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update WebSocket server

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Silver Kuusik 2018-07-11 21:28:05 +02:00 committed by GitHub
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1 changed files with 66 additions and 84 deletions
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main.py
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@ -2,149 +2,131 @@ import _thread
import ubinascii import ubinascii
import uwebsockets import uwebsockets
# WebSocket connection # Extract a unique name for the robot from the device MAC address
conn = None mac = ubinascii.hexlify(wlan.config("mac")[-3:]).decode("ascii")
# blockly highlihgt WebSocket connection
conn_highlight = None
# to remember WiFi disconnects
has_wifi_connection = False
# extract a unique name for the robot from the device MAC address
name = "sumo-%s" % ubinascii.hexlify(wlan.config("mac")[-3:]).decode("ascii")
# remote server # Remote server
url = "ws://iot.koodur.com:80/p2p/" + name + "/browser/" url = "ws://ws.achex.ca:4010"
url_highlight = "ws://iot.koodur.com:80/p2p/" + name + "-highlight/browser/" # Local server
# local server
#url = "ws://10.42.0.1:80/p2p/" + name + "/browser/" #url = "ws://10.42.0.1:80/p2p/" + name + "/browser/"
#url_highlight = "ws://10.42.0.1:80/p2p/" + name + "-highlight/browser/"
# code to execute # Code to execute
ast = "" ast = ""
# scope, info to be sent to the client # Scope, info to be sent to the client
scope = dict() scope = dict()
# SumoRobot object
sumorobot = None
def step(): def step():
global scope global scope
while True: while True:
# execute to see LED feedback for sensors # Execute to see LED feedback for sensors
sumorobot.is_opponent() sumorobot.is_opponent()
sumorobot.is_line(LEFT) sumorobot.is_line(LEFT)
sumorobot.is_line(RIGHT) sumorobot.is_line(RIGHT)
# update scope # Update scope
scope = dict( scope = dict(
to = "browser-%s@00000514" % mac,
line_left = sumorobot.get_line(LEFT), line_left = sumorobot.get_line(LEFT),
line_right = sumorobot.get_line(RIGHT), line_right = sumorobot.get_line(RIGHT),
opponent = sumorobot.get_opponent_distance(), opponent = sumorobot.get_opponent_distance(),
battery_voltage = sumorobot.get_battery_voltage(), battery_voltage = sumorobot.get_battery_voltage(),
) )
# execute code # Execute code
exec(ast) exec(ast)
# when robot was stopped # When robot was stopped
if sumorobot.terminate: if sumorobot.terminate:
# disable forceful termination of delays in code # Disable forceful termination of delays in code
sumorobot.terminate = False sumorobot.terminate = False
# stop the robot # Stop the robot
sumorobot.move(STOP) sumorobot.move(STOP)
# leave time to process WebSocket commands # Leave time to process WebSocket commands
sleep_ms(50) sleep_ms(50)
def ws_handler(): def ws_handler():
global ast global ast
global conn
global has_wifi_connection global has_wifi_connection
while True: while True:
# when WiFi is connected # When WiFi has just been reconnected
if wlan.isconnected(): if wlan.isconnected() and not has_wifi_connection:
# when WiFi has just been reconnected #conn = uwebsockets.connect(url)
if not has_wifi_connection: sumorobot.set_led(STATUS, True)
conn = uwebsockets.connect(url) has_wifi_connection = True
sumorobot.set_led(STATUS, True) # When WiFi has just been disconnected
has_wifi_connection = True elif not wlan.isconnected() and has_wifi_connection:
else: # when WiFi is not connected sumorobot.set_led(STATUS, False)
# when WiFi has just been disconnected has_wifi_connection = False
if has_wifi_connection: elif not wlan.isconnected():
