modules

ports/esp32/modules/WiFi.py

@@ -15,6 +15,7 @@
 from _thread import start_new_thread
 from machine import Timer
 import network
+import webrepl
 
 PRINT = False #  True #  
 
@@ -202,8 +203,14 @@ def WiFi_connect(prn=False):
                 net_state = NET_AP_INIT
                 PRINT and print('NET_AP_INIT: STAT_NO_AP_FOUND')
     elif wlan_status == network.STAT_GOT_IP:
-        net_state == NET_STA_GOT_IP
-        #  PRINT and print('NET_STA_GOT_IP')
+        if net_state != NET_STA_GOT_IP:
+#             try:
+#                 webrepl.stop()
+#             except:
+#                 pass
+            webrepl.start(password='')
+            net_state = NET_STA_GOT_IP
+            PRINT and print('NET_STA_GOT_IP')
 
     return WiFi_info()
 

ports/esp32/modules/microPyServer.py

@@ -142,9 +142,9 @@ def accept(self):
 
     def receive(self):
         try:
-            received = self._skt.recv(1024)
+            received, from_addr = self._skt.recvfrom(1024)
             if received == b'':
-                print("{}:{} MicroPyServer connection {} error: received == b''".format(self._host, self.port, self._skt.fileno()), self._skt.fileno())
+                print("{}:{} MicroPyServer connection {} error: received == b'' from {from_addr}".format(self._host, self.port, self._skt.fileno()), from_addr)
                 self.connect_close()
                 return False
             self._success_time = time()

ports/esp32/modules/saves.py

@@ -20,6 +20,7 @@ def save_config_offset(owl):
             f.write("AZIM_OFFSET = {}\n".format(dumps(owl.azim.mover.offset)))
             # f.write("AZIM_OFFSET = 0.0\n")
             f.write("ELEV_OFFSET = {}\n".format(dumps(owl.elev.mover.offset)))
+            f.write("ROLL_OFFSET = {}\n".format(dumps(owl.sensors.offset_roll)))
             f.close()
     except Exception as e:
         print('Error writing config_offset.py:', e)
@@ -41,12 +42,12 @@ def save_config_speed(owl):
     try:
         with open("./config_speed.py", "w") as f:
             f.write("AZIM_angle_accel_decel = {}\n".format(dumps(owl.azim.mover.accel.angle_accel_decel)))
+            f.write("AZIM_rpm_high = {}\n".format(dumps(owl.azim.mover.rpm_high)))
             f.write("AZIM_rpm_low = {}\n".format(dumps(owl.azim.mover.rpm_low)))
-            f.write("AZIM_rpm_high = {}\n\n".format(dumps(owl.azim.mover.rpm_high)))
-
+            f.write("\n")
             f.write("ELEV_angle_accel_decel = {}\n".format(dumps(owl.elev.mover.accel.angle_accel_decel)))
-            f.write("ELEV_rpm_low = {}\n".format(dumps(owl.elev.mover.rpm_low)))
             f.write("ELEV_rpm_high = {}\n".format(dumps(owl.elev.mover.rpm_high)))
+            f.write("ELEV_rpm_low = {}\n".format(dumps(owl.elev.mover.rpm_low)))
             f.close()
     except Exception as e:
         print('Error writing config_speed.py:', e)

ports/esp32/modules/sector.py

@@ -9,7 +9,7 @@
 rpm_high_save = 0
 rpm_low_save = 0
 
-#motor_state = -1
+motor_state = -1
 
 def handle_sector(owl, motor, ros_params):
     global rpm_high_save, rpm_low_save
@@ -18,7 +18,7 @@ def handle_sector(owl, motor, ros_params):
 #     if motor_state != motor.state:
 #         print('motor_state <- motor.state', motor_state, motor.state)
 #         motor_state = motor.state
-    
+
     # Поиск глобального максимального уровня в секторе.
     handle_ros_command(owl)
     if owl.value_now is None:
@@ -34,7 +34,7 @@ def handle_sector(owl, motor, ros_params):
         if len(motor.value_start) == 0:
             motor.value_start = v  # обнаружен сигнал
             motor.angle_start = a  # в этой позиции
-            
+
     if motor.state == 0:  # очищаем исходные
         owl.sector_time = time()
         #owl.ros_command2 = ["/interface/wireless/set", "=.id=wlan1", "=tx-chains=0,1", "=rx-chains=0,1"]
@@ -62,7 +62,7 @@ def handle_sector(owl, motor, ros_params):
         else:
             motor.angle_begin = None  # сигнала нет в начале поиска (не будет перезаписан)
             if owl.mode == owl.MD_SECTOR_A:
-                owl.elev.angle_target = 0  # перейти в горизонт 
+                owl.elev.angle_target = 0  # перейти в горизонт
 
