moving_braccio_pc.py

import sys
import requests
import json

def main(values):
    # If the value for the movement is given, use it. Otherwise keep Braccio steady.
    if len(values) == 7:

        values.pop(0)
        # Convert string to int
        intValues = []
        try:
            for value in values:
                intValues.append(int(float(value)))


        except ValueError:
            print "Expecting an int..."

    else:
        print "Expecting 6 values for the servos, " + str(len(values)-1) + " received. Command ignored."
        intValues = [0]

    print intValues
    if (intValues[0] < 0 or intValues[0] > 180 or intValues[1] < 15 or intValues[1] > 165 or
        intValues[2] < 0 or intValues[2] > 180 or intValues[3] < 0 or intValues[3] > 180 or
        intValues[4] < 0 or intValues[4] > 180):

        print ("\nNot every value is in the accepted range. \n\nM1=base degrees. Allowed "
              "values from 0 to 180 degrees\nM2=shoulder degrees. Allowed values from 15 to "
              "165 degrees \nM3=elbow degrees. Allowed values from 0 to 180 degrees \nM4=wrist "
              "vertical degrees. Allowed values from 0 to 180 degrees \nM5=wrist rotation "
              "degrees. Allowed values from 0 to 180 degrees\nM6=gripper degrees. Allowed "
              "values from 10 to 73 degrees. 10: the tongue is open, 73: the gripper is "
              "closed.")

    url = "http://192.168.1.129:2883/jsonrpc"
    headers = {'content-type': 'application/json'}
    if (len(intValues) > 1):
        # Example echo method
        payload = {
            "method": "moving_braccio",
            "params": {"M1": intValues[0], "M2": intValues[1], "M3": intValues[2],
               "M4": intValues[3], "M5": intValues[4], "M6": intValues[5]},
            "jsonrpc": "2.0",
            "id": 0,
        }
    else:
        # Example echo method
        payload = {
            "method": "moving_braccio",
            "params": {"M6": 0},
            "jsonrpc": "2.0",
            "id": 0,
        }

    try:
        response = requests.post(
            url, data=json.dumps(payload), headers=headers).json()
        print response
        return response["result"]
    except requests.ConnectionError:
        print "Connection error. Is moving_braccio_arduino.py running?"



if __name__ == "__main__":
    main(sys.argv)