⚗️ #2 Could able to send directions to ESP32

middleware/communication/__init__.py

@@ -6,7 +6,7 @@
 from typing import Any
 import socketio
 import json
-
+import websockets
 
 class StatusManager(Enum):
     ESTABLISHED = 1  # to indicate - connection is established between two parties
@@ -16,10 +16,13 @@ class StatusManager(Enum):
 class ESP32Manager():
     """Manages all the communication related to the ESP32.
     """
-    # status maintainers -- to use in other modules
+    # status maintainer -- to use in other modules
     conn_status = StatusManager.TERMINATED
+    # websockets to use in another modules..
+    cam_ws = None
+    data_ws = None
     # Get the helpers..
-    from .esp32 import camera_client, collision_dist_fetcher, _connection_establisher, _connection_terminater  # make the
+    from .esp32 import camera_client, collision_dist_fetcher, connection_establisher, _connection_terminater  # make the
 
     def __init__(self, esp32IP: str, cam_port: int = 81, data_port: int = 82):
         # set it to the assigned IP address to ESP32 when connected to WiFi.
@@ -35,9 +38,6 @@ def __init__(self, esp32IP: str, cam_port: int = 81, data_port: int = 82):
         self.cam_task = None
         self.data_task = None
 
-        self.cam_ws = None
-        self.data_ws = None
-
         self.task = None
         self.router = APIRouter()
 
@@ -48,20 +48,18 @@ async def read_root():
         @self.router.get("/connection/{function:str}")
         async def connections_handler(function: str):
             if function == 'establish':
-                if self.cam_ws is None and self.data_ws is None:
+                if ESP32Manager.cam_ws is None and ESP32Manager.data_ws is None:
                     task = asyncio.create_task(
-                        self._connection_establisher())
+                        self.connection_establisher())
                     success = await task
-                    ESP32Manager.conn_status = StatusManager.ESTABLISHED
                     return {"message": "Connection to ESP32 established."} if success else {"message": "Failure in ESP32 connection establishment. Please check log."}
                 else:
                     return {"message": "Connections already established."}
             elif function == 'terminate':
-                if self.cam_ws is not None and self.data_ws is not None:
+                if ESP32Manager.cam_ws is not None and ESP32Manager.data_ws is not None:
                     task = asyncio.create_task(
                         self._connection_terminater())
                     success = await task
-                    ESP32Manager.conn_status = StatusManager.TERMINATED
                     return {"message": "ES32 connections terminated successfully.."} if success else {"message": "Failure in termination of ESP32 connections. Please check log."}
                 else:
                     return {"message": "Connections already terminated."}
@@ -72,7 +70,7 @@ async def connections_handler(function: str):
         async def camera_feed_handler(function: str):
             if function == 'start':
                 # check connection status..
-                if self.cam_ws is None:
+                if ESP32Manager.cam_ws is None:
                     return {'error': 'No connection established with ESP32. Please establish first.'}
                 # when connection already established..
                 if self.cam_task is None:
@@ -101,7 +99,7 @@ async def camera_feed_handler(function: str):
         async def collision_dist_handler(function: str):
             if function == 'start':
                 # check connection status..
-                if self.data_ws is None:
+                if ESP32Manager.data_ws is None:
                     return {'error': 'No connection established with ESP32. Please establish first.'}
                 # when connection already established..
                 if self.data_task is None:
@@ -168,6 +166,10 @@ def __init__(self):
         self.collision_task = None
         self.camera_task = None
 
+        # to hold of speed and interval
+        self.speed=150
+        self.interval=52
+
         @self.router.get('/web')
         def sayhello():
             return 'Hello Web app' 
@@ -242,6 +244,53 @@ async def handle_camera_feed(sid, request):
             else:
                 await self.sio.send(json.dumps({'error': 'collsion_feed - sent invalid request'}))
 
+        @self.sio.on('navigations')
+        async def handle_navigations(sid, request):
+            print(f"client-{sid} on navigations: {request}.")
+            from main import esp32_mngr
+
+            if request == 'start':
+                await self.sio.send(json.dumps({'info': 'Server ready to take navigations.'}))
+                print("status: connection establishment: ", esp32_mngr.conn_status)
+                print("status: websocket status: ", ESP32Manager.data_ws)
+            elif request == 'stop':
+                await self.sio.send(json.dumps({'info': 'Server stopps to take navigations.'}))
+
+        @self.sio.on('direction')
+        async def handle_direction(sid, request):
+            print(f"client-{sid} on direction: {request}.")
+            from main import esp32_mngr
+            print("status: connection establishment")
+            try:
+                if esp32_mngr.conn_status == StatusManager.ESTABLISHED:
+                    if ESP32Manager.data_ws is not None:
+                        print("Setup ready to send..")
+                        control={
+                            's':self.speed,
+                            'd':str(request),
+                            'i':self.interval
+                        }
+                        await ESP32Manager.data_ws.send(str(control))
+                else:
+                    print("couldn't send data to ESP32")
+            # handle connection close..
+            except websockets.exceptions.ConnectionClosedError as e:
+                print("Oops..!! Connection closed. Auto-Reconnecting... Please wait..")
+                # try reconnecting.. first terminate explicitly ( to avoid multiple connection instances )
+                task = asyncio.create_task(esp32_mngr._connection_terminater())
+                success = await task
+                if success: 
+                    print("Connection cleaned up.!! Establishing fresh connection, please wait..!!")
+                    task = asyncio.create_task(esp32_mngr.connection_establisher())
+                    success = await task
+                    if success:
+                        print("Connection re-established..!!")
+                else:
+                    print("auto-reconnect failed. Please try manually.")
+            # to handle other exceptions..
+            except Exception as e:
+                print("[EXCEPTION] exception occured: ", e)
+
         # @self.sio.on("broadcast")
         # async def broadcast(sid, msg):
         #     print(f"broadcast {msg}")

middleware/communication/esp32.py

@@ -8,10 +8,12 @@
 # The below functions will become data members of ESP32Manager in __init__.py
 
