151 lines
4.5 KiB
Python
151 lines
4.5 KiB
Python
import _thread
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import ubinascii
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import uwebsockets
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# WebSocket connection
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conn = None
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# blockly highlihgt WebSocket connection
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conn_highlight = None
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# to remember WiFi disconnects
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has_wifi_connection = False
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# extract a unique name for the robot from the device MAC address
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name = "sumo-%s" % ubinascii.hexlify(wlan.config("mac")[-3:]).decode("ascii")
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# remote server
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url = "ws://iot.koodur.com:80/p2p/" + name + "/browser/"
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url_highlight = "ws://iot.koodur.com:80/p2p/" + name + "-highlight/browser/"
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# local server
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#url = "ws://10.42.0.1:80/p2p/" + name + "/browser/"
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#url_highlight = "ws://10.42.0.1:80/p2p/" + name + "-highlight/browser/"
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# code to execute
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ast = ""
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# scope, info to be sent to the client
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scope = dict()
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# SumoRobot object
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sumorobot = None
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def step():
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global scope
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while True:
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# execute to see LED feedback for sensors
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sumorobot.is_opponent()
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sumorobot.is_line(LEFT)
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sumorobot.is_line(RIGHT)
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# update scope
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scope = dict(
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line_left = sumorobot.get_line(LEFT),
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line_right = sumorobot.get_line(RIGHT),
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opponent = sumorobot.get_opponent_distance(),
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battery_voltage = sumorobot.get_battery_voltage(),
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)
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# execute code
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exec(ast)
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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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def ws_handler():
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global ast
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global conn
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global has_wifi_connection
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while True:
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# when WiFi is connected
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if wlan.isconnected():
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# when WiFi has just been reconnected
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if not has_wifi_connection:
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conn = uwebsockets.connect(url)
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sumorobot.set_led(STATUS, True)
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has_wifi_connection = True
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else: # when WiFi is not connected
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# when WiFi has just been disconnected
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if has_wifi_connection:
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sumorobot.set_led(STATUS, False)
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has_wifi_connection = False
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# continue to wait for a WiFi connection
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continue
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try: # try to read from the WebSocket
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fin, opcode, data = conn.read_frame()
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except: # socket timeout, no data received
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# continue to reconnect to WiFi
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continue
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if data == b"forward":
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#print("Going forward")
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ast = ""
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sumorobot.move(FORWARD)
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elif data == b"backward":
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#print("Going backward")
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ast = ""
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sumorobot.move(BACKWARD)
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elif data == b"right":
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#print("Going right")
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ast = ""
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sumorobot.move(RIGHT)
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elif data == b"left":
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#print("Going left")
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ast = ""
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sumorobot.move(LEFT)
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elif data == b"kick":
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conn.send(repr(scope))
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elif data == b"ping":
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conn.send(repr(scope))
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elif data.startswith("start:"):
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#print("Got code:", data[6:])
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ast = compile(data[6:], "snippet", "exec")
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elif data == b"stop":
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ast = ""
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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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#print("Got stop")
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elif data == b"calibrate_line":
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sumorobot.calibrate_line()
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#print("Got calibrate")
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elif b"Gone" in data:
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#print("Server said 410 Gone, attempting to reconnect...")
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conn = uwebsockets.connect(url)
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else:
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pass
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#print("unknown command:", data)
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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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# connect to the websocket
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#print("Connecting to:", url)
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conn = uwebsockets.connect(url)
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# set X seconds timeout for socket reads
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conn.settimeout(1)
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# send a ping to the robot
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#print("Sending ping")
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conn.send("{'ping': true}")
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conn.send("{'ip': '" + wlan.ifconfig()[0] + "'}")
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# connect to the blockly highlight websocket
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conn_highlight = uwebsockets.connect(url_highlight)
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# initialize SumoRobot object
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sumorobot = Sumorobot(conn_highlight.send)
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# indicate that the WebSocket is connected
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sumorobot.set_led(STATUS, True)
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#print("Starting WebSocket and code loop")
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# start the code processing thread
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_thread.start_new_thread(step, ())
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# start the Websocket processing thread
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_thread.start_new_thread(ws_handler, ())
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