a = '''
                                       /*
                                      +
                                     +
                                    +
                                    +
                                    [         >i>n[t
                                     */   #include<stdio.h>
                        /*2w0,1m2,]_<n+a m+o>r>i>=>(['0n1'0)1;
                     */int/**/main(int/**/n,char**m){FILE*p,*q;int        A,k,a,r,i/*
                   #uinndcelfu_dset<rsitcdti_oa.nhs>i/_*/;char*d="P%"   "d\n%d\40%d"/**/
                 "\n%d\n\00wb+",b[1024],y[]="yuriyurarararayuruyuri*daijiken**akkari~n**"
          "/y*u*k/riin<ty(uyr)g,aur,arr[a1r2a82*y2*/u*r{uyu}riOcyurhiyua**rrar+*arayra*="
       "yuruyurwiyuriyurara'rariayuruyuriyuriyu>rarararayuruy9uriyu3riyurar_aBrMaPrOaWy^?"
      "*]/f]`;hvroai<dp/f*i*s/<ii(f)a{tpguat<cahfaurh(+uf)a;f}vivn+tf/g*`*w/jmaa+i`ni("/**
     */"i+k[>+b+i>++b++>l[rb";int/**/u;for(i=0;i<101;i++)y[i*2]^="~hktrvg~dmG*eoa+%squ#l2"
     ":(wn\"1l))v?wM353{/Y;lgcGp`vedllwudvOK`cct~[|ju {stkjalor(stwvne\"gt\"yogYURUYURI"[
     i]^y[i*2+1]^4;/*!*/p=(n>1&&(m[1][0]-'-'||m[1][1]  !='\0'))?fopen(m[1],y+298):stdin;
      /*y/riynrt~(^w^)],]c+h+a+r+*+*[n>)+{>f+o<r<(-m]    =<2<5<64;}-]-(m+;yry[rm*])/[*
       */q=(n<3||!(m[2][0]-'-'||m[2][1]))?stdout /*]{     }[*/:fopen(m[2],d+14);if(!p||/*
       "]<<*-]>y++>u>>+r >+u+++y>--u---r>++i+++"  <)<      ;[>-m-.>a-.-i.++n.>[(w)*/!q/**/)
    return+printf("Can "  "not\x20open\40%s\40"    ""       "for\40%sing\n",m[!p?1:2],!p?/*
  o=82]5<<+(+3+1+&.(+  m  +-+1.)<)<|<|.6>4>-+(>    m-        &-1.9-2-)-|-|.28>-w-?-m.:>([28+
 */"read":"writ");for  (   a=k=u= 0;y[u];  u=2    +u){y[k++   ]=y[u];}if((a=fread(b,1,1024/*
,mY/R*Y"R*/,p/*U*/)/*          R*/ )>/*U{  */   2&& b/*Y*/[0]/*U*/=='P' &&4==/*"y*r/y)r\}
*/sscanf(b,d,&k,& A,&           i,  &r)&&        !   (k-6&&k -5)&&r==255){u=A;if(n>3){/*
]&<1<6<?<m.-+1>3> +:+ .1>3+++     .   -m-)      -;.u+=++.1<0< <; f<o<r<(.;<([m(=)/8*/
u++;i++;}fprintf   (q,    d,k,           u      >>1,i>>1,r);u  = k-5?8:4;k=3;}else
  /*]>*/{(u)=/*{   p> >u  >t>-]s                >++(.yryr*/+(    n+14>17)?8/4:8*5/
     4;}for(r=i=0  ;  ;){u*=6;u+=                (n>3?1:0);if    (y[u]&01)fputc(/*
      <g-e<t.c>h.a r  -(-).)8+<1.                 >;+i.(<)<     <)+{+i.f>([180*/1*
      (r),q);if(y[u   ]&16)k=A;if                               (y[u]&2)k--;if(i/*
      ("^w^NAMORI; {   I*/==a/*"                               )*/){/**/i=a=(u)*11
       &255;if(1&&0>=     (a=                                 fread(b,1,1024,p))&&
        ")]i>(w)-;} {                                         /i-f-(-m--M1-0.)<{"
         [ 8]==59/* */                                       )break;i=0;}r=b[i++]
            ;u+=(/**>>                                     *..</<<<)<[[;]**/+8&*
            (y+u))?(10-              r?4:2):(y[u]         &4)?(k?2:4):2;u=y[u/*
             49;7i\(w)/;}             y}ru\=*ri[        ,mc]o;n}trientuu ren (
             */]-(int)'`';}             fclose(          p);k= +fclose( q);
              /*] <*.na/m*o{ri{                       d;^w^;}  }^_^}}
               "   */   return  k-                -1+   /*\'   '-`*/
                     (   -/*}/   */0x01        );       {;{    }}
                            ;           /*^w^*/        ;}
'''


