def main():
gc.collect()
ledLight = Signal(Pin(2, Pin.OUT), invert=False) # GPIO2 ( D2 )
sleep(0.1)
ledLight.on()
dcMotorA = DCMotor(4, 5) # GPIO4 ( D4 ), GPIO5 ( D5 )
sleep(0.1)
dcMotorA.stop()
servoB = CServo(15) # GPIO15 ( D15 )
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.bind(('', 80))
sock.listen(5)
while True:
try:
if gc.mem_free() < G_GC_THRESHOLD:
gc.collect()
conn, addr = sock.accept()
conn.settimeout(3.0)
print('Received HTTP GET connection request from %s' % str(addr))
request = conn.recv(1024)
conn.settimeout(None)
request = str(request)
print('GET Rquest Content = %s' % request)
car_direction = request.find('/?car_direction')
turn_left = request.find('/?turn_left')
car_forward = request.find('/?car_forward')
turn_right = request.find('/?turn_right')
speed_up = request.find('/?speed_up')
car_stop = request.find('/?car_stop')
slow_down = request.find('/?slow_down')
car_backward = request.find('/?car_backward')
if car_direction == G_CMD_IDX:
endIdx = request.find(' HTTP/')
subReq = request[G_CMD_IDX:endIdx]
startIdx = subReq.find('=') + 1
virtualAngle = int(subReq[startIdx:])
print('cmd: car_direction, virtualAngle =', virtualAngle)
ledLight.on()
servoB.carDirection(virtualAngle)
elif turn_left == G_CMD_IDX:
print('cmd: turn_left')
ledLight.on()
servoB.turnLeft()
elif car_forward == G_CMD_IDX:
print('cmd: car_forward')
ledLight.on()
dcMotorA.forward(G_FORWARD_SPEED)
elif turn_right == G_CMD_IDX:
print('cmd: turn_right')
ledLight.on()
servoB.turnRight()
elif speed_up == G_CMD_IDX:
print('cmd: speed_up')
ledLight.on()
dcMotorA.speedUp()
elif car_stop == G_CMD_IDX:
print('cmd: car_stop')
ledLight.off()
dcMotorA.stop()
elif slow_down == G_CMD_IDX:
print('cmd: slow_down')
ledLight.on()
dcMotorA.slowDown()
elif car_backward == G_CMD_IDX:
print('cmd: car_backward')
ledLight.on()
dcMotorA.backward(G_BACKWARD_SPEED)
resHtml = getWebPage()
conn.send('HTTP/1.1 200 OK\n')
conn.send('Content-Type: text/html\n')
conn.send('Connection: closed.\n\n')
conn.sendall(resHtml)
conn.close()
except OSError as e:
conn.close()
print('Connection closed. OSError =', e)
