123 lines
3.6 KiB
Python
Executable File
123 lines
3.6 KiB
Python
Executable File
import _thread
|
|
import ubinascii
|
|
import uwebsockets
|
|
|
|
# Code to execute
|
|
ast = ""
|
|
# Scope, info to be sent to the client
|
|
scope = dict()
|
|
|
|
def step():
|
|
global scope
|
|
|
|
while True:
|
|
# Execute to see LED feedback for sensors
|
|
sumorobot.is_opponent()
|
|
sumorobot.is_line(LEFT)
|
|
sumorobot.is_line(RIGHT)
|
|
# Update scope
|
|
scope = dict(
|
|
line_left = sumorobot.get_line(LEFT),
|
|
line_right = sumorobot.get_line(RIGHT),
|
|
opponent = sumorobot.get_opponent_distance(),
|
|
battery_voltage = sumorobot.get_battery_voltage(),
|
|
)
|
|
# Execute code
|
|
try:
|
|
exec(ast)
|
|
except:
|
|
pass
|
|
# When robot was stopped
|
|
if sumorobot.terminate:
|
|
# Disable forceful termination of delays in code
|
|
sumorobot.terminate = False
|
|
# Stop the robot
|
|
sumorobot.move(STOP)
|
|
# Leave time to process WebSocket commands
|
|
sleep_ms(50)
|
|
|
|
def ws_handler():
|
|
global ast
|
|
global has_wifi_connection
|
|
|
|
while True:
|
|
# When WiFi has just been reconnected
|
|
if wlan.isconnected() and not has_wifi_connection:
|
|
#conn = uwebsockets.connect(url)
|
|
sumorobot.set_led(STATUS, True)
|
|
has_wifi_connection = True
|
|
# When WiFi has just been disconnected
|
|
elif not wlan.isconnected() and has_wifi_connection:
|
|
sumorobot.set_led(STATUS, False)
|
|
has_wifi_connection = False
|
|
elif not wlan.isconnected():
|
|
# Continue to wait for a WiFi connection
|
|
continue
|
|
|
|
try: # Try to read from the WebSocket
|
|
data = conn.recv()
|
|
except: # Socket timeout, no data received
|
|
# Continue to try to read data
|
|
continue
|
|
|
|
# When an empty frame was received
|
|
if not data:
|
|
# Continue to receive data
|
|
continue
|
|
elif b'forward' in data:
|
|
ast = ""
|
|
sumorobot.move(FORWARD)
|
|
elif b'backward' in data:
|
|
ast = ""
|
|
sumorobot.move(BACKWARD)
|
|
elif b'right' in data:
|
|
ast = ""
|
|
sumorobot.move(RIGHT)
|
|
elif b'left' in data:
|
|
ast = ""
|
|
sumorobot.move(LEFT)
|
|
elif b'ping' in data:
|
|
conn.send(repr(scope).replace("'", '"'))
|
|
elif b'code' in data:
|
|
data = ujson.loads(data)
|
|
data['val'] = data['val'].replace(";;", "\n")
|
|
#print("code:", data['val'])
|
|
ast = compile(data['val'], "snippet", "exec")
|
|
elif b'stop' in data:
|
|
ast = ""
|
|
sumorobot.move(STOP)
|
|
# for terminating delays in code
|
|
sumorobot.terminate = True
|
|
elif b'calibrate_line' in data:
|
|
sumorobot.calibrate_line()
|
|
#print('calibrate')
|
|
elif b'Gone' in data:
|
|
print("server said 410 Gone, attempting to reconnect...")
|
|
#conn = uwebsockets.connect(url)
|
|
else:
|
|
print("unknown cmd:", data)
|
|
|
|
# Wait for WiFi to get connected
|
|
while not wlan.isconnected():
|
|
sleep_ms(100)
|
|
|
|
# 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()
|
|
|
|
# WiFi is connected
|
|
has_wifi_connection = True
|
|
# Indicate that the WebSocket is connected
|
|
sumorobot.set_led(STATUS, True)
|
|
|
|
# Start the code processing thread
|
|
_thread.start_new_thread(step, ())
|
|
# Start the Websocket processing thread
|
|
_thread.start_new_thread(ws_handler, ())
|