class Button(threading.Thread): # pylint: disable=too-few-public-methods
"""Listens for physical button presses and controls the car."""
def __init__(self):
super(Button, self).__init__()
self.name = self.__class__.__name__
self._logger = AsyncLogger()
self._button_press_time = None
self._run = True
RPIO.setup(BUTTON_GPIO_PIN, RPIO.IN, RPIO.PUD_DOWN)
RPIO.add_interrupt_callback(
BUTTON_GPIO_PIN,
self.gpio_callback,
debounce_timeout_ms=50
)
self._command = CommandProducer()
def run(self):
"""Run in a thread, waits for button presses."""
while self._run:
RPIO.wait_for_interrupts()
time.sleep(1)
def kill(self):
"""Stops the thread."""
self._run = False
RPIO.stop_waiting_for_interrupts()
def gpio_callback(self, gpio_id, value):
"""Called when the button is pressed."""
if value == BUTTON_UP:
return
self._logger.info('Button pressed: GPIO pin {pin}'.format(pin=gpio_id))
# One press to start, two within a second to stop
if self._button_press_time is None:
self._command.start()
elif time.time() - self._button_press_time < 1.0:
self._command.stop()
else:
self._command.start()
self._button_press_time = time.time()
class Button(threading.Thread): # pylint: disable=too-few-public-methods
"""Listens for physical button presses and controls the car."""
def __init__(self):
super(Button, self).__init__()
self.name = self.__class__.__name__
self._logger = AsyncLogger()
self._button_press_time = None
self._run = True
RPIO.setup(BUTTON_GPIO_PIN, RPIO.IN, RPIO.PUD_DOWN)
RPIO.add_interrupt_callback(BUTTON_GPIO_PIN,
self.gpio_callback,
debounce_timeout_ms=50)
self._command = CommandProducer()
def run(self):
"""Run in a thread, waits for button presses."""
while self._run:
RPIO.wait_for_interrupts()
time.sleep(1)
def kill(self):
"""Stops the thread."""
self._run = False
RPIO.stop_waiting_for_interrupts()
def gpio_callback(self, gpio_id, value):
"""Called when the button is pressed."""
if value == BUTTON_UP:
return
self._logger.info('Button pressed: GPIO pin {pin}'.format(pin=gpio_id))
# One press to start, two within a second to stop
if self._button_press_time is None:
self._command.start()
elif time.time() - self._button_press_time < 1.0:
self._command.stop()
else:
self._command.start()
self._button_press_time = time.time()
class StatusApp(object):
"""Status page for the vehicle."""
def __init__(self, telemetry, waypoint_generator, port):
self._command = CommandProducer()
self._telemetry = telemetry
self._logger = AsyncLogger()
self._port = port
self._waypoint_generator = waypoint_generator
def get_ip(interface):
"""Returns the IPv4 address of a given interface."""
try:
addresses = netifaces.ifaddresses(interface)
if len(addresses) == 0:
return None
if netifaces.AF_INET not in addresses:
return None
return addresses[netifaces.AF_INET][0]['addr']
except Exception as exc: # pylint: disable=broad-except
self._logger.warn(
'Exception trying to get interface address: {exc}'.format(
exc=str(exc)))
return None
self._host_ip = None
def interface_preference(interface):
"""Ordering function that orders wireless adapters first, then
physical, then loopback.
"""
if interface.startswith('wlan') or interface == 'en1':
return 0
if interface.startswith('eth') or interface == 'en0':
return 1
if interface.startswith('lo'):
return 2
return 3
interfaces = sorted(netifaces.interfaces(), key=interface_preference)
for iface in interfaces:
self._host_ip = get_ip(iface)
if self._host_ip is not None:
self._logger.info(
'Monitor web server listening on {iface}'.format(
iface=iface))
break
if self._host_ip is None:
self._logger.error('No valid host found, listening on loopback')
self._host_ip = get_ip('lo')
@staticmethod
def get_config(monitor_root_dir):
"""Returns the required CherryPy configuration for this application."""
return {
'/': {
'tools.sessions.on': True,
'tools.staticdir.root': monitor_root_dir + '/monitor/',
},
'/static': {
'tools.staticdir.on': True,
'tools.staticdir.dir': '..' + os.sep + STATIC_DIR
},
'/ws': {
'tools.websocket.on': True,
'tools.websocket.handler_cls': WebSocketHandler
},
}
@cherrypy.expose
def index(self): # pylint: disable=no-self-use
"""Index page."""
