change wifis.json to config.json, add all constants
This commit is contained in:
Silver Kuusik
parent
f71eaf69ed
commit
aed4cbbbc8
21
boot.py
21
boot.py
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@ -1,4 +1,3 @@
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# Just in case prevent boot loops
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from hal import *
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from time import sleep
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import socket, re, os, uwebsockets, network, binascii, ujson
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@ -6,25 +5,29 @@ import socket, re, os, uwebsockets, network, binascii, ujson
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print("Press Ctrl-C to stop boot script...")
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sleep(0.2)
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# read WiFi config
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wifis = ujson.loads(open("wifis.json", "r").read())
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#print(wifis)
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# read the config file
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config = ujson.loads(open("config.json", "r").read())
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print(config)
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# Connect to WiFi
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# connect to WiFi
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wlan = network.WLAN(network.STA_IF)
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# activate the WiFi interface
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wlan.active(True)
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# if not already connected
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if not wlan.isconnected():
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# scan for WiFi networks
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networks = wlan.scan()
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# go trough all scanned WiFi networks
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for network in networks:
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# extract the networks SSID
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ssid = network[0].decode("utf-8")
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if ssid in wifis.keys():
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# check if the SSID is in the config file
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if ssid in config["wifis"].keys():
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print("connecting to: " + ssid)
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# start to connect to the pre-configured network
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wlan.connect(ssid, wifis[ssid])
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break
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#print('network config:', wlan.ifconfig())
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#sleep(1)
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# Clean up
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import gc
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gc.collect()
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11
config.json
11
config.json
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@ -1,3 +1,12 @@
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{
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"": ""
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"battery_coeff": 2.25,
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"block_highlight": true,
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"left_servo_tuning": 33,
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"right_servo_tuning": 33,
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"ultrasonic_distance": 60,
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"left_line_threshold": 1000,
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"right_line_threshold": 1000,
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"wifis": {
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"RoboKoding": "salakala"
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}
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}
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65
hal.py
65
hal.py
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@ -14,30 +14,15 @@ RIGHT = 2
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FORWARD = 3
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BACKWARD = 4
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# blockl highlight
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BLOCK_HIGHLIGHT = True
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# Battery resistor ladder ratio
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BATTERY_COEFF = 2.25
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# Ultrasonic sensor calibration
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ULTRASONIC_OFFSET = 800
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# Servo timing
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MOTOR_LEFT_TUNING = 33
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MOTOR_RIGHT_TUNING = 33
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# Calibrate line sensors
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LINE_LEFT_THRESHOLD = 1000
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LINE_RIGHT_THRESHOLD = 1000
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config = ujson.loads(open("config.json", "r").read())
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class Sumorobot(object):
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# Ultrasonic distance sensor
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# ultrasonic distance sensor
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echo = Pin(14, Pin.IN)
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trigger = Pin(27, Pin.OUT)
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# Motor PWM-s
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# Servo PWM-s
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pwm_left = PWM(Pin(15), freq=50, duty=0)
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pwm_right = PWM(Pin(4), freq=50, duty=0)
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@ -50,10 +35,10 @@ class Sumorobot(object):
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left_line_led = Pin(17, Pin.OUT)
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right_line_led = Pin(12, Pin.OUT)
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# Battery gauge
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# battery gauge
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adc_battery = ADC(Pin(32))
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# Optek sensors
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# the phototransistors
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adc_line_left = ADC(Pin(34))
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adc_line_right = ADC(Pin(33))
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@ -62,7 +47,7 @@ class Sumorobot(object):
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adc_line_left.atten(ADC.ATTN_11DB)
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adc_line_right.atten(ADC.ATTN_11DB)
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# for highlighting blocks
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# for highlighting blockly blocks
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highlight_block = None
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# for terminating sleep
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@ -72,6 +57,7 @@ class Sumorobot(object):
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self.highlight_block = highlight_block
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def set_led(self, led, state):
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# set the given LED state
