From efc34ed11e37f84e491770ca47b466116365d90c Mon Sep 17 00:00:00 2001
From: spirkelmann <simon.pirkelmann@gmail.com>
Date: Mon, 6 May 2019 22:09:52 +0200
Subject: [PATCH] enabled reconnect of socket

---
 micropython_firmware/main.py | 93 +++++++++++++++++++++---------------
 1 file changed, 54 insertions(+), 39 deletions(-)

diff --git a/micropython_firmware/main.py b/micropython_firmware/main.py
index 1af68f3..b37e6fd 100644
--- a/micropython_firmware/main.py
+++ b/micropython_firmware/main.py
@@ -5,6 +5,7 @@ import d1motor
 
 import time
 import usocket
+import esp
 
 class Robot:
     def __init__(self):
@@ -20,49 +21,63 @@ 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):
-        print("waiting for connections on {}".format(self.addr))
-        self.socket.listen(1)
-        res = self.socket.accept() # this blocks until someone connects to the socket
-        comm_socket = res[0]
-        print("connected!")
-        listening = True
-        while listening:
-             # expected data: '(u1, u2)'\n"
-             # where ui = control for motor i
-             # ui \in [-1.0, 1.0]
-             data = comm_socket.readline()
-             data_str = data.decode()
-             print("Data received: {}".format(data_str))
-             try:
-                 print("processing data = {}".format(data_str))
-                 l = data_str.strip('()\n').split(',')
-                 print("l = {}".format(l))
-                 u1 = int(float(l[0])*10000)
-                 print("u1 = {}".format(u1))
-                 u2 = int(float(l[1])*10000)
-                 print("u2 = {}".format(u2))
-             except ValueError:
-                 print("ValueError: Data has wrong format.")
+        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))
+            socket.listen(1)
+            res = socket.accept() # this blocks until someone connects to the socket
+            comm_socket = res[0]
+            print("connected!")
+            listening = True
+            while listening:
+                 # expected data: '(u1, u2)'\n"
+                 # where ui = control for motor i
+                 # ui \in [-1.0, 1.0]
+                 data = comm_socket.readline()
+                 data_str = data.decode()
                  print("Data received: {}".format(data_str))
-                 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)
+                 try:
+                     print("processing data = {}".format(data_str))
+                     l = data_str.strip('()\n').split(',')
+                     print("l = {}".format(l))
+                     u1 = int(float(l[0])*10000)
+                     print("u1 = {}".format(u1))
+                     u2 = int(float(l[1])*10000)
+                     print("u2 = {}".format(u2))
+                 except ValueError:
+                     print("ValueError: Data has wrong format.")
+                     print("Data received: {}".format(data_str))
+                     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.remote_control()