add get/set firmware version and get/set ultrasonic threshold

config.json

@@ -2,11 +2,11 @@
 	"status_led_pin": 5,
 	"battery_coeff": 2.25,
 	"sumo_id": "xxxxxxxx",
-	"firmware_timestamp": "2019.05.26 14:17:00",
+	"firmware_timestamp": "2019.05.30 00:42:00",
-	"firmware_version": "0.5.1",
+	"firmware_version": "0.6.0",
 	"left_servo_tuning": 33,
 	"right_servo_tuning": 33,
-	"ultrasonic_distance": 40,
+	"ultrasonic_threshold": 40,
 	"boot_code": "code.py",
 	"left_line_value": 1000,
 	"right_line_value": 1000,

hal.py

@@ -136,7 +136,7 @@ class Sumorobot(object):
         # Get the opponent distance
         self.opponent_distance = self.get_opponent_distance()
         # When the opponent is close and the ping actually returned
-        if self.opponent_distance < self.config["ultrasonic_distance"] and self.opponent_distance > 0:
+        if self.opponent_distance < self.config["ultrasonic_threshold"] and self.opponent_distance > 0:
             # When not maximum score
             if self.opponent_score < 5:
                 # Increase the opponent score
@@ -156,25 +156,35 @@ class Sumorobot(object):
 
         return opponent
 
+    # Function to update the config file
+    def update_config_file(self):
+        # Update the config file
+        with open("config.part", "w") as config_file:
+            config_file.write(ujson.dumps(self.config))
+        os.rename("config.part", "config.json")
+
     # Function to update line calibration and write it to the config file
     def calibrate_line_value(self):
         # Read the line sensor values
         self.config["left_line_value"] = self.adc_line_left.read()
         self.config["right_line_value"] = self.adc_line_right.read()
         # Update the config file
-        with open("config.part", "w") as config_file:
+        self.update_config_file()
-            config_file.write(ujson.dumps(self.config))
-        os.rename("config.part", "config.json")
 
-    # Function to update line threshold calibration and write it to the config file
+    # Function to update line threshold and write it to the config file
     def set_line_threshold(self, value):
         # Read the line sensor values
         self.config["left_line_threshold"] = value
         self.config["right_line_threshold"] = value
         # Update the config file
-        with open("config.part", "w") as config_file:
+        self.update_config_file()
-            config_file.write(ujson.dumps(self.config))
+
-        os.rename("config.part", "config.json")
+    # Function to update ultrasonic sensor threshold  and write it to the config file
+    def set_ultrasonic_threshold(self, value):
+        # Read the line sensor values
+        self.config["ultrasonic_threshold"] = value
+        # Update the config file
+        self.update_config_file()
 
     # Function to get light inensity from the phototransistors
     def get_line(self, dir):
@@ -299,18 +309,25 @@ class Sumorobot(object):
             val = self.blockly_code
         )
 
+    def get_firmware_version(self):
+        return dict(
+            type = "firmware_version",
+            val = self.config["firmware_version"]
+        )
+
     def get_sensor_scope(self):
         temp = self.sensor_scope
         temp['type'] = "sensor_scope"
         return temp
 
-    def get_line_scope(self):
+    def get_threshold_scope(self):
         return dict(
-            type = "line_scope",
+            type = "threshold_scope",
             left_line_value = self.config["left_line_value"],
             right_line_value = self.config["right_line_value"],
             left_line_threshold = self.config["left_line_threshold"],
-            right_line_threshold = self.config["right_line_threshold"]
+            right_line_threshold = self.config["right_line_threshold"],
+            ultrasonic_threshold = self.config["ultrasonic_threshold"]
         )
 
     def sleep(self, delay):

main.py

@@ -82,8 +82,8 @@ def ws_handler():
             sumorobot.move(STOP)
             # for terminating delays in code
             sumorobot.terminate = True
-        elif b'get_line_scope' in data:
+        elif b'get_threshold_scope' in data:
-            conn.send(ujson.dumps(sumorobot.get_line_scope()))
+            conn.send(ujson.dumps(sumorobot.get_threshold_scope()))
         elif b'get_sensor_scope' in data:
             conn.send(ujson.dumps(sumorobot.get_sensor_scope()))
         elif b'get_python_code' in data:
@@ -92,6 +92,9 @@ def ws_handler():
         elif b'get_blockly_code' in data:
             #print("main.py sending blockly code=", sumorobot.get_blockly_code())
             conn.send(ujson.dumps(sumorobot.get_blockly_code()))
+        elif b'get_firmware_version' in data:
+            #print("main.py get_firmware_version")
+            conn.send(ujson.dumps(sumorobot.get_firmware_version()))
         elif b'toggle_sensor_feedback' in data:
             data = ujson.loads(data)
             sumorobot.sensor_feedback = not sumorobot.sensor_feedback
@@ -107,11 +110,15 @@ def ws_handler():
             sumorobot.compiled_python_code = compile(data['val'], "snippet", "exec")
         elif b'calibrate_line_value' in data:
             sumorobot.calibrate_line_value()
-            #print('main.py: calibrate_line_value')
+            #print("main.py: calibrate_line_value")
         elif b'set_line_threshold' in data:
             data = ujson.loads(data)
             sumorobot.set_line_threshold(int(data['val']))
-            #print('main.py: set_line_threshold')
+            #print("main.py: set_line_threshold")
+        elif b'set_ultrasonic_threshold' in data:
+            data = ujson.loads(data)
+            sumorobot.set_ultrasonic_threshold(int(data['val']))
+            #print("main.py: set_ultrasonic_threshold")
         elif b'Gone' in data:
             print("main.py: server said 410 Gone, attempting to reconnect...")
             #conn = uwebsockets.connect(url)