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if led == STATUS:
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self.bottom_led.value(0 if state else 1)
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elif led == ENEMY:
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@ -82,7 +68,7 @@ class Sumorobot(object):
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self.right_line_led.value(state)
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def get_battery_voltage(self):
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return round(BATTERY_COEFF * (self.adc_battery.read() * 3.3 / 4096), 2)
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return round(config["battery_coeff"] * (self.adc_battery.read() * 3.3 / 4096), 2)
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def get_enemy_distance(self):
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# send a pulse
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@ -96,13 +82,14 @@ class Sumorobot(object):
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enemy_score = 0
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def is_enemy(self, block_id = None):
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if block_id and BLOCK_HIGHLIGHT:
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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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# get the enemy distance
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self.enemy_distance = self.get_enemy_distance()
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# if the enemy is close and the ping actually returned
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if self.enemy_distance < 60 and self.enemy_distance > 0:
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if self.enemy_distance < config["ultrasonic_distance"] and self.enemy_distance > 0:
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# if not maximum score
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if self.enemy_score < 5:
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# increase the enemy score
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@ -126,6 +113,7 @@ class Sumorobot(object):
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# check for valid direction
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assert dir == LEFT or dir == RIGHT
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# return the given line sensor value
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if dir == LEFT:
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return self.adc_line_left.read()
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elif dir == RIGHT:
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@ -135,16 +123,17 @@ class Sumorobot(object):
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# check for valid direction
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assert dir == LEFT or dir == RIGHT
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# if block_id given and BLOCK_HIGHLIGHT
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if block_id and BLOCK_HIGHLIGHT:
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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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# return the given line sensor value
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if dir == LEFT:
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line = abs(self.adc_line_left.read() - LINE_LEFT_THRESHOLD) > 1000
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line = abs(self.adc_line_left.read() - config["left_line_threshold"]) > 1000
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self.set_led(LEFT_LINE, line)
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return line
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elif dir == RIGHT:
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line = abs(self.adc_line_right.read() - LINE_RIGHT_THRESHOLD) > 1000
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line = abs(self.adc_line_right.read() - config["right_line_threshold"] > 1000
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self.set_led(RIGHT_LINE, line)
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return line
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@ -166,26 +155,27 @@ class Sumorobot(object):
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# record the new speed
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self.prev_speed[dir] = speed
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# set the given servo speed
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if dir == LEFT:
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if speed == 0:
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self.pwm_left.duty(0)
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else:
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self.pwm_left.duty(int(33 + MOTOR_LEFT_TUNING + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
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self.pwm_left.duty(int(33 + config["left_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
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elif dir == RIGHT:
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if speed == 0:
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self.pwm_right.duty(0)
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else:
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self.pwm_right.duty(int(33 + MOTOR_RIGHT_TUNING + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
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self.pwm_right.duty(int(33 + config["right_servo_tuning"] + speed * 33 / 100)) # -100 ... 100 to 33 .. 102
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def move(self, dir, block_id = None):
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# check for valid direction
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assert dir == STOP or dir == RIGHT or dir == LEFT or dir == BACKWARD or dir == FORWARD
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# if block_id given and BLOCK_HIGHLIGHT
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if block_id and BLOCK_HIGHLIGHT:
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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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# go to the given direction
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if dir == STOP:
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self.set_servo(LEFT, 0)
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self.set_servo(RIGHT, 0)
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@ -206,12 +196,15 @@ class Sumorobot(object):
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# check for valid delay
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assert delay > 0
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# if block_id given and BLOCK_HIGHLIGHT
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if block_id and BLOCK_HIGHLIGHT:
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# if block_id given and blockly highlight is on
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if block_id and config["blockly_highlight"]:
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self.highlight_block(block_id)
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# split the delay into 50ms chunks
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for j in range(0, delay, 50):
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# check for forceful termination
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if self.terminate:
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return # TODO: raise exception
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# terminate the delay
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return
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else:
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sleep_ms(50)
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