172 lines
6.5 KiB
Python
Executable File
172 lines
6.5 KiB
Python
Executable File
# The code processing thread
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def step():
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while True:
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# Execute to see LED feedback for sensors
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sumorobot.update_sensor_feedback()
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# Update sensor scope
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sumorobot.update_sensor_scope()
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# Try to execute the Python code
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try:
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exec(sumorobot.compiled_python_code)
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except:
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pass
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# When robot was stopped
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if sumorobot.terminate:
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# Disable forceful termination of delays in code
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sumorobot.terminate = False
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# Stop the robot
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sumorobot.move(STOP)
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# Leave time to process WebSocket commands
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sleep_ms(50)
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# The WebSocket processing thread
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def ws_handler():
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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, 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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continue
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data = None
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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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# 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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# When an empty frame was received
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if not data:
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# Continue to receive data
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continue
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elif b'forward' in data:
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sumorobot.compiled_python_code = ""
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sumorobot.move(FORWARD)
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elif b'backward' in data:
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sumorobot.compiled_python_code = ""
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sumorobot.move(BACKWARD)
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elif b'right' in data:
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sumorobot.compiled_python_code = ""
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sumorobot.move(RIGHT)
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elif b'left' in data:
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sumorobot.compiled_python_code = ""
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sumorobot.move(LEFT)
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elif b'stop' in data:
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sumorobot.compiled_python_code = ""
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sumorobot.move(STOP)
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# for terminating delays in code
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sumorobot.terminate = True
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elif b'get_threshold_scope' in data:
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conn.send(ujson.dumps(sumorobot.get_threshold_scope()))
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elif b'get_sensor_scope' in data:
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conn.send(ujson.dumps(sumorobot.get_sensor_scope()))
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elif b'get_python_code' in data:
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#print("main.py sending python code=", sumorobot.get_python_code())
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conn.send(ujson.dumps(sumorobot.get_python_code()))
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elif b'get_blockly_code' in data:
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#print("main.py sending blockly code=", sumorobot.get_blockly_code())
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conn.send(ujson.dumps(sumorobot.get_blockly_code()))
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elif b'get_firmware_version' in data:
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#print("main.py get_firmware_version")
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conn.send(ujson.dumps(sumorobot.get_firmware_version()))
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elif b'toggle_sensor_feedback' in data:
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data = ujson.loads(data)
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sumorobot.sensor_feedback = not sumorobot.sensor_feedback
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elif b'set_blockly_code' in data:
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data = ujson.loads(data)
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#print("main.py Blockly code=", data['val'])
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sumorobot.blockly_code = data['val']
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elif b'set_python_code' in data:
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data = ujson.loads(data)
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sumorobot.python_code = data['val']
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data['val'] = data['val'].replace(";;", "\n")
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#print("main.py python code=", data['val'])
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sumorobot.compiled_python_code = compile(data['val'], "snippet", "exec")
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elif b'calibrate_line_value' in data:
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sumorobot.calibrate_line_value()
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#print("main.py: calibrate_line_value")
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elif b'set_line_threshold' in data:
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data = ujson.loads(data)
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sumorobot.set_line_threshold(int(data['val']))
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#print("main.py: set_line_threshold")
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elif b'set_ultrasonic_threshold' in data:
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data = ujson.loads(data)
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sumorobot.set_ultrasonic_threshold(int(data['val']))
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#print("main.py: set_ultrasonic_threshold")
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elif b'Gone' in data:
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print("main.py: server said 410 Gone, attempting to reconnect...")
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#conn = uwebsockets.connect(url)
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else:
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print("main.py: unknown cmd=", data)
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# When user code (copy.py) exists
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if 'code.py' in os.listdir():
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print("main.py: loading user code")
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# Try to load the user code
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try:
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with open("code.py", "r") as code:
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temp = code.read()
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sumorobot.python_code = temp
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sumorobot.compiled_python_code = compile(temp, "snippet", "exec")
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except:
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print("main.py: error loading code.py file")
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# Start the code processing thread
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_thread.start_new_thread(step, ())
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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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watchdog_counter += 1
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# When Wi-Fi didn't connect in X seconds
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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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# 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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# Stop bootup blinking
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timer.deinit()
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# WiFi is connected
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sumorobot.is_wifi_connected = True
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# Indicate that the WebSocket is connected
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sumorobot.set_led(STATUS, True)
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# Start the Websocket processing thread
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_thread.start_new_thread(ws_handler, ())
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