# This is the worst templating ever, but I don't feel like it's worth
# installing a full engine just for this one substitution
index_page = None
index_file_name = MONITOR_DIR + 'index.html'
if sys.version_info.major == 2:
with open(index_file_name) as file_:
index_page = file_.read().decode('utf-8')
else:
with open(index_file_name, encoding='utf-8') as file_:
index_page = file_.read()
return index_page.replace(
'${webSocketAddress}', '{host_ip}:{port}/ws'.format(
host_ip=self._host_ip, port=self._port)).replace(
'${waypointFileOptions}', '\n'.join(
('<option value="{file}">{file}</option>'.format(
file=i) for i in os.listdir('paths')
if i.endswith('kml') or i.endswith('kmz'))))
@cherrypy.expose
@cherrypy.tools.json_out()
def telemetry_json(self):
"""Returns the telemetry data of the car."""
telemetry = self._telemetry.get_data(update=False)
waypoint_x_m, waypoint_y_m = self._waypoint_generator.get_raw_waypoint(
)
telemetry.update({
'waypoint_x_m': waypoint_x_m,
'waypoint_y_m': waypoint_y_m,
})
return telemetry
@cherrypy.expose
@cherrypy.tools.json_out()
def run(self):
"""Runs the car."""
self._check_post()
self._command.start()
self._logger.info('Received run command from web')
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def stop(self):
"""Stops the car."""
self._check_post()
self._command.stop()
self._logger.info('Received stop command from web')
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def reset(self):
"""Resets the waypoints."""
self._check_post()
self._command.reset()
self._logger.info('Received reset command from web')
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def calibrate_compass(self): # pylint: disable=no-self-use
"""Calibrates the compass."""
self._check_post()
self._logger.info('Received calibrate compass command from web')
self._command.calibrate_compass()
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def set_max_throttle(self, throttle): # pylint: disable=no-self-use
"""Hands off the maximum throttle to the command exchange."""
self._logger.info('Received throttle command from web')
self._command.set_max_throttle(throttle)
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def set_waypoints(self, kml_file_name): # pylint: disable=no-self-use
"""Hands off the file to load waypoints to the waypoint exchange."""
self._logger.info('Received set waypoints: {} command from web'.format(
kml_file_name))
WaypointProducer().load_kml_file(kml_file_name)
self._telemetry.load_kml_from_file_name(kml_file_name)
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def shut_down(self):
"""Shuts down the Pi."""
self._command.stop()
subprocess.Popen(('bash', '-c', 'sleep 10 && sudo shutdown -h now'))
os.kill(os.getpid(), signal.SIGINT)
return {'success': True}
@cherrypy.expose
def ws(self): # pylint: disable=invalid-name
"""Dummy method to tell CherryPy to expose the web socket end point."""
pass
@staticmethod
def _check_post():
"""Checks that the request method is POST."""
if cherrypy.request.method != 'POST':
cherrypy.response.headers['Allow'] = 'POST'
raise cherrypy.HTTPError(405)
class StatusApp(object):
"""Status page for the vehicle."""
def __init__(self, telemetry, waypoint_generator, port):
self._command = CommandProducer()
self._telemetry = telemetry
self._logger = AsyncLogger()
self._port = port
self._waypoint_generator = waypoint_generator
def get_ip(interface):
"""Returns the IPv4 address of a given interface."""
try:
addresses = netifaces.ifaddresses(interface)
if len(addresses) == 0:
return None
if netifaces.AF_INET not in addresses:
return None
return addresses[netifaces.AF_INET][0]['addr']
except Exception as exc: # pylint: disable=broad-except
self._logger.warn(
'Exception trying to get interface address: {exc}'.format(
exc=str(exc)
)
)
return None
self._host_ip = None
def interface_preference(interface):
"""Ordering function that orders wireless adapters first, then
physical, then loopback.
