forked from Telos4/RoboRally
176 lines
7.6 KiB
Python
176 lines
7.6 KiB
Python
import machine
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import sys
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from machine import I2C, Pin
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import d1motor
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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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def __init__(self):
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print("setting up I2C ...")
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d1 = Pin(5)
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d2 = Pin(4)
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i2c = I2C(scl=d1, sda=d2)
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i2c_scan = i2c.scan()
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if len(i2c_scan) > 0:
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i2c_addr = i2c_scan[0]
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print("i2c scan = {}".format(i2c_addr))
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print("setting up motors ...")
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self.m1 = d1motor.Motor(0, i2c, address=i2c_addr)
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self.m2 = d1motor.Motor(1, i2c, address=i2c_addr)
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self.m1.speed(0)
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self.m2.speed(0)
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print("motor setup complete!")
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else:
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print("error: no i2c interfaces found!")
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sys.exit(1)
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ip = my_ip[0]
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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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self.control_queue = []
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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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socket_setup_complete = False
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while not socket_setup_complete:
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try:
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print("trying to create socket on address {}".format(self.addr))
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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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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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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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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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else:
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# current control timed out -> applying next control
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if len(self.control_queue) > 0:
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print("previous control applied for {} ms too long".format(elapsed - t_current - duration_current))
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u_next = self.control_queue.pop(0)
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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(u_next[0])
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self.m2.speed(u_next[1])
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t_current = utime.ticks_ms()
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duration_current = duration_next
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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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#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_0, u2_0, u1_1, u2_1, ...)'\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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#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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self.control_queue = []
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print("putting data into queue")
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for i in range((len(l)-1)/2):
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u1_next = int(float(l[2*i+1])*100)
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print("u1 = {}".format(u1_next))
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u2_next = int(float(l[2*i+2])*100)
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print("u2 = {}".format(u2_next))
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self.control_queue.append((u1_next, 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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self.control_queue = []
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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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self.control_queue = []
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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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self.control_queue = []
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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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wall_e = Robot()
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wall_e.remote_control()
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