 
-async def _connection_establisher(self) -> bool:
+async def connection_establisher(self) -> bool:
+    from . import ESP32Manager, StatusManager
     try:
-        self.cam_ws = await websockets.connect(self.camera_ws_url)
-        self.data_ws = await websockets.connect(self.data_txrx_url)
+        ESP32Manager.cam_ws = await websockets.connect(self.camera_ws_url)
+        ESP32Manager.data_ws = await websockets.connect(self.data_txrx_url)
+        ESP32Manager.conn_status = StatusManager.ESTABLISHED
         return True
     except Exception as e:
         logging.error(
@@ -22,12 +24,14 @@ async def _connection_establisher(self) -> bool:
 
 
 async def _connection_terminater(self) -> bool:
+    from . import ESP32Manager, StatusManager
     try:
         # Close the connection
-        await self.cam_ws.close()
-        await self.data_ws.close()
+        await ESP32Manager.cam_ws.close()
+        await ESP32Manager.data_ws.close()
+        ESP32Manager.conn_status = StatusManager.TERMINATED
         # Empty the connection holders
-        self.cam_ws, self.data_ws = None, None
+        ESP32Manager.cam_ws, ESP32Manager.data_ws = None, None
         return True
     except Exception as e:
         logging.error(
@@ -38,9 +42,10 @@ async def _connection_terminater(self) -> bool:
 
 
 async def camera_client(self, to_web: bool = False, ws: WebSocket = None, ) -> bool:
+    from . import ESP32Manager
     try:
         while True:
-            msg = await self.cam_ws.recv()
+            msg = await ESP32Manager.cam_ws.recv()
             # even try with msg.data
             npimg = np.array(bytearray(msg), dtype=np.uint8)
             img = cv2.imdecode(npimg, -1)
@@ -65,10 +70,11 @@ async def camera_client(self, to_web: bool = False, ws: WebSocket = None, ) -> b
 
 async def collision_dist_fetcher(self, to_web: bool = False, ws: WebSocket = None, ) -> bool:
     counter=0
+    from . import ESP32Manager
     try:
         print("------------------ Collision data fetcher ------------------------------")
         while True:
-            dist = int(await self.data_ws.recv())
+            dist = int(await ESP32Manager.data_ws.recv())
             print(f"Received message: {dist}")
 
             # if need send to web-client..
@@ -92,3 +98,4 @@ async def collision_dist_fetcher(self, to_web: bool = False, ws: WebSocket = Non
         print("[EXCEPTION] data fetching failed. Error: ", e)
         logging.error("Collision data fetching interrupted. Error: ", e)
     return False
+

middleware/main.py

@@ -4,7 +4,7 @@
 import uvicorn
 
 app = FastAPI()
-esp32_mngr = ESP32Manager(esp32IP='192.168.184.165')
+esp32_mngr = ESP32Manager(esp32IP='192.168.147.165')
 conn_mngr = ConnectionManager()
 web = WebManager()
 app.mount('/bar', web.socket_app) # mounting the socketio app to fastapi
@@ -13,5 +13,5 @@
 app.include_router(web.router)
 
 
-# if __name__ == "__main__":
-#     uvicorn.run(app, host="127.0.0.2", port=8500)
+if __name__ == "__main__":
+    uvicorn.run(app, host="127.0.0.2", port=8500)

web/templates/manualMode.htm

@@ -189,7 +189,7 @@ <h1>Manual Mode</h1>
 
     /********************************************* SOCKETIO Connection ******************************************************* */
 
-    const socket = io.connect('http://127.0.0.1:8000/',{path:'/bar/foo', autoReconnect:true}); // url of the python server, later use namespace/room specific to mode
+    const socket = io.connect('http://127.0.0.2:8500/',{path:'/bar/foo', autoReconnect:true}); // url of the python server, later use namespace/room specific to mode
 
     // --------------------------------------------- general socketio handlers --------------------------------------------
     socket.on('connect', function(){
@@ -292,14 +292,14 @@ <h1>Manual Mode</h1>
     function listen_navigations(element){
       if(in_navigation_mode && element.id in keymap)
         console.log(element.id);
-        // socket.emit('direction', keymap[key])
+        socket.emit('direction', keymap[element.id])
     }
     document.addEventListener('keydown', (event)=>{
       // only when in navigation mode..
       if(in_navigation_mode && event.code in keymap){
         // capture only the arrow key presses..
         console.log(event.code);
-        // socket.emit('direction', keymap[key])          
+        socket.emit('direction', keymap[event.code])          
       }
     })
 </script>