def stop(signum=0, frame=None):
global RUNNING
if RUNNING:
logger.info("Stopping...")
RUNNING = False
for task in TASKS:
task.stop()
def findRoute(self, path):
for source in self.routes:
if path.startswith(source):
route = path.replace(source, self.routes[source])
logger.info("Routing /%s => /%s" % (path, route))
return route
return path
def stop(signum=0, frame=None):
global RUNNING
if RUNNING:
logger.info("Stopping...")
RUNNING = False
for task in TASKS:
task.stop()
def addRoute(self, source, destination):
if source[0] == "/":
source = source[1:]
if destination[0] == "/":
destination = destination[1:]
self.routes[source] = destination
logger.info("Added Route /%s => /%s" % (source, destination))
def addRoute(self, source, destination):
if source[0] == "/":
source = source[1:]
if destination[0] == "/":
destination = destination[1:]
self.routes[source] = destination
logger.info("Added Route /%s => /%s" % (source, destination))
def findRoute(self, path):
for source in self.routes:
if path.startswith(source):
route = path.replace(source, self.routes[source])
logger.info("Routing /%s => /%s" % (path, route))
return route
return path
def run(self):
info("CoAP Server binded on coap://%s:%s/" % (self.host, self.port))
while self.running == True:
try:
(request, client) = self.socket.recvfrom(1500)
requestBytes = bytearray(request)
coapRequest = COAPRequest()
coapRequest.parseByteArray(requestBytes)
coapResponse = COAPResponse()
# self.logger.debug("Received Request:\n%s" % coapRequest)
self.processMessage(coapRequest, coapResponse)
# self.logger.debug("Sending Response:\n%s" % coapResponse)
responseBytes = coapResponse.getBytes()
self.socket.sendto(responseBytes, client)
self.logger.debug(
'"%s %s CoAP/%.1f" - %s (Client: %s)'
% (
coapRequest.CODES[coapRequest.code],
coapRequest.uri_path,
coapRequest.version,
coapResponse.CODES[coapResponse.code],
client[0],
)
)
except socket.timeout as e:
continue
except Exception as e:
if self.running == True:
exception(e)
info("CoAP Server stopped")
def run(self):
info("CoAP Server binded on coap://%s:%s/" % (self.host, self.port))
while self.running == True:
try:
(request, client) = self.socket.recvfrom(1500)
requestBytes = bytearray(request)
coapRequest = COAPRequest()
coapRequest.parseByteArray(requestBytes)
coapResponse = COAPResponse()
#self.logger.debug("Received Request:\n%s" % coapRequest)
self.processMessage(coapRequest, coapResponse)
#self.logger.debug("Sending Response:\n%s" % coapResponse)
responseBytes = coapResponse.getBytes()
self.socket.sendto(responseBytes, client)
self.logger.debug(
'"%s %s CoAP/%.1f" - %s (Client: %s)' %
(coapRequest.CODES[coapRequest.code], coapRequest.uri_path,
coapRequest.version,
coapResponse.CODES[coapResponse.code], client[0]))
except socket.timeout as e:
continue
except Exception as e:
if self.running == True:
exception(e)
info("CoAP Server stopped")
def main(argv):
port = 8000
configfile = None
scriptfile = None
logfile = None
i = 1
while i < len(argv):
if argv[i] in ["-c", "-C", "--config-file"]:
configfile = argv[i+1]
i+=1
elif argv[i] in ["-l", "-L", "--log-file"]:
logfile = argv[i+1]
i+=1
elif argv[i] in ["-s", "-S", "--script-file"]:
scriptfile = argv[i+1]
i+=1
elif argv[i] in ["-h", "-H", "--help"]:
displayHelp()
elif argv[i] in ["-d", "--debug"]:
setDebug()
else:
try:
port = int(argv[i])
except ValueError:
displayHelp()
i+=1
if logfile:
logToFile(logfile)
info("Starting %s" % VERSION_STRING)
server = Server(port=port, configfile=configfile, scriptfile=scriptfile)
runLoop()
server.stop()
def run(self):
info("HTTP Server binded on http://%s:%s%s" % (self.host, self.port, self.context))
try:
self.serve_forever()
except Exception as e:
if self.running == True:
exception(e)
info("HTTP Server stopped")
def run(self):
info("HTTP Server binded on http://%s:%s%s" % (self.host, self.port, self.context))
try:
self.serve_forever()
except Exception as e:
if self.running == True:
exception(e)
info("HTTP Server stopped")
def enableMulticast(self):
while not self.running:
pass
mreq = struct.pack("4sl", socket.inet_aton(self.multicast_ip),
socket.INADDR_ANY)
self.socket.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP,
mreq)
info("CoAP Server binded on coap://%s:%s/ (MULTICAST)" %
