Update file wifi_server.py

wifi_server.py

+import socket
+from picar_4wd.utils import power_read, cpu_temperature
+import picar_4wd as fc
+import time
+
+HOST = "192.168.3.2" # IP address of your Raspberry PI
+PORT = 1026       # Port to listen on (non-privileged ports are > 1023)
+
+with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+    s.bind((HOST, PORT))
+    s.listen()
+
+    up_encoded = "up".encode()
+    down_encoded = "down".encode()
+    left_encoded = "left".encode()
+    right_encoded = "right".encode()
+    stop_encoded = "stop".encode()
+    speed = 0
+    direction = ""
+    try:
+        while 1:
+            client, clientInfo = s.accept()
+            # print("server recv from: ", clientInfo)
+            # receive 1024 Bytes of message in binary forma
+            data = client.recv(1024)
+
+            # decoded = data.decode()
+            if (data == up_encoded):
+                # time_until_stop = time.time() + 0.05
+                # while time.time() < time_until_stop:
+                #     fc.forward(10)
+                # fc.stop()
+                speed = 10
+                direction = "forward"
+                fc.forward(10)
+
+            elif (data == down_encoded):
+                # time_until_stop = time.time() + 0.05
+                # while time.time() < time_until_stop:
+                #     fc.backward(10)
+                # fc.stop()
+                speed = 10
+                direction = "backward"
+                fc.backward(10)
+
+            elif (data == left_encoded):
+                # time_until_stop = time.time() + 0.05
+                # while time.time() < time_until_stop:
+                # fc.stop()
+                fc.turn_left(10)
+                speed = 0
+                direction = "left"
+
+            elif (data == right_encoded):
+                # time_until_stop = time.time() + 0.05
+                # while time.time() < time_until_stop:
+                # fc.stop()
+                speed = 0
+                fc.turn_right(10)
+                direction = "right"
+            elif (data == stop_encoded):
+                fc.stop()
+
+            if data != b"":
+                total_data = str(direction) + "," + str(speed) + "," +str(power_read()) + "," + str(cpu_temperature())
+                print(total_data)
+                client.sendall(total_data.encode())  # Echo back to client
+
+
+
+    # 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(data)     
+    #             client.sendall(data) # Echo back to client
+    except: 
+        print("Closing socket")
+        client.close()
+        s.close()    
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