139 lines
4.3 KiB
Python
Executable File
139 lines
4.3 KiB
Python
Executable File
import _thread
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import ubinascii
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import uwebsockets
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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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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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left_line = sumorobot.get_line(LEFT),
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right_line = 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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left_line_value = sumorobot.config["left_line_value"],
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right_line_value = sumorobot.config["right_line_value"],
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left_line_threshold = sumorobot.config["left_line_threshold"],
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right_line_threshold = sumorobot.config["right_line_threshold"]
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)
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# Execute code
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try:
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exec(ast)
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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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def ws_handler():
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global ast
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global has_wifi_connection
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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 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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# When WiFi has just been disconnected
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elif not wlan.isconnected() and has_wifi_connection:
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sumorobot.set_led(STATUS, False)
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has_wifi_connection = False
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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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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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# 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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ast = ""
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sumorobot.move(FORWARD)
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elif b'backward' in data:
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ast = ""
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sumorobot.move(BACKWARD)
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elif b'right' in data:
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ast = ""
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sumorobot.move(RIGHT)
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elif b'left' in data:
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ast = ""
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sumorobot.move(LEFT)
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elif b'ping' in data:
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conn.send(repr(scope).replace("'", '"'))
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elif b'code' in data:
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data = ujson.loads(data)
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data['val'] = data['val'].replace(";;", "\n")
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#print("main.py code=", data['val'])
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ast = compile(data['val'], "snippet", "exec")
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elif b'stop' in data:
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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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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'calibrate_line_threshold' in data:
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data = ujson.loads(data)
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sumorobot.calibrate_line_threshold(int(data['val']))
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#print('main.py: calibrate_line_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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# 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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ast = compile(code.read(), "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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# 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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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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# Set X seconds timeout for socket reads
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conn.settimeout(1)
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# Stop bootup blinking
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timer.deinit()
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# WiFi is connected
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has_wifi_connection = 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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