(self.multicast_ip, self.port))
def loadModules(bus):
if BUSLIST[bus]["enabled"] == False and not modulesLoaded(bus):
info("Loading %s modules" % bus)
for module in BUSLIST[bus]["modules"]:
loadModule(module)
if "wait" in BUSLIST[bus]:
info("Sleeping %ds to let %s modules load" % (BUSLIST[bus]["wait"], bus))
time.sleep(BUSLIST[bus]["wait"])
BUSLIST[bus]["enabled"] = True
def loadModules(bus):
if BUSLIST[bus]["enabled"] == False and not modulesLoaded(bus):
info("Loading %s modules" % bus)
for module in BUSLIST[bus]["modules"]:
loadModule(module)
if "wait" in BUSLIST[bus]:
info("Sleeping %ds to let %s modules load" %
(BUSLIST[bus]["wait"], bus))
time.sleep(BUSLIST[bus]["wait"])
BUSLIST[bus]["enabled"] = True
def loadScript(name, source, handler = None):
logger.info("Loading %s from %s" % (name, source))
script = imp.load_source(name, source)
SCRIPTS[name] = script
if hasattr(script, "setup"):
script.setup()
if handler:
for aname in dir(script):
attr = getattr(script, aname)
if callable(attr) and hasattr(attr, "macro"):
handler.addMacro(attr)
if hasattr(script, "loop"):
thread.runLoop(script.loop, True)
def loadScript(name, source, handler=None):
logger.info("Loading %s from %s" % (name, source))
script = imp.load_source(name, source)
SCRIPTS[name] = script
if hasattr(script, "setup"):
script.setup()
if handler:
for aname in dir(script):
attr = getattr(script, aname)
if callable(attr) and hasattr(attr, "macro"):
handler.addMacro(attr)
if hasattr(script, "loop"):
thread.runLoop(script.loop, True)
def addDeviceInstance(name, dev, args):
funcs = {"GET": {}, "POST": {}}
for att in dir(dev):
func = getattr(dev, att)
if callable(func) and hasattr(func, "routed"):
if name == "GPIO":
logger.debug("Mapping %s.%s to REST %s /GPIO/%s" % (dev, att, func.method, func.path))
else:
logger.debug("Mapping %s.%s to REST %s /devices/%s/%s" % (dev, att, func.method, name, func.path))
funcs[func.method][func.path] = func
DEVICES[name] = {'device': dev, 'functions': funcs}
if name == "GPIO":
logger.info("GPIO - Native mapped to REST API /GPIO")
else:
logger.info("%s - %s mapped to REST API /devices/%s" % (dev.__family__(), dev, name))
def addDeviceInstance(name, dev, args):
funcs = {"GET": {}, "POST": {}}
for att in dir(dev):
func = getattr(dev, att)
if callable(func) and hasattr(func, "routed"):
if name == "GPIO":
logger.debug("Mapping %s.%s to REST %s /GPIO/%s" %
(dev, att, func.method, func.path))
else:
logger.debug("Mapping %s.%s to REST %s /devices/%s/%s" %
(dev, att, func.method, name, func.path))
funcs[func.method][func.path] = func
DEVICES[name] = {'device': dev, 'functions': funcs}
if name == "GPIO":
logger.info("GPIO - Native mapped to REST API /GPIO")
else:
logger.info("%s - %s mapped to REST API /devices/%s" %
(dev.__family__(), dev, name))
def readAll(self):
logger.info('Getting all GrovePi readings')
inputs = {}
outputs = {}
for i in range(8):
inputs[i] = self.digitalRead(i)
outputs[i] = self.digitalReadOutput(i)
logger.info('Inputs are {}'.format(inputs))
logger.info('Outputs are {}'.format(outputs))
return {"input": inputs, "output": outputs}
def left():
info("Turn Left")
monster.turn_left()
def right():
info("Turn Right")
monster.turn_right()
def main(argv):
port = 8000
configfile = None
logfile = None
i = 1
while i < len(argv):
if argv[i] in ["-c", "-C", "--config-file"]:
configfile = argv[i + 1]
i += 1
elif argv[i] in ["-l", "-L", "--log-file"]:
logfile = argv[i + 1]
i += 1
elif argv[i] in ["-h", "-H", "--help"]:
displayHelp()
elif argv[i] in ["-d", "--debug"]:
setDebug()
else:
try:
port = int(argv[i])
except ValueError:
displayHelp()
i += 1
if logfile:
logToFile(logfile)
info("Starting XBee %s" % VERSION)
# setup serial
serial = Serial()
serial.port = '/dev/ttyAMA0'
serial.baudrate = 9600
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
# disregard any pending data in xbee buffer
serial.flushInput()
# force to show xbee boot menu
time.sleep(.5)
serial.writelines("\r")
time.sleep(.5)
# read menu
while serial.inWaiting() > 0:
debug("%s" % serial.readline())
# trigger bypass automatically
serial.writelines("B")
# post startup message to other XBee's and at stdout
#serial.writelines("RPi #1 is up and running.\r\n")
info("RPi #1 is up and running.")
