(30.0)
 	sockUdp.bind((UDP_IP, UDP_PORT))
 	localTcpServer = None
+	try:
 		while True:
 			try:
 				data, addr = sockUdp.recvfrom(1024) # buffer size is 1024 bytes
-		except:
+			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)) + ") :")
+	#		print ("Received from " + str(addr))
+	#		print ("Message (" + str(len(data)) + ") :")
 			dataStr = data.decode("utf-8")
 			keyValueStrList = dataStr.replace('\r', '').replace(' ', '').split('\n')
 
@@ -114,7 +115,7 @@ if ("__main__" == __name__):
 				if len(keyValue) == 2:
 					keyValueDict[keyValue[0]] = keyValue[1]
 
-#		print (keyValueDict)
+	#		print (keyValueDict)
 			if keyValueDict['Protocol'] == 'EV3':
 				if localTcpServer is None:
 					sockUdp.sendto(b'A', addr)
@@ -128,6 +129,8 @@ if ("__main__" == __name__):
 						if localTcpServer is not None:
 							del localTcpServer
 							localTcpServer = None
+	except (KeyboardInterrupt):
+		print ("\nKeyboardInterrupt")
 		
 	if localTcpServer is not None:
 		localTcpServer.stop()

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())