forked from Telos4/RoboRally
test with polling for new data (not working well)
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c31bb9cb11
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05d80fa6ed
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@ -4,8 +4,9 @@ from machine import I2C, Pin
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import d1motor
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import time
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import utime
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import usocket
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import uselect
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import esp
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class Robot:
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@ -32,6 +33,10 @@ class Robot:
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# setup socket for remote control
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self.addr = usocket.getaddrinfo(ip, 1234)[0][-1]
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self.poller = uselect.poll()
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self.poller_timeout = 2 # timeout in ms
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def remote_control(self):
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while True:
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print("setting up socket communication ...")
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@ -45,73 +50,125 @@ class Robot:
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socket_setup_complete = True
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except Exception as e:
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print("could not create socket. error msg: {}\nwaiting 1 sec and retrying...".format(e))
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time.sleep(1.0)
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utime.sleep(1.0)
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print("waiting for connections on {} ...".format(self.addr))
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socket.listen(1)
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res = socket.accept() # this blocks until someone connects to the socket
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comm_socket = res[0]
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self.poller.register(comm_socket, uselect.POLLIN)
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print("connected!")
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listening = True
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duration_current = 0
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t_current = utime.ticks_ms()
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duration_next = None
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u1_next = None
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u2_next = None
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stopped = True
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timeouts = 0
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while listening:
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elapsed = utime.ticks_ms()
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remaining = duration_current - (elapsed-t_current)
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if remaining >= 0:
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timeouts = 0
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print("start of loop\n I have {} ms until next control needs to be applied".format(remaining))
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elif timeouts < 10:
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print("start of loop\n I have {} ms until next control needs to be applied, timeouts = {}".format(remaining, timeouts))
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timeouts = timeouts + 1
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trecv_start = utime.ticks_ms()
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# expected data: '(t, u1, u2)'\n"
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# where ui = control for motor i
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# ui \in [-1.0, 1.0]
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try:
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data = comm_socket.readline()
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data_str = data.decode()
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print("Data received: {}".format(data_str))
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print("processing data = {}".format(data_str))
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l = data_str.strip('()\n').split(',')
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print("l = {}".format(l))
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t = float(l[0])
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print("t = {}".format(t))
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u1 = int(float(l[1])*100)
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print("u1 = {}".format(u1))
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u2 = int(float(l[2])*100)
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print("u2 = {}".format(u2))
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except ValueError:
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print("ValueError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down ...")
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u1 = u2 = 0
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t = 0.0
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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print("disconnected!")
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except IndexError:
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print("IndexError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down ...")
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u1 = u2 = 0
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t = 0.0
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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print("disconnected!")
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except Exception as e:
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print("Some other error occured")
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print("Exception: {}".format(e))
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print("Shutting down ...")
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u1 = u2 = 0
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t = 0.0
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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print("disconnected!")
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finally:
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self.m1.speed(u1)
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self.m2.speed(u2)
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time.sleep(t)
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self.m1.speed(0)
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self.m2.speed(0)
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#print("poller waiting..")
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poll_res = self.poller.poll(self.poller_timeout) # wait 100 milliseconds for socket data
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if poll_res:
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print("new data available")
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try:
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data = comm_socket.readline()
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data_str = data.decode()
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#print("Data received: {}".format(data_str))
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#print("processing data = {}".format(data_str))
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l = data_str.strip('()\n').split(',')
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#print("l = {}".format(l))
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duration_next = int(float(l[0])*1000)
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#print("duration = {}".format(duration_next))
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u1_next = int(float(l[1])*100)
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#print("u1 = {}".format(u1_next))
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u2_next = int(float(l[2])*100)
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#print("u2 = {}".format(u2_next))
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except ValueError:
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print("ValueError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down ...")
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u1_next = u2_next = 0
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duration_current = 0
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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print("disconnected!")
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except IndexError:
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print("IndexError: Data has wrong format.")
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print("Data received: {}".format(data_str))
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print("Shutting down ...")
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u1_next = u2_next = 0
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duration_current = 0
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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print("disconnected!")
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except Exception as e:
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print("Some other error occured")
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print("Exception: {}".format(e))
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print("Shutting down ...")
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u1_next = u2_next = 0
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duration_current = 0
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listening = False
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comm_socket.close()
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socket.close()
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del comm_socket
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del socket
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print("disconnected!")
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trecv_end = utime.ticks_ms()
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print("communication (incl. polling) took {} ms".format(trecv_end - trecv_start))
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elapsed = utime.ticks_ms()
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if elapsed - t_current >= duration_current: # check if duration of current control has timed out
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if u1_next is not None: # check if new control is available
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print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
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#print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
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#print("applying new control (duration, u1, u2) = ({}, {}, {})".format(duration_next, u1_next, u2_next))
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# if so, apply it
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self.m1.speed(u1_next)
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self.m2.speed(u2_next)
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t_current = utime.ticks_ms()
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duration_current = duration_next
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# reset next control
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u1_next = None
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u2_next = None
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duration_next = None
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stopped = False
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elif not stopped:
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#print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
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#print("duration of previous control = {}".format((elapsed - t_current)/1000.0))
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# no new control available -> shutdown
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#print("no new control available -> stopping")
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#self.m1.speed(0)
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#self.m2.speed(0)
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t_current = utime.ticks_ms()
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duration_current = 0 # as soon as new control will become available we directly want to apply it immediately
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stopped = True
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wall_e = Robot()
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wall_e.remote_control()
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