"""
if interface.startswith('wlan') or interface == 'en1':
return 0
if interface.startswith('eth') or interface == 'en0':
return 1
if interface.startswith('lo'):
return 2
return 3
interfaces = sorted(netifaces.interfaces(), key=interface_preference)
for iface in interfaces:
self._host_ip = get_ip(iface)
if self._host_ip is not None:
self._logger.info(
'Monitor web server listening on {iface}'.format(
iface=iface
)
)
break
if self._host_ip is None:
self._logger.error('No valid host found, listening on loopback')
self._host_ip = get_ip('lo')
@staticmethod
def get_config(monitor_root_dir):
"""Returns the required CherryPy configuration for this application."""
return {
'/': {
'tools.sessions.on': True,
'tools.staticdir.root': monitor_root_dir + '/monitor/',
},
'/static': {
'tools.staticdir.on': True,
'tools.staticdir.dir': '..' + os.sep + STATIC_DIR
},
'/ws': {
'tools.websocket.on': True,
'tools.websocket.handler_cls': WebSocketHandler
},
}
@cherrypy.expose
def index(self): # pylint: disable=no-self-use
"""Index page."""
# This is the worst templating ever, but I don't feel like it's worth
# installing a full engine just for this one substitution
index_page = None
index_file_name = MONITOR_DIR + 'index.html'
if sys.version_info.major == 2:
with open(index_file_name) as file_:
index_page = file_.read().decode('utf-8')
else:
with open(index_file_name, encoding='utf-8') as file_:
index_page = file_.read()
return index_page.replace(
'${webSocketAddress}',
'{host_ip}:{port}/ws'.format(
host_ip=self._host_ip,
port=self._port
)
).replace(
'${waypointFileOptions}',
'\n'.join((
'<option value="{file}">{file}</option>'.format(file=i)
for i in os.listdir('paths')
if i.endswith('kml') or i.endswith('kmz')
))
)
@cherrypy.expose
@cherrypy.tools.json_out()
def telemetry_json(self):
"""Returns the telemetry data of the car."""
telemetry = self._telemetry.get_data(update=False)
waypoint_x_m, waypoint_y_m = self._waypoint_generator.get_raw_waypoint()
telemetry.update({
'waypoint_x_m': waypoint_x_m,
'waypoint_y_m': waypoint_y_m,
})
return telemetry
@cherrypy.expose
@cherrypy.tools.json_out()
def run(self):
"""Runs the car."""
self._check_post()
self._command.start()
self._logger.info('Received run command from web')
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def stop(self):
"""Stops the car."""
self._check_post()
self._command.stop()
self._logger.info('Received stop command from web')
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def reset(self):
"""Resets the waypoints."""
self._check_post()
self._command.reset()
self._logger.info('Received reset command from web')
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def calibrate_compass(self): # pylint: disable=no-self-use
"""Calibrates the compass."""
self._check_post()
self._logger.info('Received calibrate compass command from web')
self._command.calibrate_compass()
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def set_max_throttle(self, throttle): # pylint: disable=no-self-use
"""Hands off the maximum throttle to the command exchange."""
self._logger.info('Received throttle command from web')
self._command.set_max_throttle(throttle)
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def set_waypoints(self, kml_file_name): # pylint: disable=no-self-use
"""Hands off the file to load waypoints to the waypoint exchange."""
self._logger.info(
'Received set waypoints: {} command from web'.format(
kml_file_name
)
)
WaypointProducer().load_kml_file(kml_file_name)
self._telemetry.load_kml_from_file_name(kml_file_name)
return {'success': True}
@cherrypy.expose
@cherrypy.tools.json_out()
def shut_down(self):
"""Shuts down the Pi."""
self._command.stop()
subprocess.Popen(('bash', '-c', 'sleep 10 && sudo shutdown -h now'))
os.kill(os.getpid(), signal.SIGINT)
return {'success': True}
@cherrypy.expose
def ws(self): # pylint: disable=invalid-name
"""Dummy method to tell CherryPy to expose the web socket end point."""
pass
@staticmethod
def _check_post():
"""Checks that the request method is POST."""
if cherrypy.request.method != 'POST':
cherrypy.response.headers['Allow'] = 'POST'
raise cherrypy.HTTPError(405)