Improve ESP command responsivness and add working turnable WiFi AP server

ESP/uart/uart.ino

@@ -44,9 +44,11 @@ WiFiServer server(80);
 WiFiClient client;
 
 char default_name[] = "OPEN-CUBE";
+char default_pass[] = "12345678";
 uint8_t message_rx[MAX_PAYLOAD + 3];
 uint8_t message_tx[MAX_PAYLOAD + 3];
 char esp_name[MAX_PAYLOAD];
+char esp_pass[MAX_PAYLOAD];
 int message_idx = 0;
 uint8_t ch;
 int cmd_pin = 0;
@@ -181,16 +183,22 @@ void html () {
   client.println("</body>");
   client.println("</html>");
 }
-
+void esp_cmd_change() {
+  cmd_pin = digitalRead(CMD_PIN);
+  digitalWrite(LED_PIN, cmd_pin);
+}
 void setup() {
   Serial.begin(115200);
   pinMode(CMD_PIN, INPUT);
+  
   pinMode(LED_PIN, OUTPUT);
   cmd_pin = digitalRead(CMD_PIN);
   cmd_pin_prev = cmd_pin;
   //SerialBT.setPin(pin);
   memset(esp_name, '\0', sizeof(esp_name));
   memcpy(esp_name, &default_name, 9);
+  memset(esp_pass, '\0', sizeof(esp_pass));
+  memcpy(esp_pass, &default_pass, 8);
   SerialBT.enableSSP();
   SerialBT.onConfirmRequest(BTConfirmRequestCallback);
   SerialBT.onAuthComplete(BTAuthCompleteCallback);
@@ -199,11 +207,12 @@ void setup() {
 
   dir = STOP;
   counter = 0;
+  attachInterrupt(digitalPinToInterrupt(CMD_PIN), esp_cmd_change, CHANGE);
 }
 
 void loop() {
-  cmd_pin = digitalRead(CMD_PIN);
-  digitalWrite(LED_PIN, cmd_pin);
+  //cmd_pin = digitalRead(CMD_PIN);
+  //digitalWrite(LED_PIN, cmd_pin);
   if (cmd_pin && cmd_pin_prev == 0) {
     send_short_cmd(COM_ACK);
     message_idx = 0;
@@ -235,23 +244,29 @@ void loop() {
                 memset(esp_name, '\0', sizeof(esp_name));
                 memcpy(esp_name, &message_rx[2], message_rx[1]);
                 if (bt_on) {
-                  SerialBT.end();
                   SerialBT.begin(esp_name); //Bluetooth device name
                 } else {
-                  server.end();
-                  WiFi.softAP(esp_name, "12345678");
-                  server.begin();
+                  WiFi.softAP(esp_name, esp_pass);
                 }
 
                 break;
               case COM_PASSWORD:
                 send_short_cmd(COM_ACK);
+                memset(esp_pass, '\0', sizeof(esp_pass));
+                memcpy(esp_pass, &message_rx[2], message_rx[1]);
+                if(!bt_on) {
+                  WiFi.softAP(esp_name, esp_pass);
+                }
                 break;
               case COM_RESET:
                 send_short_cmd(COM_ACK);
-                bt_on = true;
-                server.end();
-                SerialBT.end();
+                if (bt_on) {
+                  //SerialBT.end();
+                } else {
+                  server.end();
+                  WiFi.softAPdisconnect(true);
+                  bt_on = true;
+                }
                 SerialBT.begin(esp_name); //Bluetooth device name
                 break;
               case COM_ACK:
@@ -267,14 +282,14 @@ void loop() {
                 break;
               case COM_BT_PAIR:
                 if (confirmRequestPending) {
-                  SerialBT.confirmReply(true);
                   send_short_cmd(COM_ACK);
+                  SerialBT.confirmReply(true);
                 }
                 break;
               case COM_BT_CANCEL:
                 if (confirmRequestPending) {
-                  SerialBT.confirmReply(false);
                   send_short_cmd(COM_ACK);
+                  SerialBT.confirmReply(false);
                 }
                 break;
               case COM_BT_SUCCESS:
@@ -285,21 +300,23 @@ void loop() {
                 }
                 break;
               case COM_WIFI:
-                bt_on = false;
-                SerialBT.end();
-                WiFi.softAP(esp_name, "12345678");
-                WiFi.softAPConfig(local_ip, gateway, subnet);
-                IPAddress myIP = WiFi.softAPIP();
-                server.begin();
+                if (bt_on) {
+                  send_short_cmd(COM_ACK);
+                  bt_on = false;
+                  SerialBT.end();
+                  WiFi.softAP(esp_name, esp_pass);
+                  WiFi.softAPConfig(local_ip, gateway, subnet);
+                  IPAddress myIP = WiFi.softAPIP();
+                  server.begin();
+                } else {
+                  send_short_cmd(COM_NACK);
+                }
                 break;
             }
-            //SerialBT.write(10);
           } else {
-            //SerialBT.write(110);
             send_short_cmd(COM_NACK);
           }
-        } else {
-          //SerialBT.write(ch);
+        } else { //payload
           message_idx++;
         }
       }
@@ -317,12 +334,12 @@ void loop() {
       }
     } else {
       client = server.available();
-      if (!client)
+      if (client)
       {
-        return;
-      }
+        
+      
 
-      while (client.connected())
+      while (client.connected() && !cmd_pin)
       {
 
         if (client.available())
@@ -361,6 +378,7 @@ void loop() {
 
       request = "";
       client.stop();
+      }
     }
   }
 

lib/cube/esp_config.py

@@ -94,7 +94,7 @@ class Esp:
         time = utime.ticks_ms()
         while utime.ticks_diff(utime.ticks_ms(), time) < timeout:
             self.send_reset()
-            utime.sleep_ms(50)
+            utime.sleep_ms(5)
             if self.ack_received() == Esp.ACK:
                 self.esp_running = True
                 return True
@@ -146,15 +146,16 @@ class Esp:
             self.send_message(self.i2b(command)+self.i2b(0))
             receive = self.wait_for_ack(timeout)
             if receive != Esp.TIMEOUT:
-                return receive
-        return Esp.TIMEOUT
+                break
+        return receive
     
     def repeat_str(self, command: int, str: str, timeout=50):
         for i in range(Esp.NACK_ATTEMPTS):
             self.send_str(command, str)
-            if self.wait_for_ack(timeout) == Esp.ACK:
-                return True
-        return False
+            receive = self.wait_for_ack(timeout)
+            if receive != Esp.TIMEOUT:
+                break
+        return receive
     
     def send_str(self, command: int, str: str):
         str_len = len(str)

main/main.py

@@ -141,11 +141,11 @@ def main():
             esp_command(robot)
             reset = robot.esp.reset(100)
             print("Reset: ", reset)
-            robot.esp.flush()
             robot.buttons.set_pin(14, True)
             if reset:
-                print("Name: ", robot.esp.set_name("Open-Cube5",300))
+                utime.sleep(0.5)
                 robot.esp.flush()
+                print("Name: ", robot.esp.set_name("Open-Cube5",300))
             robot.buttons.set_pin(8, True)
 
         bat_voltage = robot.battery.voltage() # Get current battery voltage