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