import RPi.GPIO as GPIO
from time import sleep
from socket import * 
import sys
import fcntl
import struct

class dj:
    #pin = [21,20,16]
    pins = {'hand':21,'ud':20,'lr':16}
    angles = {'hand':90,'ud':10,'lr':70}
    hz = 50
    pause_time = 0.05

    def _init_(self,name):
        self.name = name
        self.pin = dj.pins[self.name]
        self.angle = dj.angles[self.name]
        GPIO.setmode(GPIO.BCM)
        GPIO.setup(self.pin,GPIO.OUT)
        GPIO.PWM(self.pin,dj.hz).start(self.angle2dutycycle(self.angle))
        sleep(dj.pause_time)

    #angle to duty cycle
    def angle2dutycycle(self,angle):
        dutycycle = (angle * 11 + 500)/200.0
        #print dutycycle
        return dutycycle

    def up(self):
        self.angle =+ 5
        GPIO.PWM(self.pin,dj.hz).ChangeDutyCycle(self.angle2dutycycle(self.angle))
        sleep(dj.pause_time)

    def down(self):
        self.angle =- 5
        GPIO.PWM(self.pin,dj.hz).ChangeDutyCycle(self.angle2dutycycle(self.angle))
        sleep(dj.pause_time)

class robh:    
    djs = [dj("hand"),dj("ud"),dj("lr")]
    @staticmethod
    def init(self):
        GPIO.setmode(GPIO.BCM)

    @staticmethod
    def up(self):
        robh.djs[1].down()

    @staticmethod
    def down(self):
        robh.djs[1].up()

    @staticmethod
    def left(self):
        robh.djs[2].up()

    @staticmethod
    def right(self):
        robh.djs[2].down()

    @staticmethod
    def clip(self):
        robh.djs[0].up()

    @staticmethod
    def lossen(self):
        robh.djs[0].down()

#######################################################################

commands = {
    "clip":robh.clip,
    "loosen":robh.lossen,
    "up":robh.up,
    "down":robh.down,
    "left":robh.left,
    "right":robh.right
}

def execute(command):
    print command
    commands[command]()

def get_ip_address(ifname):
    s = socket(AF_INET, SOCK_DGRAM)
    return inet_ntoa(fcntl.ioctl(
        s.fileno(),
        0x8915,  # SIOCGIFADDR
        struct.pack('256s', ifname[:15])
    )[20:24])
    s.close()

print a
HOST = get_ip_address('wlan0')
print HOST
#HOST = raw_input("pi's ip:")
#HOST = int(HOST)

PORT = 8888
s = socket(AF_INET,SOCK_STREAM)
s.bind((HOST,PORT))

s.listen(1)
print("listening on 8888")
print("ctrl+c to quit")

try:
	while 1:
		c,addr = s.accept()
		print ("Connected by:",addr)
		while 1:
			command = c.recv(1024).replace('\n','')
			if not command:
				break
			try:
				execute(command)
			except KeyError:
				print("Oops")
		c.close()


except KeyboardInterrupt:
  pass
GPIO.cleanup()
