Telos4/RoboRally
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enabled reconnect of socket

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This commit is contained in:
Simon Pirkelmann 2019-05-06 22:09:52 +02:00
parent 14ad366484
commit efc34ed11e
1 changed files with 54 additions and 39 deletions
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93
micropython_firmware/main.py
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@ -5,6 +5,7 @@ import d1motor
import time import time
import usocket import usocket
import esp
class Robot: class Robot:
def __init__(self): def __init__(self):
@ -20,49 +21,63 @@ class Robot:
print("motor setup complete") print("motor setup complete")
# setup socket for remote control # 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.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
self.socket.bind(self.addr)
print("socket setup complete")
def remote_control(self): def remote_control(self):
print("waiting for connections on {}".format(self.addr)) while True:
self.socket.listen(1) # dirty hack: free memory such that reuse of socket is possible
res = self.socket.accept() # this blocks until someone connects to the socket print(esp.freemem())
comm_socket = res[0] if esp.freemem() < 9 * 1024:
print("connected!") s = time.ticks_ms()
listening = True while esp.freemem() < 9 * 1024:
while listening: pass
# expected data: '(u1, u2)'\n" print("waited {} ms".format((time.ticks_ms() - s)))
# where ui = control for motor i print("setting up socket communication")
# ui \in [-1.0, 1.0] socket = usocket.socket()
data = comm_socket.readline() socket.bind(self.addr)
data_str = data.decode() print("socket setup complete")
print("Data received: {}".format(data_str))
try: print("waiting for connections on {}".format(self.addr))
print("processing data = {}".format(data_str)) socket.listen(1)
l = data_str.strip('()\n').split(',') res = socket.accept() # this blocks until someone connects to the socket
print("l = {}".format(l)) comm_socket = res[0]
u1 = int(float(l[0])*10000) print("connected!")
print("u1 = {}".format(u1)) listening = True
u2 = int(float(l[1])*10000) while listening:
print("u2 = {}".format(u2)) # expected data: '(u1, u2)'\n"
except ValueError: # where ui = control for motor i
print("ValueError: Data has wrong format.") # ui \in [-1.0, 1.0]
data = comm_socket.readline()
data_str = data.decode()
print("Data received: {}".format(data_str)) print("Data received: {}".format(data_str))
print("Shutting down") try:
u1 = u2 = 0 print("processing data = {}".format(data_str))
listening = False l = data_str.strip('()\n').split(',')
except IndexError: print("l = {}".format(l))
print("IndexError: Data has wrong format.") u1 = int(float(l[0])*10000)
print("Data received: {}".format(data_str)) print("u1 = {}".format(u1))
print("Shutting down") u2 = int(float(l[1])*10000)
u1 = u2 = 0 print("u2 = {}".format(u2))
listening = False except ValueError:
finally: print("ValueError: Data has wrong format.")
self.m1.speed(u1) print("Data received: {}".format(data_str))
self.m2.speed(u2) print("Shutting down")
u1 = u2 = 0
listening = False
except IndexError:
print("IndexError: Data has wrong format.")
print("Data received: {}".format(data_str))
print("Shutting down")
u1 = u2 = 0
listening = False
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 = Robot()
wall_e.remote_control() wall_e.remote_control()