forked from Telos4/RoboRally
enabled reconnect of socket
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14ad366484
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@ -5,6 +5,7 @@ import d1motor
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import time
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import usocket
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import esp
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class Robot:
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def __init__(self):
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@ -20,16 +21,25 @@ class Robot:
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print("motor setup complete")
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# setup socket for remote control
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print("setting up socket communication")
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self.socket = usocket.socket()
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self.addr = usocket.getaddrinfo('192.168.4.1', 1234)[0][-1]
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self.socket.bind(self.addr)
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print("socket setup complete")
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def remote_control(self):
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while True:
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# dirty hack: free memory such that reuse of socket is possible
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print(esp.freemem())
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if esp.freemem() < 9 * 1024:
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s = time.ticks_ms()
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while esp.freemem() < 9 * 1024:
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pass
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print("waited {} ms".format((time.ticks_ms() - s)))
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print("setting up socket communication")
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socket = usocket.socket()
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socket.bind(self.addr)
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print("socket setup complete")
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print("waiting for connections on {}".format(self.addr))
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self.socket.listen(1)
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res = self.socket.accept() # this blocks until someone connects to the socket
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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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print("connected!")
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listening = True
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@ -63,6 +73,11 @@ class Robot:
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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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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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wall_e = Robot()
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wall_e.remote_control()
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