sumorobot-firmware/main.py

import _thread
import ubinascii
import ujson
import uwebsockets
import os
from debounce import DebouncedSwitch

# Code to execute
ast = ""
executeCode = False

# Scope, info to be sent to the client
scope = dict()

def buttoncallback(p=True):
    global executeCode

    sumorobot.terminate = executeCode
    sumorobot.led_power.value(not executeCode)
    sleep_ms(50)
    executeCode = not executeCode
    print(executeCode)

def writeCodeTofile(data):
    with open("code.part", "w") as code_file:
        code_file.write(ujson.dumps(data))
        sleep_ms(50)
    os.rename("code.part", "code")
    sleep_ms(50)


def step():
    global scope

    while True:

        # Update scope
        scope = dict(
            line_left = sumorobot.line_left,
            line_right = sumorobot.line_right,
            line_middle = sumorobot.line_middle,
            opponent = sumorobot.get_opponent_distance(),
            battery_voltage = 0,
            state = executeCode
        )

        # Execute code
        if(executeCode):
            exec(ast)

        #sumorobot.playStop.irq(trigger=Pin.IRQ_RISING, handler=buttoncallback)
        sw = DebouncedSwitch(sumorobot.playStop, buttoncallback, "dummy")

        # 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 executeCode
    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 Exception as e: # Socket timeout, no data received
            # Continue to try to read data
            #print(e)

            #if not conn.open:
            #conn = uwebsockets.connect(url)
            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(ujson.dumps({"cmd":"sensord", "data":ujson.dumps(scope)}))
            conn.send(ujson.dumps({"cmd":"sensors", "data":ujson.loads(repr(scope).replace("'", '"').replace("False","false").replace("True","true"))}))
        elif b'code' in data:
            executeCode = False
            try:
                data = ujson.loads(data)
                writeCodeTofile(data['val'])
                conn.send(ujson.dumps({"cmd":"code_upload", "status":True}))
            except Exception as e:
                conn.send(ujson.dumps({"cmd":"code_upload", "status":False}))
                continue
            data['val'] = data['val'].replace(";;", "\n")
            print(data['val'])
            ast = compile(data['val'], "snippet", "exec")
        elif b'start' in data:
            #buttoncallback()
            executeCode = True
            sumorobot.led_power.value(1)
            sleep_ms(50)
            data = ujson.loads(data)
            writeCodeTofile(data['val'])
            data['val'] = data['val'].replace(";;", "\n")
            ast = compile(data['val'], "snippet", "exec")
        elif b'stop' in data:
            #ast = ""
            sumorobot.led_power.value(0)
            executeCode = False
            sumorobot.move(STOP)
            # for terminating delays in code
            sumorobot.terminate = True
        elif b'calibrate_line' in data:
            sumorobot.led_power.value(1)
            sleep_ms(50)
            sumorobot.calibrate_line()
            sumorobot.led_power.value(0)
        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
url = "ws://%s/p2p/sumo-%s/browser/" % (config['sumo_server'], config['sumo_id'])
conn = uwebsockets.connect(url)

# Set X seconds timeout for socket reads
conn.settimeout(3)

# Stop bootup blinking
#timer.deinit()

# WiFi is connected
has_wifi_connection = True
# Indicate that the WebSocket is connected
#sumorobot.set_led(STATUS, True)

if('code' in os.listdir()):
    with open("code", "r") as code_file:
        data = ujson.load(code_file).replace(";;", "\n")
        ast = compile(data, "snippet", "exec")
        #print(ast)


# Start the code processing thread
_thread.start_new_thread(step, ())
# Start the Websocket processing thread
_thread.start_new_thread(ws_handler, ())