k-space/sumorobot-firmware
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refactor, clean update comments

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This commit is contained in:
Silver Kuusik 2018-01-12 09:40:10 +01:00
parent aabcec3b54
commit f71eaf69ed
1 changed files with 13 additions and 6 deletions
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19
main.py
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@ -1,9 +1,11 @@
import _thread import _thread
import ubinascii import ubinascii
from machine import Pin, PWM, Timer
# WebSocket connection
conn = None conn = None
# blockly highlihgt WebSocket connection
conn_highlight = None conn_highlight = None
# extract a unique name for the robot from the device MAC address
name = "sumo-%s" % ubinascii.hexlify(wlan.config("mac")[-3:]).decode("ascii") name = "sumo-%s" % ubinascii.hexlify(wlan.config("mac")[-3:]).decode("ascii")
# remote server # remote server
@ -14,8 +16,11 @@ url_highlight = "ws://iot.koodur.com:80/p2p/" + name + "-highlight/browser/"
#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/" #url_highlight = "ws://10.42.0.1:80/p2p/" + name + "-highlight/browser/"
# code to execute
ast = "" ast = ""
# scope, info to be sent to the client
scope = dict() scope = dict()
# SumoRobot object
sumorobot = None sumorobot = None
def step(): def step():
@ -31,9 +36,11 @@ def step():
) )
# execute code # execute code
exec(ast) exec(ast)
# when robot was stopped
if sumorobot.terminate: if sumorobot.terminate:
# disable forceful termination # disable forceful termination of delays in code
sumorobot.terminate = False sumorobot.terminate = False
# 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)
@ -41,7 +48,6 @@ def step():
def ws_handler(): def ws_handler():
global ast global ast
global conn global conn
global no_delay
while True: while True:
try: try:
@ -72,13 +78,14 @@ def ws_handler():
elif data == b"ping": elif data == b"ping":
conn.send(repr(scope)) conn.send(repr(scope))
elif data.startswith("start:"): elif data.startswith("start:"):
print("Got code")#, data[6:]) #print("Got code:", data[6:])
ast = compile(data[6:], "snippet", "exec") ast = compile(data[6:], "snippet", "exec")
elif data == b"stop": elif data == b"stop":
ast = "" ast = ""
sumorobot.move(STOP) sumorobot.move(STOP)
# for terminating delays in code
sumorobot.terminate = True sumorobot.terminate = True
print("Got stop") #print("Got stop")
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)
@ -98,7 +105,7 @@ print("Sending ping")
conn.send("{'ping': true}") conn.send("{'ping': true}")
conn.send("{'ip': '" + wlan.ifconfig()[0] + "'}") conn.send("{'ip': '" + wlan.ifconfig()[0] + "'}")
# connect to the block highlight websocket # connect to the blockly highlight websocket
conn_highlight = uwebsockets.connect(url_highlight) conn_highlight = uwebsockets.connect(url_highlight)
# initialize SumoRobot object # initialize SumoRobot object