Fixed the server to be able to run from the cli with no UI + bugfixes

Code/Server/.gitignore

@@ -0,0 +1 @@
+__pycache__/**

Code/Server/input_navigation.py

@@ -0,0 +1,176 @@
+#!/usr/bin/python3
+import argparse
+import os
+import platform
+import sys
+
+if platform.system() != 'Linux':
+    print(f'The program does NOT run on {platform.system()}')
+    print('It requires evdev which is only available for Linux')
+    print('Exiting.')
+    exit(1)
+
+from evdev import InputDevice, categorize, ecodes
+from Motor import *
+from Buzzer import *
+
+
+"""
+https://core-electronics.com.au/tutorials/using-usb-and-bluetooth-controllers-with-python.html
+https://python-evdev.readthedocs.io/en/latest/usage.html -- keyboard
+$ python
+Python 3.7.3 (default, Jul 25 2020, 13:03:44) 
+[GCC 8.3.0] on linux
+>>> from evdev import ecodes
+>>> ecodes.KEY_A
+30
+>>> ecodes.KEY[103]
+'KEY_UP'
+"""
+
+def main(args):
+    """
+    CLI program to navigate using a keyboard or controller
+    ex:
+    device /dev/input/event3, name "Dell Dell USB Keyboard", phys "usb-0000:01:00.0-1.1/input0"
+    device /dev/input/event2, name "Logitech K400", phys "usb-0000:01:00.0-1.1/input2:1"
+    device /dev/input/event1, name "Sony PLAYSTATION(R)3 Controller", phys "usb-0000:01:00.0-1.4/input0"
+    device /dev/input/event0, name "Sony PLAYSTATION(R)3 Controller Motion Sensors", phys "usb-0000:01:00.0-1.4/input0"
+    """
+    cli = argparse.ArgumentParser(description="Navigate the Freenove robot with different inputs")
+    cli.add_argument('-c', '--controller', action="store_true", help="use a gamepad controller for input")
+    cli.add_argument('-k', '--keyboard', action="store_true", help="use the keyboard for input")
+    cli.add_argument('-i', '--interactive', action="store_true", help="interactively select the input device")
+    cli.add_argument('-d', '--debug', action="store_true", help="print debug output, use with '-i' to setup \
+            a new device")
+    cli.add_argument('-v', '--verbose', action="count", default=0, help="print verbose output, \
+            allows counting of verbosity (-vvv)")
+
+    if len(sys.argv) == 1:
+        print()
+        cli.print_help()
+        print()
+        exit(3)
+
+    opts = cli.parse_args(args)
+    debug = opts.debug
+    verbose = opts.verbose
+    interactive = opts.interactive
+    if opts.keyboard:
+        input_devices = ['Logitech K400', 'Dell Dell USB Keyboard']
+    if opts.controller:
+        input_devices = ['Sony PLAYSTATION(R)3 Controller', '8Bitdo Zero GamePad']
+
+    input_dev = ''
+    event_files = os.listdir('/dev/input/')
+    for event in event_files:
+        if 'event' in event:
+            tmp = InputDevice(f'/dev/input/{event}')  # the keyboards and/or controllers
+            if verbose >= 1 or interactive:
+                print(f'Found: {tmp}')
+
+            if interactive:
+                answer = input("Would you like to use this input device?  (y/n)\n")
+                if answer.lower() == 'yes' or answer.lower() == 'y':
+                    input_dev = tmp
+                    break
+            else:
+                for input_device in input_devices:
+                    if input_device == tmp.name:
+                        input_dev = tmp
+                        print(f'Using {input_dev.name} for input')
+                        break
+
+    if not input_dev:
+        print('No input match found. Exiting.')
+        exit(1)
+
+    if not debug:  # used for setting up a new device, skip definitions below
+        # button code variables (add/change to suit your device)
+        if 'Sony PLAYSTATION(R)3 Controller' == input_dev.name:
+            aBtn = 305
+            bBtn = 304
+            xBtn = 307
+            yBtn = 308
+
+            up = 544
+            down = 545
+            left = 546
+            right = 547
+
+            select = 314
+            start = 315
+            PSBtn = enter = 316
+
+            r1 = 311
+            r2 = 313
+            l1 = 310
+            l2 = 312
+
+            rjstick = 318
+            ljstick = 317
+        elif '8Bitdo Zero GamePad' == input_dev.name:
+            aBtn = 34
+            bBtn = 36
+            xBtn = 35
+            yBtn = 23
+
+            up = 46
+            down = 32
+            left = 18
+            right = 33
+
+            start = 24
+            select = 49
+
+            l1 = 37
+            r1 = 50
+        elif 'Logitech K400' == input_dev.name or 'Dell Dell USB Keyboard' == input_dev.name:
+            up = 103
+            down = 108
+            left = 105
+            right = 106
+
+            enter = 28
+        else:
+            print('No valid input device found. Exiting.')
+            exit(1)
+
+    PWM=Motor()
+    buzzer = Buzzer()
+
+    try:
+        #evdev takes care of polling the controller in a loop
+        for event in input_dev.read_loop():
+            if event.type == ecodes.EV_KEY:  # filters by event type
+                if verbose == 1 or debug:
+                    print(event)
+
+                if not debug:
+                    if event.value == 0:
+                        PWM.setMotorModel(0,0,0,0)
+                        buzzer.run('0')
+                    elif event.value == 1:
+                        if event.code == up:
+                            PWM.setMotorModel(2000,2000,2000,2000)      
+                        elif event.code == down:
+                            PWM.setMotorModel(-2000,-2000,-2000,-2000)
+                        elif event.code == left:
+                            PWM.setMotorModel(-2000,-2000,2000,2000)
+                        elif event.code == right:
+                            PWM.setMotorModel(2000,2000,-2000,-2000)
+                        elif event.code == enter:
+                            buzzer.run('1')
+
+            if verbose == 2:
+                print(categorize(event))  # more verbose output
+
+    except KeyboardInterrupt:
+        print(' Exiting.')
+
+if __name__ == "__main__":
+    try:
+        main(sys.argv[1:])
+    except KeyboardInterrupt:
+        print(' Exiting.')
+