sumorobot.set_led(STATUS, False) # Continue to wait for a WiFi connection
has_wifi_connection = False
# continue to wait for a WiFi connection
continue continue
try: # try to read from the WebSocket try: # Try to read from the WebSocket
fin, opcode, data = conn.read_frame() data = conn.recv()
except: # socket timeout, no data received except: # Socket timeout, no data received
# continue to reconnect to WiFi # Continue to try to read data
continue continue
if data == b"forward": # When an empty frame was received
#print("Going forward") if not data:
# Continue to receive data
continue
elif b'forward' in data:
ast = "" ast = ""
sumorobot.move(FORWARD) sumorobot.move(FORWARD)
elif data == b"backward": elif b'backward' in data:
#print("Going backward")
ast = "" ast = ""
sumorobot.move(BACKWARD) sumorobot.move(BACKWARD)
elif data == b"right": elif b'right' in data:
#print("Going right")
ast = "" ast = ""
sumorobot.move(RIGHT) sumorobot.move(RIGHT)
elif data == b"left": elif b'left' in data:
#print("Going left")
ast = "" ast = ""
sumorobot.move(LEFT) sumorobot.move(LEFT)
elif data == b"kick": elif b'ping' in data:
conn.send(repr(scope)) conn.send(repr(scope).replace("'", '"'))
elif data == b"ping": elif b'code' in data:
conn.send(repr(scope)) data = ujson.loads(data)
elif data.startswith("start:"): data['val'] = data['val'].replace(";;", "\n")
#print("Got code:", data[6:]) print("code:", data['val'])
ast = compile(data[6:], "snippet", "exec") ast = compile(data['val'], "snippet", "exec")
elif data == b"stop": elif b'stop' in data:
ast = "" ast = ""
sumorobot.move(STOP) sumorobot.move(STOP)
# for terminating delays in code # for terminating delays in code
sumorobot.terminate = True sumorobot.terminate = True
#print("Got stop") elif b'calibrate_line' in data:
elif data == b"calibrate_line":
sumorobot.calibrate_line() sumorobot.calibrate_line()
#print("Got calibrate") elif b'Gone' in data:
elif b"Gone" in data: print("server said 410 Gone, attempting to reconnect...")
#print("Server said 410 Gone, attempting to reconnect...") #conn = uwebsockets.connect(url)
conn = uwebsockets.connect(url)
else: else:
pass print("unknown cmd:", data)
#print("unknown command:", data)
# wait for WiFi to get connected # Wait for WiFi to get connected
while not wlan.isconnected(): while not wlan.isconnected():
sleep_ms(100) sleep_ms(100)
# connect to the websocket # Connect to the websocket
#print("Connecting to:", url)
conn = uwebsockets.connect(url) conn = uwebsockets.connect(url)
# set X seconds timeout for socket reads # Set X seconds timeout for socket reads
conn.settimeout(1) conn.settimeout(1)
# send a ping to the robot # Send a ping to the robot
#print("Sending ping") conn.send('{"setID": "sumo-%s@00000514", "passwd": "salakala"}' % mac)
conn.send("{'ping': true}") # Receive session and auth ok frames
conn.send("{'ip': '" + wlan.ifconfig()[0] + "'}") conn.recv()
conn.recv()
# connect to the blockly highlight websocket # Stop bootup blinking
conn_highlight = uwebsockets.connect(url_highlight) timer.deinit()
# initialize SumoRobot object # WiFi is connected
sumorobot = Sumorobot(conn_highlight.send) has_wifi_connection = True
# Indicate that the WebSocket is connected
# indicate that the WebSocket is connected
sumorobot.set_led(STATUS, True) sumorobot.set_led(STATUS, True)
#print("Starting WebSocket and code loop") # Start the code processing thread
# start the code processing thread
_thread.start_new_thread(step, ()) _thread.start_new_thread(step, ())
# start the Websocket processing thread # Start the Websocket processing thread
_thread.start_new_thread(ws_handler, ()) _thread.start_new_thread(ws_handler, ())