First functional commit. Lots of features.

.gitignore

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+/.README.md.html

.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>ESP4S2</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.python.pydev.PyDevBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.python.pydev.pythonNature</nature>
+	</natures>
+</projectDescription>

.pydevproject

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?><pydev_project>
+<pydev_pathproperty name="org.python.pydev.PROJECT_SOURCE_PATH">
+<path>/${PROJECT_DIR_NAME}/src</path>
+</pydev_pathproperty>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+</pydev_project>

lua/.gitignore

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+/config.lua
+/secure.lua

lua/config.lua.example

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+WIFI_CFG_NAME="Home"
+
+ROBOREMO_PORT=9876
+
+MAC_config={
+	["Home"]={
+		["5ccf7f0fc2cc"]={name="tank-tower",
+		wifiMode=wifi.STATION,
+		ip="192.168.10.102",
+		static_ip=false,
+		net_type=net.UDP,
+		listen={port=ROBOREMO_PORT},
+		target={addr="192.168.10.103", port=ROBOREMO_PORT},
+    devices={["hcsr"]={["absorber"]=3,["tmr_ms"]=500}}
+		},
+		["18fe34d40583"]={name="tank-chassis",
+		wifiMode=wifi.STATION,
+		ip="192.168.10.103",
+		static_ip=false,
+		net_type=net.UDP,
+		listen={port=ROBOREMO_PORT},
+		target={addr="", port=ROBOREMO_PORT},
+    devices={}
+		}
+	},
+	["Demo"]={
+		["5ccf7f0fc2cc"]={name="tank-tower",
+		wifiMode=wifi.STATION,
+		ip="192.168.11.102",
+		static_ip=false,
+		netmask="255.255.255.0",
+		net_type=net.UDP,
+		listen={port=ROBOREMO_PORT},
+		target={addr="192.168.11.103", port=ROBOREMO_PORT},
+    devices={}
+		},
+		["18fe34d40583"]={name="tank-chassis",
+		wifiMode=wifi.SOFTAP,
+		ip="192.168.11.103",
+		static_ip=false,
+		netmask="255.255.255.0",
+		net_type=net.UDP,
+		listen={port=ROBOREMO_PORT},
+		target={addr="", port=ROBOREMO_PORT},
+    devices={}
+		}	
+	}
+}

lua/conn_udp.lua

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+function initUdp(dataReceiver)
+	if config.listen.port>0 then
+		print("UDP: Init listener :"..config.listen.port)
+		connListener=net.createServer(net.UDP) 
+		connListener:on("receive", dataReceiver) 
+        connListener:listen(config.listen.port)     
+	end
+	if config.target.port>0 and string.len(config.target.addr)>0 then
+		print("UDP: Init sender "..config.target.addr..":"..config.target.port)
+		connSender=net.createConnection(net.UDP,0)
+		connSender:on("sent", function(sck) print("UDP: Sent") end )
+		connSender:connect(config.target.port, config.target.addr)
+	end
+end
+
+function closeUdp()
+	print("UDP: Close")
+	connListener=nil
+	connSender=nil
+end
+
+function sendUdp(body)
+	connListener(body)
+--	if connSender~=nil then
+--		print("UDP: Sending "..body)
+--		connSender:send(body)
+--	end
+end
+
+sendBody=sendUdp
+initConnection=initUdp
+closeConnection=closeUdp

