From 2c3711a91d2cfea8bb3f1c460d6f9a41f2829a18 Mon Sep 17 00:00:00 2001
From: Silver Kuusik <silver.kuusik@gmail.com>
Date: Sun, 26 May 2019 14:16:57 +0200
Subject: [PATCH] update autoreconnect

---
 config.json    |  6 +++---
 main.py        | 40 ++++++++++++++++++++++++----------------
 uwebsockets.py |  1 +
 3 files changed, 28 insertions(+), 19 deletions(-)

diff --git a/config.json b/config.json
index 264969b..134dfb2 100755
--- a/config.json
+++ b/config.json
@@ -1,9 +1,9 @@
 {
-	"status_led_pin": 22,
+	"status_led_pin": 5,
 	"battery_coeff": 2.25,
 	"sumo_id": "xxxxxxxx",
-	"firmware_timestamp": "2019.05.07 21:23:00",
-	"firmware_version": "0.5.0",
+	"firmware_timestamp": "2019.05.12 17:04:00",
+	"firmware_version": "0.5.1",
 	"left_servo_tuning": 33,
 	"right_servo_tuning": 33,
 	"ultrasonic_distance": 40,
diff --git a/main.py b/main.py
index cc3dcd9..8a8720d 100755
--- a/main.py
+++ b/main.py
@@ -21,20 +21,26 @@ def step():
 
 # The WebSocket processing thread
 def ws_handler():
-    global conn
+    global conn, watchdog_counter
 
     while True:
         # When WiFi has just been reconnected
         if wlan.isconnected() and not sumorobot.is_wifi_connected:
             print("main.py reconnected to Wi-Fi")
+            # Stop blinking status LED
             timer.deinit()
+            # Turn status LED to steady ON
             sumorobot.set_led(STATUS, True)
             sumorobot.is_wifi_connected = True
         # When WiFi has just been disconnected
         elif not wlan.isconnected() and sumorobot.is_wifi_connected:
-            print("main.py lost Wi-Fi connection, reconnecting...")
+            print("main.py lost Wi-Fi, reconnecting to Wi-Fi")
+            # Reinitiate the Wi-Fi connection
+            wlan.connect(ssid, config["wifis"][ssid])
+            # Turn OFF status LED
             sumorobot.set_led(STATUS, False)
             sumorobot.is_wifi_connected = False
+            # Start bliking status LED
             timer.init(period=2000, mode=Timer.PERIODIC, callback=sumorobot.toggle_led)
         elif not wlan.isconnected():
             # Continue to wait for a WiFi connection
@@ -44,11 +50,14 @@ def ws_handler():
         try: # Try to read from the WebSocket
             data = conn.recv()
         except: # Socket timeout, no data received
-            # TODO: implement watchdog
-            # Try reconnecting to the websocket if Wi-Fi is connected
-            if wlan.isconnected():
-                print("main.py WebSocket error, reconnecting")
+            # Increment watchdog counter
+            watchdog_counter += 1
+            # When Wi-Fi is connected and X-th exception happened
+            # Try reconnecting to the WebSocket server
+            if wlan.isconnected() and watchdog_counter == 3:
+                print("main.py WebSocket timeout, reconnecting")
                 conn = uwebsockets.connect(uri)
+                watchdog_counter = 0
             # Continue to try to read data
             continue
 
@@ -124,26 +133,25 @@ if 'code.py' in os.listdir():
 # Start the code processing thread
 _thread.start_new_thread(step, ())
 
-# Wifi connection counter
-wifi_connection_counter = 0
+# Wifi watchdog counter
+watchdog_counter = 0
 # Wait for WiFi to get connected
 while not wlan.isconnected():
     sleep_ms(100)
-    wifi_connection_counter += 1
+    watchdog_counter += 1
     # When Wi-Fi didn't connect in X seconds
-    if wifi_connection_counter == 30:
-        print("main.py reinitiating Wi-Fi connection")
-        # Re initiate the Wi-Fi connection
+    if watchdog_counter == 30:
+        print("main.py reconnecting to Wi-Fi")
+        # Reinitiate the Wi-Fi connection
         wlan.connect(ssid, config["wifis"][ssid])
-        wifi_connection_counter = 0
+
+# Restart watchdog counter
+watchdog_counter = 0
 
 # Connect to the websocket
 uri = "ws://%s/p2p/sumo-%s/browser/" % (config['sumo_server'], config['sumo_id'])
 conn = uwebsockets.connect(uri)
 
-# Set X seconds timeout for socket reads
-conn.settimeout(1)
-
 # Stop bootup blinking
 timer.deinit()
 
diff --git a/uwebsockets.py b/uwebsockets.py
index 0b7dd41..b55f57f 100755
--- a/uwebsockets.py
+++ b/uwebsockets.py
@@ -204,6 +204,7 @@ def connect(uri):
 
     # Connect the socket
     sock = socket.socket()
+    sock.settimeout(1)
     addr = socket.getaddrinfo(uri.hostname, uri.port)
     sock.connect(addr[0][4])