/
endless.py
136 lines (111 loc) · 3.74 KB
/
endless.py
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import json
import gevent
import random
import operator
from flask import Flask, render_template, jsonify
from flask_sockets import Sockets
import motors
import redis_conduit as r
app = Flask(__name__)
sockets = Sockets(app)
ACTION_LIMIT = 80
position_min = 1
position_max = 3
position_default = 2
current_speed = default_speed = 6
SPEED_MAX = 10
SPEED_MIN = 1
@app.route('/')
def control_view():
return render_template('handheld_control.html')
def vote(name, side):
q = getattr(r, side)
q.append(name)
if name in r.vote_count:
r.redis_conn.hincrby('vote-count', name)
else:
r.vote_count[name] = 1
if name not in r.color_mapping:
r.color_mapping[name] = (random.randint(100, 255), random.randint(100, 255), random.randint(100, 255))
@sockets.route('/vote')
def vote_ws(ws):
while not ws.closed:
# Sleep to prevent *contstant* context-switches.
#gevent.sleep(0.1)
message_json = ws.receive()
if message_json:
message = json.loads(message_json)
vote(**message)
#print('voted %s' % repr(message))
@app.route('/status')
def status():
return render_template('status.html')
@app.route('/get-status')
def get_status():
with r.status_lock:
left_count = len(r.left)
right_count = len(r.right)
if (left_count >= ACTION_LIMIT) or (right_count >= ACTION_LIMIT):
r.left.clear()
r.right.clear()
r.state['last-left-count-upon-action'] = left_count
r.state['last-right-count-upon-action'] = right_count
if left_count >= right_count:
r.state['current-position'] = max(position_min, int(r.state['current-position']) - 1)
else:
r.state['current-position'] = min(position_max, int(r.state['current-position']) + 1)
pos = r.state['current-position']
motors.set_position(pos)
print('set position to %s' % pos)
status_data = {
'position-min': position_min,
'position-max': position_max,
'current-position': int(r.state['current-position']),
'color-mapping': dict(r.color_mapping),
'vote-count': sorted(dict(r.vote_count).iteritems(), key=operator.itemgetter(1)),
'left': list(r.left),
'right': list(r.right),
'action-limit': ACTION_LIMIT,
'last-left-count-upon-action': int(r.state['last-left-count-upon-action']),
'last-right-count-upon-action': int(r.state['last-right-count-upon-action']),
}
return jsonify(**status_data)
@app.route('/reset')
def reset():
global current_speed
r.color_mapping.clear()
r.vote_count.clear()
r.left.clear()
r.right.clear()
r.state['last-left-count-upon-action'] = 0
r.state['last-right-count-upon-action'] = 0
r.state['current-position'] = position_default
r.redis_conn.delete('status-lock')
motors.init()
motors.barrel_rotation_off()
motors.turn_motors_on()
current_speed = default_speed
motors.set_speed(current_speed)
return 'reset'
@app.route('/fast')
def fast():
global current_speed
current_speed = min(SPEED_MAX, current_speed+1)
motors.set_speed(current_speed)
@app.route('/slow')
def slow():
global current_speed
current_speed = max(SPEED_MIN, current_speed-1)
motors.set_speed(current_speed)
@app.route('/on')
def on():
motors.barrel_rotation_on()
@app.route('/off')
def off():
motors.barrel_rotation_off()
if __name__ == '__main__':
# app.debug = True
from gevent.pywsgi import WSGIServer
from geventwebsocket.handler import WebSocketHandler
server = WSGIServer(("0.0.0.0", 80), app, handler_class=WebSocketHandler)
server.serve_forever()