lua/hcsr.lua

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+-- HC-SR04 example for NodeMCU
+-- Original source from https://github.com/sza2/node_hcsr04
+--   main change: replacing tmr.delay to tmr.alert
+-- Optimized for WeMos D1 mini, see more:
+--   http://www.wemos.cc/Products/d1_mini.html
+-- Sensor pins:
+--   ECHO: D8 (GPIO15) pulled down by 10k (R2) on WeMos D1 mini
+--	   R1 between ECHO and D8 as voltage divider: 4k7, see more:
+--	   http://www.modmypi.com/blog/hc-sr04-ultrasonic-range-sensor-on-the-raspberry-pi
+--   TRIG: D0 (GPIO16)
+--     Can only be used as gpio read/write. No support for open-drain/interrupt/pwm/i2c/ow.
+--   VCC: 5V
+--   GND: G
+-- Trig time: min. 10 us
+-- Max echo time: 38 ms
+-- Usage:
+--   dofile("hcsr.lua") device=hcsr.init() device.start()
+
+HCSR_TRIG_DEFAULT = 0
+HCSR_ECHO_DEFAULT = 8
+HCSR_ABSORBER_DEFAULT = 2
+HCSR_TMR_ID_DEFAULT = 6
+HCSR_TMR_MS_DEFAULT = 500
+HCSR_TRIG_US = 10
+
+hcsr = {};
+
+function hcsr.init(pin_trig, pin_echo, absorber, tmr_id, tmr_ms)
+	local self = {}
+	self.tmr_id = tmr_id or HCSR_TMR_ID_DEFAULT
+	tmr.stop(self.tmr_id)
+
+	self.time_start = 0
+	self.time_end = 0
+	self.trig = pin_trig or HCSR_TRIG_DEFAULT
+	self.echo = pin_echo or HCSR_ECHO_DEFAULT
+	gpio.mode(self.trig, gpio.OUTPUT)
+	gpio.mode(self.echo, gpio.INT)
+	self.absorber = absorber or HCSR_ABSORBER_DEFAULT
+	self.tmr_ms = tmr_ms or HCSR_TMR_MS_DEFAULT
+	self.last = 0
+	self.value = 0
+	self.dus = 0
+
+	print("HCSR: trig="..tostring(self.trig)..", echo="..tostring(self.echo)..", absorber="..tostring(self.absorber)..", tmr_id="..tostring(self.tmr_id)..", tmr_ms="..tostring(self.tmr_ms))
+
+	function self.sleep(tus)
+		local start = tmr.now()
+		self.dus = 0 
+		while(self.dus < tus) do
+			self.dus = tmr.now() - start
+		end
+	end
+
+	function self.echo_cb(level)
+		--print("  self.echo_cb "..level)
+		if level == 1 then
+			self.time_start = tmr.now()
+			gpio.trig(self.echo, "down")
+		else
+			self.time_end = tmr.now()
+			gpio.trig(self.echo, "none")
+		end
+	end
+
+	function self.sendTrig()
+		--print("  self.sendTrig")
+		self.time_start = 0
+		self.time_end = 0
+		self.last = 0
+		gpio.trig(self.echo, "up", self.echo_cb)
+		gpio.write(self.trig, gpio.HIGH)
+		self.sleep(HCSR_TRIG_US)
+		gpio.write(self.trig, gpio.LOW)
+	end
+
+	function self.updateValue()
+		local delta = -1
+		if self.time_end > 0  then
+			delta = self.time_end - self.time_start
+			if delta < 0 then delta = delta + 2147483647 end
+			self.last = delta
+			self.value = self.value + (self.last-self.value)/self.absorber
+		else
+			--self.last = -1
+			--self.value = -1
+		end
+
+		--print("cm="..tostring(self.value/58).." start="..self.time_start.." end="..self.time_end)
+		if self.value > 0 then
+			--print(string.rep(" ", self.value/58).."#")
+		else
+			--print("-")
+		end
+	end
+
+	function self.measureWorker()
+		--print()
+		self.updateValue()
+		self.sendTrig()
+
+		--print("  "..node.heap())
+		tmr.start(self.tmr_id)
+	end
+
+	function self.measure()
+		local status, err = pcall(self.measureWorker)
+		if not status then
+			print("HCSR: ERR: "..tostring(err))
+		end
+	end
+
+	function self.stop()
+		tmr.stop(self.tmr_id)
+	end
+
+	function self.start()
+		self.stop()
+		self.measure()
+	end
+
+	tmr.register(self.tmr_id, self.tmr_ms, tmr.ALARM_SEMI, self.measure)
+
+	return self
+end