Add ESP wifi webserver menu program

main/main.py

@@ -42,6 +42,7 @@ def main():
     DISPLAY_TITLE_POS = 18
     DISPLAY_PROG_POS = 45
     DISPLAY_ARROW_GAP = 10
+    ESP_MAX_RESET_FAILED = 5
     menu_programs_functions = (('NXT Light', menu_programs.nxt_light_run), ('NXT Sound', menu_programs.nxt_sound_run), 
                                ('NXT Touch', menu_programs.nxt_touch_run), ('NXT Ultrasonic',  menu_programs.nxt_ultra_run),
                                ('OC Color', menu_programs.oc_color_run), ('OC AHRS', menu_programs.oc_gyro_run), 
@@ -68,10 +69,15 @@ def main():
             robot.display.centered_text("cube is empty", DISPLAY_PROG_POS, 1)
     
     # Fill framebuffer with bt menu
-    def display_fill_bt_menu(robot, esp_default_name):
+    def display_fill_bt_menu(robot, esp_default_name, esp_reset_failed_counter):
         robot.display.fill(0)
         robot.display.centered_text('< BT pair >', DISPLAY_TITLE_POS, 1)
-        robot.display.centered_text(esp_default_name, DISPLAY_PROG_POS, 1)
+        if esp_reset_failed_counter > ESP_MAX_RESET_FAILED:
+            robot.display.centered_text('ESP', DISPLAY_PROG_POS-12, 1)
+            robot.display.centered_text('not responding', DISPLAY_PROG_POS-4, 1)
+            robot.display.centered_text('restart cube', DISPLAY_PROG_POS+4, 1)
+        else:
+            robot.display.centered_text(esp_default_name, DISPLAY_PROG_POS, 1)
 
     # Add bt connecting window to framebuffer 
     def display_fill_bt_pin(robot, pin, connecting):
@@ -114,6 +120,8 @@ def main():
             test_name = "Gyro Acc"
         elif current_oth_test == 1:
             test_name = "Utility"
+        elif current_oth_test == 2:
+            test_name = "Wifi webserver"
         robot.display.centered_text(test_name, DISPLAY_PROG_POS, 1)
         display_fill_arrows(robot)
 
@@ -229,7 +237,7 @@ def main():
     bt_pair = False
     bt_connecting = False
     button_values = robot.buttons.pressed()
-    esp_reset = False
+    esp_reset_failed_counter = 0
     display_show_startup(robot)
 
     # Get a list of user programs
@@ -262,9 +270,12 @@ def main():
         
         if not robot.esp.running() and counter % 10 == 0:
             s = utime.ticks_ms()
-            robot.esp.reset(200)
+            if not robot.esp.reset(100):
+                esp_reset_failed_counter += 1
+            else:
+                esp_reset_failed_counter = 0
+                esp_reset_counter = counter
             print("ESP32 reset time: ", utime.ticks_ms() - s)
-            esp_reset_counter = counter
         if robot.esp.running() and counter - esp_reset_counter == 10:
             robot.esp.set_name_nonblocking(esp_default_name, 100)
             print("ESP BT name: ", esp_default_name)
@@ -303,7 +314,7 @@ def main():
                         menu_debounce = 1
 
         if current_menu == Menu.BT:
-            display_fill_bt_menu(robot, esp_default_name)
+            display_fill_bt_menu(robot, esp_default_name, esp_reset_failed_counter)
             # Request BT pair pin every 10 cycles 
             if robot.esp.running() and counter % 10 == 0:
                 bt_pair, pin = send_esp_req(robot)
@@ -375,6 +386,7 @@ def main():
                 elif menu_list[current_menu] == 2:
                     print("Wifi webserver test")
                     menu_programs.esp_wifi_run(robot, esp_default_name)
+                    robot.esp.esp_running = False
                 robot.deinit_all()
                 robot_state = 0
                 menu_debounce = 1

