enabled reconnect of socket

micropython_firmware/main.py

@@ -5,6 +5,7 @@ import d1motor
 
 import time
 import usocket
+import esp
 
 class Robot:
     def __init__(self):
@@ -20,16 +21,25 @@ class Robot:
         print("motor setup complete")
         
         # setup socket for remote control 
-        print("setting up socket communication")
-        self.socket = usocket.socket()
         self.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
-        self.socket.bind(self.addr)
-        print("socket setup complete")
 
     def remote_control(self):
+        while True:
+            # dirty hack: free memory such that reuse of socket is possible
+            print(esp.freemem())
+            if esp.freemem() < 9 * 1024:
+                s = time.ticks_ms()
+                while esp.freemem() < 9 * 1024:
+                    pass
+                print("waited {} ms".format((time.ticks_ms() - s)))
+            print("setting up socket communication")
+            socket = usocket.socket()
+            socket.bind(self.addr)
+            print("socket setup complete")
+
             print("waiting for connections on {}".format(self.addr))
-        self.socket.listen(1)
+            socket.listen(1)
-        res = self.socket.accept() # this blocks until someone connects to the socket
+            res = socket.accept() # this blocks until someone connects to the socket
             comm_socket = res[0]
             print("connected!")
             listening = True
@@ -63,6 +73,11 @@ class Robot:
                  finally:    
                      self.m1.speed(u1)
                      self.m2.speed(u2)
+            comm_socket.close()
+            socket.close()
+            del comm_socket
+            del socket
+            print("disconnected")
 
 wall_e = Robot()
 wall_e.remote_control()