Merge branch 'saved' of ssh://liebe.cs.uni-saarland.de:2222/powver/draisine into saved

draiscontrol/control.py

@@ -151,14 +151,18 @@ class Control(object):
             s = self.hallSpeed.read(t)
 
             controllerInput = '{state}\n{a} {s}\n'.format(state = state, a = self.accelerationToByte(a), s = self.speedToByte(s))
+            controller = subprocess.Popen('/opt/draisine-hypro/tool/build/bin/controller', stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
 
-            controller = subprocess.Popen('./controller', stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.PIPE)
             (stdoutdata, stderrdata) = controller.communicate(input=controllerInput)
 
-            print stderrdata
+            assert not stderrdata, 'controller wrote to stderr'
 
-            d = 0.75 # TODO
-            b = max(0, min(254, int(254 * d)))
+            lines = stdoutdata.split('\n')
+            assert len(lines) >= 2, 'controller did not output two lines'
+
+            state = lines[0]
+            d = int(lines[1])
+            b = max(0, min(254, int(d)))
             if human:
                 print 'accY  = {v}'.format(v=self.accelerationToByte(a))
                 print 'speed = {s}'.format(s=self.speedToByte(s))