try:
while True:
waitToSend = True
# read a line from XBee and convert it from b'xxx\r\n' to xxx and send to webiopi
while serial.inWaiting() > 0:
try:
line = serial.readline().decode('utf-8').strip('\n\r')
if line:
waitToSend = False
debug("Received: %s" % line)
try:
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "setCarInfo")
macro.call(line.replace(",", "%2C"))
except:
exception("setting car info failed!")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
try:
time.sleep(1.)
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "getPitInfo")
data = macro.call()
if data:
debug("Sending: %s" % data)
serial.writelines(data + "\n")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
except KeyboardInterrupt:
info("*** Ctrl-C keyboard interrupt ***")
exception(e)
time.sleep(1.)
try:
time.sleep(1.)
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "getPitInfo")
data = macro.call()
if data:
debug("Sending: %s" % data)
serial.writelines(data + "\n")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
except KeyboardInterrupt:
info("*** Ctrl-C keyboard interrupt ***")
if __name__ == "__main__":
try:
main(sys.argv)
except Exception as e:
exception(e)
stop()
info("RPi #1 is going down")
def digitalRead(self, channel):
logger.info("Executing read_i2c_block")
self.write_i2c_block(self.__address, self.__dRead_cmd + [channel, self.__unused, self.__unused])
time.sleep(.1)
n = self.read_i2c_byte(self.__address)
return n
def forward():
info("Go Forward")
monster.forward_speed_up()
def __init__(self, port=8000, coap_port=5683, login=None, password=None, passwdfile=None, configfile=None, scriptfile=None):
self.host = getLocalIP()
self.gpio = NativeGPIO()
self.restHandler = rest.RESTHandler()
manager.addDeviceInstance("GPIO", self.gpio, [])
if configfile != None:
logger.info("Loading configuration from %s" % configfile)
config = Config(configfile)
else:
config = Config()
self.gpio.addSetups(config.items("GPIO"))
self.gpio.addResets(config.items("~GPIO"))
self.gpio.setup()
#ADDED OVK
self.gpiox = ExtendedGPIO()
manager.addDeviceInstance("GPIOX", self.gpiox, [])
self.gpiox.addCards(config.get("GPIOX", "cards", None))
#TODO Add setup and reset to set initial state, if needed
#self.gpiox.addSetups(config.items("GPIOX"))
#self.gpiox.addResets(config.items("~GPIOX"))
#self.gpiox.setup()
#ADDED OVK
devices = config.items("DEVICES")
for (name, params) in devices:
values = params.split(" ")
driver = values[0];
args = {}
i = 1
while i < len(values):
(arg, val) = values[i].split(":")
args[arg] = val
i+=1
manager.addDevice(name, driver, args)
if scriptfile != None:
scriptname = scriptfile.split("/")[-1].split(".")[0]
loader.loadScript(scriptname, scriptfile, self.restHandler)
scripts = config.items("SCRIPTS")
for (name, source) in scripts:
loader.loadScript(name, source, self.restHandler)
self.restHandler.device_mapping = config.getboolean("REST", "device-mapping", True)
self.gpio.post_value = config.getboolean("REST", "gpio-post-value", True)
self.gpio.post_function = config.getboolean("REST", "gpio-post-function", True)
#ADDED OVK
self.gpiox.post_value = True
self.gpiox.post_function = True
#ADDED OVK
exports = config.get("REST", "gpio-export", None)
if exports != None:
self.gpio.export = [int(s) for s in exports.split(",")]
self.restHandler.export = self.gpio.export
http_port = config.getint("HTTP", "port", port)
http_enabled = config.getboolean("HTTP", "enabled", http_port > 0)
http_passwdfile = config.get("HTTP", "passwd-file", passwdfile)
context = config.get("HTTP", "context", None)
docroot = config.get("HTTP", "doc-root", None)
index = config.get("HTTP", "welcome-file", None)
