Unityから送られてくる角度データ受信し、Arduinoに送信するスクリプト。

telexistenceApp.py

#coding:utf-8

import threading
import time
import signal
import sys
import serial
from socket import socket, AF_INET, SOCK_DGRAM

HOST = ''   
PORT = 60000

is_running = True
angle_data = bytes(b'')

# UDP通信部
sock = socket(AF_INET, SOCK_DGRAM)
def udp_communication ():
	global is_running
	global sock
	global angle_data
	sock.bind((HOST, PORT))
	try:
		while is_running:
			msg, address = sock.recvfrom(64) # 64はバッファのサイズ
			print(f"message: {msg}\nfrom: {address}")
			angle_data = msg
	except KeyboardInterrupt:
		print ("Keyboard Interrupt Exception")

# シリアル通信部
ser = serial.Serial('/dev/ttyACM0', 115200, timeout=None)
def serial_communication ():
	global is_running
	global ser
	global angle_data
	interbal = 0.03
	try:
		while is_running:
			ser.write(angle_data)
			time.sleep(interbal)
	except KeyboardInterrupt:
		print ("Keyboard Interrupt Exception")

def interuppt_handler(signum, frame):
	global is_running
	global sock
	global ser

	print ("Signal handler!!!")
	is_running = False
	ser.close()
	sock.close()
	sys.exit(-1)

signal.signal(signal.SIGINT, interuppt_handler)

if __name__ == "__main__":
	threads = [threading.Thread(target=serial_communication),
				threading.Thread(target=udp_communication)]
	
	for thread in threads:
		thread.start()

	for thread in threads:
		thread.join()