forked from CoderBotOrg/backend
/
main.py
227 lines (194 loc) · 6.69 KB
/
main.py
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import os
import json
import logging
import logging.handlers
from coderbot import CoderBot, PIN_PUSHBUTTON
from camera import Camera
from motion import Motion
from program import ProgramEngine, Program
from config import Config
from flask import Flask, render_template, request, send_file, redirect
from flask.ext.babel import Babel
#from flask_sockets import Sockets
logger = logging.getLogger()
logger.setLevel(logging.INFO)
# add a rotating handler
handler = logging.handlers.RotatingFileHandler('logs/coderbot.log', maxBytes=1000000, backupCount=5)
logger.addHandler(handler)
bot = None
cam = None
motion = None
app = Flask(__name__,static_url_path="")
#app.config.from_pyfile('coderbot.cfg')
babel = Babel(app)
app.debug = True
#sockets = Sockets(app)
app.prog_engine = ProgramEngine.get_instance()
app.prog = None
@babel.localeselector
def get_locale():
# otherwise try to guess the language from the user accept
# header the browser transmits.
loc = request.accept_languages.best_match(['it', 'en'])
if loc is None:
loc = 'it'
return loc
@app.route("/")
def handle_home():
return render_template('main.html', host=request.host[:request.host.find(':')], stream_port=cam.stream_port, locale = get_locale(), config=app.bot_config, program_level=app.bot_config.get("prog_level", "std"))
@app.route("/config", methods=["POST"])
def handle_config():
Config.write(request.form)
app.bot_config = Config.get()
return "ok";
@app.route("/wifi", methods=["POST"])
def handle_wifi():
mode = request.form.get("wifi_mode")
ssid = request.form.get("wifi_ssid")
psk = request.form.get("wifi_psk")
logging.info( "mode ", mode, " ssid: ", ssid, " psk: ", psk)
client_params = " \"" + ssid + "\" \"" + psk + "\"" if ssid != "" and psk != "" else ""
logging.info(client_params)
os.system("sudo python wifi.py updatecfg " + mode + client_params)
if mode == "ap":
return "http://coder.bot:8080";
else:
return "http://coderbotsrv.appspot.com/"
@app.route("/bot", methods=["GET"])
def handle_bot():
cmd = request.args.get('cmd')
param1 = request.args.get('param1')
param2 = request.args.get('param2')
if cmd == "move":
bot.move(speed=int(param1), elapse=float(param2))
elif cmd == "turn":
bot.turn(speed=int(param1), elapse=float(param2))
elif cmd == "move_motion":
motion.move(dist=float(param2))
elif cmd == "turn_motion":
motion.turn(angle=float(param2))
elif cmd == "stop":
bot.stop()
motion.stop()
elif cmd == "take_photo":
cam.photo_take()
bot.say(app.bot_config.get("sound_shutter"))
elif cmd == "video_rec":
cam.video_rec()
bot.say(app.bot_config.get("sound_shutter"))
elif cmd == "video_stop":
cam.video_stop()
bot.say(app.bot_config.get("sound_shutter"))
elif cmd == "say":
logging.info("say: " + str(param1))
bot.say(param1)
elif cmd == "halt":
logging.info("shutting down")
bot.say(app.bot_config.get("sound_stop"))
bot.halt()
elif cmd == "restart":
logging.info("restarting bot")
bot.restart()
elif cmd == "reboot":
logging.info("rebooting")
bot.reboot()
return "ok"
@app.route("/bot/status", methods=["GET"])
def handle_bot_status():
logging.info( "bot_status" )
return json.dumps({'status': 'ok'})
@app.route("/photos", methods=["GET"])
def handle_photos():
logging.info("photos")
return json.dumps(cam.get_photo_list())
@app.route("/photos/<filename>", methods=["GET"])
def handle_photo(filename):
logging.info("photo")
mimetype = {'jpeg': 'image/jpeg', 'h264': 'video/mp4'}
video = None
try:
video = cam.get_photo_file(filename)
except:
pass
return send_file(video, mimetype.get(filename[:-3],'image'), cache_timeout=0)
@app.route("/photos/<filename>", methods=["POST"])
def handle_photo_cmd(filename):
logging.debug("photo delete")
cam.delete_photo(filename)
return "ok"
@app.route("/photos/<filename>/thumb", methods=["GET"])
def handle_photo_thumb(filename):
logging.debug("photo_thumb")
return send_file(cam.get_photo_thumb_file(filename))
@app.route("/program/list", methods=["GET"])
def handle_program_list():
logging.debug("program_list")
return json.dumps(app.prog_engine.list())
@app.route("/program/load", methods=["GET"])
def handle_program_load():
logging.debug("program_load")
name = request.args.get('name')
app.prog = app.prog_engine.load(name)
return app.prog.dom_code
@app.route("/program/save", methods=["POST"])
def handle_program_save():
logging.debug("program_save")
name = request.form.get('name')
dom_code = request.form.get('dom_code')
code = request.form.get('code')
prog = Program(name, dom_code = dom_code, code = code)
app.prog_engine.save(prog)
return "ok"
@app.route("/program/delete", methods=["POST"])
def handle_program_delete():
logging.debug("program_delete")
name = request.form.get('name')
app.prog_engine.delete(name)
return "ok"
@app.route("/program/exec", methods=["POST"])
def handle_program_exec():
logging.debug("program_exec")
name = request.form.get('name')
code = request.form.get('code')
app.prog = app.prog_engine.create(name, code)
return json.dumps(app.prog.execute())
@app.route("/program/end", methods=["POST"])
def handle_program_end():
logging.debug("program_end")
if app.prog:
app.prog.end()
app.prog = None
return "ok"
@app.route("/program/status", methods=["GET"])
def handle_program_status():
logging.debug("program_status")
prog = Program("")
if app.prog:
prog = app.prog
return json.dumps({'name': prog.name, "running": prog.is_running()})
@app.route("/tutorial")
def handle_tutorial():
return redirect("/blockly-tutorial/apps/index.html", code=302)
def button_pushed():
if app.bot_config.get('button_func') == "startstop":
if app.prog and app.prog.is_running():
app.prog.end()
elif app.prog and not app.prog.is_running():
app.prog.execute()
def run_server():
global bot
global cam
global motion
try:
app.bot_config = Config.read()
bot = CoderBot.get_instance(servo=(app.bot_config.get("move_motor_mode")=="servo"))
cam = Camera.get_instance()
motion = Motion.get_instance()
except ValueError as e:
app.bot_config = {}
logging.error(e)
if app.bot_config.get('load_at_start') and len(app.bot_config.get('load_at_start')):
app.prog = app.prog_engine.load(app.bot_config.get('load_at_start'))
bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
bot.say(app.bot_config.get("sound_start"))
app.run(host="0.0.0.0", port=8080, debug=True, use_reloader=False, threaded=True)