coap_port = config.getint("COAP", "port", coap_port)
coap_enabled = config.getboolean("COAP", "enabled", coap_port > 0)
coap_multicast = config.getboolean("COAP", "multicast", coap_enabled)
routes = config.items("ROUTES")
for (source, destination) in routes:
self.restHandler.addRoute(source, destination)
auth = None
if http_passwdfile != None:
if os.path.exists(http_passwdfile):
f = open(http_passwdfile)
auth = f.read().strip(" \r\n")
f.close()
if len(auth) > 0:
logger.info("Access protected using %s" % http_passwdfile)
else:
logger.info("Passwd file %s is empty" % http_passwdfile)
else:
logger.error("Passwd file %s not found" % http_passwdfile)
elif login != None or password != None:
auth = crypto.encryptCredentials(login, password)
logger.info("Access protected using login/password")
if auth == None or len(auth) == 0:
logger.warn("Access unprotected")
realm = config.get("HTTP", "prompt", None)
if http_enabled:
self.http_server = http.HTTPServer(self.host, http_port, self.restHandler, context, docroot, index, auth, realm)
else:
self.http_server = None
if coap_enabled:
self.coap_server = coap.COAPServer(self.host, coap_port, self.restHandler)
if coap_multicast:
self.coap_server.enableMulticast()
else:
self.coap_server = None
def turn_completed():
info("Turn completed")
monster.turn_completed()
def stop():
info("Stop the motors")
monster.turnOffMotors()
def initiate():
info("Initialize")
monster.initiate()
def unloadModules(bus):
info("Unloading %s modules" % bus)
for module in BUSLIST[bus]["modules"]:
unloadModule(module)
BUSLIST[bus]["enabled"] = False
def unloadModules(bus):
info("Unloading %s modules" % bus)
for module in BUSLIST[bus]["modules"]:
unloadModule(module)
BUSLIST[bus]["enabled"] = False
def __init__(self, port=8000, coap_port=5683, login=None, password=None, passwdfile=None, configfile=None):
self.host = getLocalIP()
self.gpio = NativeGPIO()
self.restHandler = rest.RESTHandler()
manager.addDeviceInstance("GPIO", self.gpio, [])
if configfile != None:
logger.info("Loading configuration from %s" % configfile)
config = Config(configfile)
else:
config = Config()
self.gpio.addSetups(config.items("GPIO"))
self.gpio.addResets(config.items("~GPIO"))
self.gpio.setup()
devices = config.items("DEVICES")
for (name, params) in devices:
values = params.split(" ")
driver = values[0];
args = {}
i = 1
while i < len(values):
(arg, val) = values[i].split(":")
args[arg] = val
i+=1
manager.addDevice(name, driver, args)
scripts = config.items("SCRIPTS")
for (name, source) in scripts:
loader.loadScript(name, source, self.restHandler)
self.restHandler.device_mapping = config.getboolean("REST", "device-mapping", True)
self.gpio.post_value = config.getboolean("REST", "gpio-post-value", True)
self.gpio.post_function = config.getboolean("REST", "gpio-post-function", True)
exports = config.get("REST", "gpio-export", None)
if exports != None:
self.gpio.export = [int(s) for s in exports.split(",")]
self.restHandler.export = self.gpio.export
http_port = config.getint("HTTP", "port", port)
http_enabled = config.getboolean("HTTP", "enabled", http_port > 0)
http_passwdfile = config.get("HTTP", "passwd-file", passwdfile)
context = config.get("HTTP", "context", None)
docroot = config.get("HTTP", "doc-root", None)
index = config.get("HTTP", "welcome-file", None)
coap_port = config.getint("COAP", "port", coap_port)
coap_enabled = config.getboolean("COAP", "enabled", coap_port > 0)
coap_multicast = config.getboolean("COAP", "multicast", coap_enabled)
routes = config.items("ROUTES")
for (source, destination) in routes:
self.restHandler.addRoute(source, destination)
auth = None
if http_passwdfile != None:
if os.path.exists(http_passwdfile):