menu_programs/esp_wifi.py

+'''
+Example program for the Open-Cube ESP32 Wi-Fi mode with web server.
+Start Wi-Fi acces point on the ESP32 with name 'Open-Cube-Wifi' and password '01234567'.
+'''
+import utime
+import random
+
+from lib.robot_consts import Button
+
+def esp_wifi_run(robot, wifi_name):
+    wifi_password = "12345678"
+    counter = 0
+    indicators = [True, False, True, False, False]
+    labels = ["1", "test1", "test2", "", "123"]
+    btn_labels = ["", "up", "", "left", "ok", "right", "", "down", "" ]
+    run = True
+
+    robot.display.fill(0)
+    robot.display.centered_text(f"Wifi webserver", 0, 1)
+    robot.display.text(f"Name:{wifi_name}", 0, 16, 1)
+    robot.display.text(f"Pass:{wifi_password}", 0, 24, 1)
+    robot.display.text('<', 0, 54, 1)
+    robot.display.show()
+
+    time = utime.ticks_us()
+    wifi = robot.esp.wifi()
+    if wifi:
+        print("Wifi webserver start failed, restart cube")
+        robot.display.fill(0)
+        robot.display.centered_text(f"Wifi webserver", 16, 1)
+        robot.display.centered_text(f"start failed", 24, 1)
+        robot.display.centered_text(f"restart cube", 32, 1)
+        robot.display.show()
+        utime.sleep(2)
+        return 
+    print("Name: ", robot.esp.set_name(wifi_name))
+    print("Pass: ", robot.esp.set_password(wifi_password))
+    
+    robot.esp.wifi_set_indicators_labels(("1", "", "test2", "test3", "123"))
+    robot.esp.wifi_set_buttons_labels(btn_labels)
+    robot.esp.wifi_set_switches_labels(labels)
+    robot.esp.wifi_set_numbers_labels(("t:", "s:", "v:", "test1:", "", "test2:"))
+    while run:
+        utime.sleep(0.1)
+        if counter % 10 == 0:
+            robot.esp.wifi_set_indicators(indicators)
+            robot.esp.wifi_set_numbers((123456789, 0.123456, random.random(), 0.123456, random.random(), 5.2))
+            indicators = indicators[-1:]+indicators[:-1]
+
+        wifi_buttons = robot.esp.wifi_get_buttons()
+        wifi_switches = robot.esp.wifi_get_switches()
+        wifi_buttons_string = ''.join(['1' if value else '0' for value in wifi_buttons])
+        wifi_switches_string = ''.join(['1' if value else '0' for value in wifi_switches])
+
+        robot.display.fill(0)
+        robot.display.centered_text(f"Wifi webserver", 0, 1)
+        robot.display.text(f"Name:{wifi_name}", 0, 16, 1)
+        robot.display.text(f"Pass:{wifi_password}", 0, 24, 1)
+        robot.display.text(f"Button:{wifi_buttons_string}", 0, 32, 1)
+        robot.display.text(f"Switch:{wifi_switches_string}", 0, 40, 1)
+        robot.display.text('<', 0, 54, 1)
+        robot.display.show()
+        
+        print("Buttons: ", wifi_buttons)
+        print("Switches: ", wifi_switches)
+        
+        counter +=1
+        buttons = robot.buttons.pressed()
+        if buttons[Button.LEFT]:
+            run = False
\ No newline at end of file

menu_programs/motor.py

@@ -27,9 +27,9 @@ def motor_run(robot, chosen_motor_port):
         print("Enc pos:", pos1,"Speed:", speed1)
         robot.display.fill(0)
         robot.display.centered_text(f"Motor M{chosen_motor_port+1}", 0, 1)
-        robot.display.text(f"Power: {pwr}", 0, 10, 1)
-        robot.display.text(f"Pos: {pos1}", 0, 18, 1)
-        robot.display.text(f"Speed: {speed1}", 0, 26, 1)
+        robot.display.text(f"Power: {pwr}", 0, 16, 1)
+        robot.display.text(f"Pos: {pos1}", 0, 24, 1)
+        robot.display.text(f"Speed: {speed1}", 0, 30, 1)
         robot.display.text(f"power", 80, 44, 1)
         robot.display.text('^', 95, 44 - 6, 1)
         robot.display.text('v', 95, 44 + 10, 1)