Code/Server/main.py

@@ -22,6 +22,7 @@ def __init__(self):
         self.start_tcp=False
         self.TCP_Server=Server()
         self.parseOpt()
+
         if self.user_ui:
             self.app = QApplication(sys.argv)
             super(mywindow,self).__init__()
@@ -34,8 +35,9 @@ def __init__(self):
             self.Button_Server.clicked.connect(self.on_pushButton)
             self.pushButton_Close.clicked.connect(self.close)
             self.pushButton_Min.clicked.connect(self.windowMinimumed)
-        
+
         if self.start_tcp:
+            print ("Starting TCP Server")
             self.TCP_Server.StartTcpServer()
             self.ReadData=Thread(target=self.TCP_Server.readdata)
             self.SendVideo=Thread(target=self.TCP_Server.sendvideo)
@@ -46,9 +48,12 @@ def __init__(self):
             if self.user_ui:
                 self.label.setText("Server On")
                 self.Button_Server.setText("Off")
-
+
+        print("Ready, waiting for commands...")
+
     def windowMinimumed(self):
         self.showMinimized()
+
     def mousePressEvent(self, event):
         if event.button()==Qt.LeftButton:
             self.m_drag=True
@@ -66,11 +71,11 @@ def mouseReleaseEvent(self, QMouseEvent):
     def parseOpt(self):
         self.opts,self.args = getopt.getopt(sys.argv[1:],"tn")
         for o,a in self.opts:
-            if o in ('-t'):
-                print ("Open TCP")
-                self.start_tcp=True
-            elif o in ('-n'):
+           if '-n' in o:
                 self.user_ui=False
+
+            if '-t' in o:
+                self.start_tcp=True
 
     def close(self):
         try:
@@ -80,21 +85,24 @@ def close(self):
         except:
             pass
         try:
+            print ("Stopping TCP Server")
             self.TCP_Server.server_socket.shutdown(2)
             self.TCP_Server.server_socket1.shutdown(2)
             self.TCP_Server.StopTcpServer()
         except:
             pass
-        print ("Close TCP")
+
         if self.user_ui:
             QCoreApplication.instance().quit()
+
+        print("Exiting.\n")
         os._exit(0)
+
     def on_pushButton(self):
         if self.label.text()=="Server Off":
             self.label.setText("Server On")
             self.Button_Server.setText("Off")
-            self.TCP_Server.tcp_Flag = True
-            print ("Open TCP")
+            print ("Starting TCP Server")
             self.TCP_Server.StartTcpServer()
             self.SendVideo=Thread(target=self.TCP_Server.sendvideo)
             self.ReadData=Thread(target=self.TCP_Server.readdata)
@@ -106,23 +114,26 @@ def on_pushButton(self):
         elif self.label.text()=='Server On':
             self.label.setText("Server Off")
             self.Button_Server.setText("On")
-            self.TCP_Server.tcp_Flag = False
             try:
                 stop_thread(self.ReadData)
                 stop_thread(self.power)
                 stop_thread(self.SendVideo)
             except:
                 pass
-            self.TCP_Server.StopTcpServer()
-            print ("Close TCP")
 
+            print ("Stopping TCP Server")
+            self.TCP_Server.StopTcpServer()
+
+
 if __name__ == '__main__':
     myshow=mywindow()
-    if myshow.user_ui==True:
-        myshow.show();   
+    if myshow.user_ui:
+        myshow.show()
         sys.exit(myshow.app.exec_())
     else:
         try:
-            pass
+            while(True):
+                pass
         except KeyboardInterrupt:
+            print(" caught ctrl-c")
             myshow.close()