f = open(http_passwdfile)
auth = f.read().strip(" \r\n")
f.close()
if len(auth) > 0:
logger.info("Access protected using %s" % http_passwdfile)
else:
logger.info("Passwd file %s is empty" % http_passwdfile)
else:
logger.error("Passwd file %s not found" % http_passwdfile)
elif login != None or password != None:
auth = crypto.encryptCredentials(login, password)
logger.info("Access protected using login/password")
if auth == None or len(auth) == 0:
logger.warn("Access unprotected")
if http_enabled:
self.http_server = http.HTTPServer(self.host, http_port, self.restHandler, context, docroot, index, auth)
else:
self.http_server = None
if coap_enabled:
self.coap_server = coap.COAPServer(self.host, coap_port, self.restHandler)
if coap_multicast:
self.coap_server.enableMulticast()
else:
self.coap_server = None
except Exception as e:
exception(e)
time.sleep(1.)
try:
time.sleep(1.)
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "getPitInfo")
data = macro.call()
if data:
debug("Sending: %s" % data)
serial.writelines(data + "\n")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
except KeyboardInterrupt:
info("*** Ctrl-C keyboard interrupt ***")
if __name__ == "__main__":
try:
main(sys.argv)
except Exception as e:
exception(e)
stop()
info("RPi #1 is going down")
def slow_down():
info("Slow Down")
monster.speed_down()
def enableMulticast(self):
while not self.running:
pass
mreq = struct.pack("4sl", socket.inet_aton(self.multicast_ip), socket.INADDR_ANY)
self.socket.setsockopt(socket.IPPROTO_IP, socket.IP_ADD_MEMBERSHIP, mreq)
info("CoAP Server binded on coap://%s:%s/ (MULTICAST)" % (self.multicast_ip, self.port))
def digitalWrite(self, channel, value):
logger.info("Executing write_i2c_block")
self.write_i2c_block(self.__address, self.__dWrite_cmd + [channel, value, self.__unused])
return 1
def reverse():
info("Go Reverse")
monster.reverse_speed_up()
def main(argv):
port = 8000
configfile = None
logfile = None
i = 1
while i < len(argv):
if argv[i] in ["-c", "-C", "--config-file"]:
configfile = argv[i+1]
i+=1
elif argv[i] in ["-l", "-L", "--log-file"]:
logfile = argv[i+1]
i+=1
elif argv[i] in ["-h", "-H", "--help"]:
displayHelp()
elif argv[i] in ["-d", "--debug"]:
setDebug()
else:
try:
port = int(argv[i])
except ValueError:
displayHelp()
i+=1
if logfile:
logToFile(logfile)
info("Starting XBee %s" % VERSION)
# setup serial
serial = Serial()
serial.port = '/dev/ttyAMA0'
serial.baudrate = 9600
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
# disregard any pending data in xbee buffer
serial.flushInput()
# force to show xbee boot menu
time.sleep(.5)
serial.writelines("\r")
time.sleep(.5)
# read menu
while serial.inWaiting() > 0:
debug("%s" % serial.readline())
# trigger bypass automatically
serial.writelines("B")
# post startup message to other XBee's and at stdout
#serial.writelines("RPi #1 is up and running.\r\n")
info("RPi #1 is up and running.")
try:
while True:
waitToSend = True
# read a line from XBee and convert it from b'xxx\r\n' to xxx and send to webiopi
while serial.inWaiting() > 0:
try:
line = serial.readline().decode('utf-8').strip('\n\r')
if line:
waitToSend = False
debug("Received: %s" % line)
try:
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "setCarInfo")
macro.call(line.replace(",", "%2C"))
except:
exception("setting car info failed!")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
try:
time.sleep(1.)
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "getPitInfo")
data = macro.call()
if data:
debug("Sending: %s" % data)
serial.writelines(data + "\n")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
except KeyboardInterrupt:
info("*** Ctrl-C keyboard interrupt ***")
