48 lines
1.2 KiB
Python
48 lines
1.2 KiB
Python
import threading
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import turtle
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import argparse
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from pythonosc import udp_client
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from pythonosc.dispatcher import Dispatcher
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from pythonosc import osc_server
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t = turtle.Turtle()
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screen = turtle.Screen()
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screen.title("Painting robot sim")
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COLORS = [
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"black",
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"yellow",
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"red",
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"blue"
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]
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def color_handler(unused_addr, c):
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if c in COLORS:
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t.pencolor(c)
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def coordinate_handler(unused_addr, x, y, z, roll, pitch, yaw):
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prev_size = t.pensize
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t.pen(pensize=z)
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if z <= 0:
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t.penup()
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else:
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t.pendown()
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if prev_size == 0:
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t.dot()
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t.goto(x, y)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--ip", default="127.0.0.1", help="The ip to listen on")
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parser.add_argument("--port", type=int, default=5005, help="The port to listen on")
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args = parser.parse_args()
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dispatcher = Dispatcher()
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dispatcher.map("/tcp_coordinates", coordinate_handler)
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dispatcher.map("/color", color_handler)
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server = osc_server.ThreadingOSCUDPServer((args.ip, args.port), dispatcher)
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print(f"Serving on {server.server_address}")
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osc_thread = threading.Thread(target = server.serve_forever, daemon=True)
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osc_thread.start()
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turtle.done()
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