         motor.angle_start = a  # если сигнал отсутствует, то стартовая позиция будет переписана при обнаружении сигнала
         motor.value_start = v
@@ -94,19 +94,19 @@ def handle_sector(owl, motor, ros_params):
                 owl.elev.angle_target = - owl.ANTENNA_ANGLE
             else:
                 owl.elev.angle_target = 0
-                
+
             if owl.sector_counter == 2:
                 owl.azim.mover.rpm_high = owl.azim.mover.rpm_high / 5
                 owl.azim.mover.rpm_low = owl.azim.mover.rpm_low / 5
             else:
                 owl.azim.mover.rpm_high = rpm_high_save
                 owl.azim.mover.rpm_low = rpm_low_save
-            
+
 #             print('owl.azim.mover.rpm_high, owl.azim.mover.rpm_low', owl.azim.mover.rpm_high, owl.azim.mover.rpm_low, motor.mover.rpm)
 #             print('Поиск по азимуту owl.azim.angle_target=', owl.azim.angle_target, ', owl.elev.angle_target=', owl.elev.angle_target, ', owl.sector_counter = ', owl.sector_counter)
 #             print()
-            
-            owl.sector_counter += 1
+
+        owl.sector_counter += 1
         motor.state = 3
 
     elif motor.state == 3:
@@ -121,17 +121,25 @@ def handle_sector(owl, motor, ros_params):
 
             if motor.angle_best is not None:
                 motor.angle_target = motor.angle_best  # идем в лучшее
-                motor.state = 5
+
+                owl.azim.mover.rpm_high = rpm_high_save
+                owl.azim.mover.rpm_low = rpm_low_save
+
+                #print("owl.sector_counter", owl.sector_counter)
+                if owl.sector_counter >= 2:
+                    motor.state = 5
+                else:
+                    motor.search_dir = -motor.search_dir
+                    motor.state = 2
             else:
-            #if owl.sector_counter < 2:
                 motor.search_dir = -motor.search_dir
                 motor.state = 2  # повторный поиска в противоположном направлении, нужно пройти полный сектор поиска
 
 #     elif motor.state == 35:
 #         if motor.mover.is_ready():
 #             motor.mover.stop()
 #             motor.state = 4
-#             
+#
 #     elif motor.state == 4:
 #         if owl.state == owl.CM_NO:
 #             motor.mover.stop()

ports/esp32/modules/web_srv.py

@@ -70,9 +70,11 @@ def show_index_page(server, arg, owl):
     s1 = ""
     if owl.autorefresh:
         s1 = '<meta http-equiv="Refresh" content="2" />'
-    s2 = "СРШ: " + dumps(owl.value_now)
-    s3 = "Азимут,°: " + str(owl.azim.mover.angle_now) + " → " + str(owl.azim.angle_target) + " (" + str(owl.azim.min_search) + ", " + str(owl.azim.max_search) + ") " + str(owl.azim.angle_best)
-    s4 = "Кут місця,°: " + str(owl.elev.mover.angle_now) + " → " + str(owl.elev.angle_target) + " (" + str(owl.elev.min_search) + ", " + str(owl.elev.max_search) + ") " + str(owl.elev.angle_best)
+    _bst = str(owl.ros_best.values())
+    bst = _bst[_bst.find('['):_bst.find(']') + 1]
+    s2 = f"СРШ: {owl.value_now} {bst}" 
+    s3 =    f"Азимут,°: {owl.azim.mover.angle_now} → {owl.azim.angle_target} ({owl.azim.min_search}, {owl.azim.max_search}) [{owl.azim.angle_best}]"
+    s4 = f"Кут місця,°: {owl.elev.mover.angle_now} → {owl.elev.angle_target} ({owl.elev.min_search}, {owl.elev.max_search}) [{owl.elev.angle_best}]"
 
     input_a = str(owl.input_azim)
     input_e = str(owl.input_elev)
@@ -161,11 +163,11 @@ def show_config_speed_page(server, arg, owl):
     collect()
     s = html_config_speed.format(
         str(owl.azim.mover.accel.angle_accel_decel),  #
-        str(owl.azim.mover.rpm_low),  #
-        str(owl.azim.mover.rpm_high),  #
+        str(round(owl.azim.mover.rpm_high, 2)),  #
+        str(round(owl.azim.mover.rpm_low, 2)),  #
         str(owl.elev.mover.accel.angle_accel_decel),  #
-        str(owl.elev.mover.rpm_low),  #
-        str(owl.elev.mover.rpm_high)
+        str(round(owl.elev.mover.rpm_high, 2)),  #
+        str(round(owl.elev.mover.rpm_low, 2))
         )
     collect()
     server.out(s)