Functional bluetooth client code, WASD bluetooth command support

Factory_Automation/Mothership/Application/Core/bleClientPi.py

-from bluedot.btcomm import BluetoothServer
+from bluedot.btcomm import BluetoothClient
 from time import sleep
 from signal import pause
 from droneStatusEnum import DroneStatusEnum
@@ -8,7 +8,7 @@ class BLEClientPi:
     _instance = None
     def __new__(cls):
         if cls._instance is None:
-            cls._instance = super(BLEServicePi, cls).__new__(cls)
+            cls._instance = super(BLEClientPi, cls).__new__(cls)
             cls._instance.coordinate_queue = None
             cls._instance.command_queue = None
             cls._instance.drone_status = DroneStatusEnum.Uninitialized
@@ -16,23 +16,37 @@ class BLEClientPi:
             cls._instance.bluetoothClient = None 
             return cls._instance
 
-    def data_received(data):
+    def data_received(cls,data):
         print("recv - {}".format(data))
 
     def send(cls, data):
         cls.bluetoothClient.send(data)
 
-    def connect():
+    def send_command(cls, command):
+        # 100 ms delay to seperate commands
+        sleep(0.1)
+        cls.bluetoothClient.send(command)
+        
+    def connect(cls):
         try:
-            cls.bluetoothClient = BluetoothClient("pi4", data_received)
-            cls.bluetoothClient.send("Connectedddd")
+            cls.bluetoothClient = BluetoothClient("DC:A6:32:18:4C:22", cls.data_received)
+            cls.send_command(DroneCommandEnum.Clear_Queue.get_name())
+            keypress = ""
+            while keypress.upper() != "Q":
+                keypress = input("Enter Command")
+                keypress = keypress.upper()
+                cls.send_command(keypress)
+            
+            #cls.send_command(DroneCommandEnum.W.get_name())
+            #cls.send_command(DroneCommandEnum.A.get_name())
+            #cls.send_command(DroneCommandEnum.S.get_name())
+            #cls.send_command(DroneCommandEnum.D.get_name())
         finally:
             cls.bluetoothClient.disconnect()
 
 def main():
     bluetoothClient = BLEClientPi()
-    bluetoothClient.start()
-    bluetoothClient.stop()
+    bluetoothClient.connect()
 
 if __name__ == "__main__":
     main()

Factory_Automation/Mothership/Application/Core/droneCommandEnum.py

@@ -4,23 +4,38 @@ class DroneCommandEnum(Enum):
     Get_Location = 2
     Move = 3
     Stop = 4
-
+    W = 5
+    A = 6
+    S = 7 
+    D = 8
+    Clear_Queue = 9
+    
     def get_name(self):
-    command_names = {
-    DroneCommandEnum.Initialize: "Initialize_Command",
-    DroneCommandEnum.Get_Location: "Get_Location_Command",
-    DroneCommandEnum.Move: "Move_Command",
-    DroneCommandEnum.Stop: "Stop_Command",
-    }
-    return command_names[self]
+        command_names = {
+        DroneCommandEnum.Initialize: "Initialize_Command",
+        DroneCommandEnum.Get_Location: "Get_Location_Command",
+        DroneCommandEnum.Move: "Move_Command",
+        DroneCommandEnum.Stop: "Stop_Command",
+        DroneCommandEnum.W: "W",
+        DroneCommandEnum.A: "A",
+        DroneCommandEnum.S: "S",
+        DroneCommandEnum.D: "D",
+        DroneCommandEnum.Clear_Queue: "Clear_Queue"
+        }
+        return command_names[self]
 
     def get_enum_by_name(name:str):
-    command_names = {
-    "Initialize_Command": DroneCommandEnum.Initialize,
-    "Get_Location_Command": DroneCommandEnum.Get_Location,
-    "Move_Command": DroneCommandEnum.Move,
-    "Stop_Command": DroneCommandEnum.Stop,
-    }
+        command_names = {
+        "Initialize_Command": DroneCommandEnum.Initialize,
+        "Get_Location_Command": DroneCommandEnum.Get_Location,
+        "Move_Command": DroneCommandEnum.Move,
+        "Stop_Command": DroneCommandEnum.Stop,
+        "W": DroneCommandEnum.W,
+        "A": DroneCommandEnum.A,
+        "S": DroneCommandEnum.S,
+        "D": DroneCommandEnum.D,
+        "Clear_Queue": DroneCommandEnum.Clear_Queue
+        }
 
-    return command_names[name]
-    raise ValueError(f"No enum member found with name: {name}")
\ No newline at end of file
+        return command_names[name]
+        raise ValueError(f"No enum member found with name: {name}")
\ No newline at end of file

Factory_Automation/Mothership/Application/Core/droneStatusEnum.py

@@ -7,23 +7,23 @@ class DroneStatusEnum(Enum):
     Stopped = 5
 
     def get_name(self):
-    status_names = {
-    DroneStatusEnum.Uninitialized: "Uninitialized",
-    DroneStatusEnum.Location_Unknown_Idle: "Unknown_Idle",
-    DroneStatusEnum.Location_Known_Idle: "Idle",
-    DroneStatusEnum.Moving: "Moving",
-    DroneStatusEnum.Stopped: "Stopped"
-    }
-    return status_names[self]
+        status_names = {
+        DroneStatusEnum.Uninitialized: "Uninitialized",
+        DroneStatusEnum.Location_Unknown_Idle: "Unknown_Idle",
+        DroneStatusEnum.Location_Known_Idle: "Idle",
+        DroneStatusEnum.Moving: "Moving",
+        DroneStatusEnum.Stopped: "Stopped"
+        }
+        return status_names[self]
 
     def get_enum_by_name(name:str):
-    status_names = {
-    "Uninitialized": DroneStatusEnum.Uninitialized,
-    "Unknown_Idle": DroneStatusEnum.Location_Unknown_Idle,
-    "Idle": DroneStatusEnum.Location_Known_Idle,
-    "Moving": DroneStatusEnum.Moving,
-    "Stopped": DroneStatusEnum.Stopped
-    }
+        status_names = {
+        "Uninitialized": DroneStatusEnum.Uninitialized,
+        "Unknown_Idle": DroneStatusEnum.Location_Unknown_Idle,
+        "Idle": DroneStatusEnum.Location_Known_Idle,
+        "Moving": DroneStatusEnum.Moving,
+        "Stopped": DroneStatusEnum.Stopped
+        }
 
-    return status_names[name]
-    raise ValueError(f"No enum member found with name: {name}")
\ No newline at end of file
+        return status_names[name]
+        raise ValueError(f"No enum member found with name: {name}")
\ No newline at end of file