basic comm code

sockcom.py

#!/usr/bin/env python

import socket
import pickle
import time

TCP_IP_PORT = '192.168.1.8', 5005
BUFFER_SIZE = 1024
RMSG = "recvd."

s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

try:
	import motion
	s.settimeout(2)
	s.connect(TCP_IP_PORT)
	motion.start_updates()
	start = time.time()
	freq = 30.
	for i in range(60):
		till_next = start + 1/freq*i - time.time()
		if till_next > 0:
			time.sleep(till_next)
		MESSAGE = pickle.dumps(dict(att=motion.get_attitude(),grav=motion.get_gravity(),mag=motion.get_magnetic_field(),accel=motion.get_user_acceleration()))
		s.send(MESSAGE)
		data = s.recv(BUFFER_SIZE)
		assert data == RMSG
	motion.stop_updates()
	s.close()

except ImportError:
	s.bind(TCP_IP_PORT)
	s.listen(1)

	conn, addr = s.accept()
	print 'Connection address:', addr
	while 1:
		data = conn.recv(BUFFER_SIZE)
		if not data: break
		print "received data:", pickle.loads(data)
		conn.send(RMSG)
	conn.close()