Edit wifi_server.py

wifi_server.py

@@ -7,14 +7,14 @@ import threading
 import numpy as np
 
 
-HOST = "192.168.31.81" # IP address of your Raspberry PI
-PORT = 65432          # Port to listen on (non-privileged ports are > 1023)
+HOST = "192.168.31.81" 
+PORT = 65432          
 SPEED = 20            # default speed
 cur_speed = SPEED
 Forward_count = 0
 Backward_count = 0
 car_status = {
-    # "battery": 0.0,
+    
     "direction": "stop",
     "temperature": 0.0,
     "speed": 0.0,
@@ -22,12 +22,10 @@ car_status = {
     "timestamp": 0
 }
 
-# Flag to control the background thread
 running = True
 
 def get_battery_level():
-    voltage = fc.power_read()  # Read voltage from picar_4wd
-    # Map voltage to percentage (adjust min/max values for your battery)
+    voltage = fc.power_read()  
     min_voltage = 6.0
     max_voltage = 8.4
     percentage = ((voltage - min_voltage) / (max_voltage - min_voltage)) * 100
@@ -35,20 +33,11 @@ def get_battery_level():
 
 
 def get_pi_temperature():
-    # Read CPU temperature from system file
     temp = os.popen("vcgencmd measure_temp").readline()
     temp = float(temp.replace("temp=", "").replace("'C", ""))
     return temp
 
-# def estimate_speed():
-#     # This is just an approximation - ideally you'd use wheel encoders
-#     # You might need to adjust this based on your specific motor settings
-#     # This assumes fc.speed gives a value between -100 and 100
-#     motor_speed = fc.speed  # You may need to adjust this based on your library
-#     # Convert motor power level to approximate cm/s
-#     # This conversion factor (0.5) needs calibration for your specific car
-#     speed_cms = np.absolute(motor_speed) * 0.5  
-#     return round(speed_cms, 2)
+
 
 def update_car_status():
     global car_status
@@ -57,27 +46,19 @@ def update_car_status():
     
     while running:
         current_time = time.time()
-        # elapsed_time = current_time - last_update_time
-        
-        # Update battery level
-        # car_status["battery"] = get_battery_level()
         
-        # Update temperature
         car_status["temperature"] = get_pi_temperature()
         
-        # Update speedw
-        # current_speed = estimate_speed()
+        
         car_status["speed"] = cur_speed
         
-        # Calculate distance traveled (speed * time)
         distance_increment = (Forward_count + Backward_count) * 0.03
         car_status["distance_traveled"] = distance_increment
         car_status["timestamp"] = int(current_time)
         
         last_update_time = current_time
-        time.sleep(0.1)  # Update 10 times per second
+        time.sleep(0.1)  
 
-# Start the background thread to update car status
 status_thread = threading.Thread(target=update_car_status)
 status_thread.daemon = True
 status_thread.start()
@@ -120,31 +101,9 @@ def car_movement(direction):
         print("Stopping car")
         fc.stop()
     
-    # You might want to return some status information
     return direction
 
 
-# with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
-#     s.bind((HOST, PORT))
-#     s.listen()
-#     # fc.cpu_temperature()
-    
-#     try:
-#         while 1:
-#             client, clientInfo = s.accept()
-#             print("server recv from: ", clientInfo)
-#             data = client.recv(1024)      # receive 1024 Bytes of message in binary format
-#             if data != b"":
-#                 print(f"Received: {data}")
-#                 # Convert bytes to integer, removing trailing \r\n
-#                 direction = int(data.decode().strip())
-#                 status = car_movement(direction)
-#                 # Send back status information
-#                 client.sendall(f"Received command: {direction}, {status}".encode())
-#     except: 
-#         print("Closing socket")
-#         client.close()
-#         s.close()    
 
 with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
     s.bind((HOST, PORT))
@@ -177,12 +136,7 @@ with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
                         "status": car_status
                     })
                     client.sendall(response.encode())
-                    # except ValueError:
-                    #     print(f"Invalid command: {command}")
-                    #     client.sendall(b"Invalid command format")
-                    #     break
-                    # finally:
-                    #     client.close()
+                    
             else:
                 fc.stop()