class FlowerPi(object):
def __init__(self):
self.hardware = Hardware()
a = Astral()
a.solar_depression = 'civil'
self.city = a['Kiev']
self.rpc_server = RPCServer(self.hardware)
self.rpc_server.start()
def process(self):
now = datetime.now()
print("Processing... Current time: {}".format(str(now)))
sun = self.city.sun(date=now, local=True)
sunrise = sun['sunrise']
sunset = sun['sunset']
if sunrise.hour == now.hour and sunrise.minute == now.minute:
print("Sunrise. Time: {}".format(str(now)))
self.hardware.turn_lamp_low()
if sunset.hour == now.hour and sunset.minute == now.minute:
print("Sunset. Time: {}".format(str(now)))
self.hardware.turn_lamp_off()
def hardware():
hardware = Hardware(30)
hardware.powerButton = MagicMock()
hardware.powerButton.pressed.return_value = False
type(hardware.accelerometer).acceleration = PropertyMock(return_value=(1,
1,
1))
hardware.speaker = MagicMock()
hardware.speaker.audio = MagicMock()
return hardware
def test_next_color_displays_to_next_color():
state = State(initial_mode=mode.COLOR_CHANGE,
initial_color=colors.ALL_COLORS[0])
hardware = Hardware(30)
hardware.powerButton = MagicMock()
actions.saber = MagicMock()
actions.next_color(hardware, state)
actions.saber.on(hardware.strip, color=colors.ALL_COLORS[1])
hardware.powerButton.set_color.assert_called_with(colors.ALL_COLORS[1])
def test_swing_action_swells_light():
state = State(initial_mode=mode.ON, initial_color=colors.GREEN)
hardware = Hardware(30)
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.swing(hardware, state)
actions.saber.swell.assert_called_with(hardware.strip, state.idle_color,
state.color)
def test_activate_color_change_mode_displays_first_color():
state = State(initial_mode=mode.MODE_SELECT, initial_color=colors.GREEN)
state.mode_selector.next() # select color change mode TODO improve this
hardware = Hardware(30)
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.activate_color_change_mode(hardware)
actions.saber.on(hardware.strip, color=colors.ALL_COLORS[0])
def test_power_off_action_turns_off_lightsaber():
state = State(initial_mode=mode.ON, initial_color=colors.CYAN)
state.sounds.off = lambda: 'offblah'
hardware = Hardware(30)
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.power_off(hardware, state)
actions.saber.power.assert_called_with(hardware.strip, speaker_mock,
'offblah', 1.0, True,
state.idle_color)
def test_clash_action_flashes_light():
state = State(initial_mode=mode.ON, initial_color=colors.PURPLE)
hardware = Hardware(30)
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.clash(hardware, state)
actions.saber.flash.assert_called_with(hardware.strip,
colors.WHITE,
state.idle_color,
num_of_flashes=1)
def test_mode_select_action_plays_wow():
state = State(initial_mode=mode.OFF, initial_color=colors.ORANGE)
hardware = Hardware(30)
hardware.powerButton.pressed = MagicMock(
return_value=False) # Code needs to make sure the button is released
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.mode_select(hardware, state)
actions.sound.play_wav.assert_called_with('wow1', speaker_mock)
def test_cycle_idle_loop_stops_and_starts_idle_sound():
state = State(initial_mode=mode.ON, initial_color=colors.ORANGE)
state.sounds.idle = lambda: 'idleblah'
hardware = Hardware(30)
hardware.speaker = MagicMock()
hardware.speaker.audio = MagicMock()
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.cycle_idle_loop(hardware, state)
hardware.speaker.audio.stop.assert_called_with()
actions.sound.play_wav.assert_called_with('idleblah',
hardware.speaker,
loop=True)
def __init__(self):
self.hardware = Hardware()
a = Astral()
a.solar_depression = 'civil'
self.city = a['Kiev']
self.rpc_server = RPCServer(self.hardware)
self.rpc_server.start()
def build(self, id='-1', state_interval=-1, componentsMapped=False):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time() * 1000)
queueResult = self.actionQueue.result()
nodeStatus = {"status": "HEALTHY", "cause": "NONE"}
nodeStatus["alerts"] = []
heartbeat = {
'responseId': int(id),
'timestamp': timestamp,
'hostname': hostname.hostname(self.config),
'nodeStatus': nodeStatus
}
commandsInProgress = False
if not self.actionQueue.commandQueue.empty():
commandsInProgress = True
if len(queueResult) != 0:
heartbeat['reports'] = queueResult['reports']
heartbeat['componentStatus'] = queueResult['componentStatus']
if len(heartbeat['reports']) > 0:
# There may be IN_PROGRESS tasks
commandsInProgress = True
pass
# For first request/heartbeat assume no components are mapped
if int(id) == 0:
componentsMapped = False
logger.info(
"Building Heartbeat: {responseId = %s, timestamp = %s, commandsInProgress = %s, componentsMapped = %s}",
str(id), str(timestamp), repr(commandsInProgress),
repr(componentsMapped))
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Heartbeat: %s", pformat(heartbeat))
hostInfo = HostInfo(self.config)
if (int(id) >= 0) and state_interval > 0 and (int(id) %
state_interval) == 0:
nodeInfo = {}
# for now, just do the same work as registration
# this must be the last step before returning heartbeat
hostInfo.register(nodeInfo, componentsMapped, commandsInProgress)
heartbeat['agentEnv'] = nodeInfo
mounts = Hardware.osdisks()
heartbeat['mounts'] = mounts
if logger.isEnabledFor(logging.DEBUG):
logger.debug("agentEnv: %s", str(nodeInfo))
logger.debug("mounts: %s", str(mounts))
nodeStatus["alerts"] = hostInfo.createAlerts(nodeStatus["alerts"])
if self.collector is not None:
heartbeat['alerts'] = self.collector.alerts()
return heartbeat
def get_page(self, params):
super().get_page(params)
if not self.validate_params(params, ["name", "platform", "numcopies"]):
return ""
interactor = self.interactor_factory.create("SaveHardwareInteractor")
hardware = Hardware.from_dict(params)
interactor.execute(hardware=hardware, user_id=self.session.get_value("user_id"))
class Heartbeat:
def __init__(self, actionQueue):
self.actionQueue = actionQueue
self.hardware = Hardware()
def build(self, id="-1"):
global clusterId, clusterDefinitionRevision, firstContact
serverStatus = ServerStatus()
timestamp = int(time.time() * 1000)
queueResult = self.actionQueue.result()
installedRoleStates = serverStatus.build()
heartbeat = {
"responseId": int(id),
"timestamp": timestamp,
"hostname": socket.gethostname(),
"hardwareProfile": self.hardware.get(),
"idle": self.actionQueue.isIdle(),
"installScriptHash": self.actionQueue.getInstallScriptHash(),
"firstContact": firstContact,
}
if len(queueResult) != 0:
heartbeat["actionResults"] = queueResult
if len(installedRoleStates) != 0:
heartbeat["installedRoleStates"] = installedRoleStates
firstContact = False
return heartbeat
def main():
state = State(initial_mode=mode.LIGHTSABER, initial_color=colors.BLUE)
hardware = Hardware(132)
saber.off(hardware.strip)
hardware.powerButton.set_color(state.color)
while True:
state = run(state, hardware)
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self, config):
self.hardware = Hardware()
self.config = config
def build(self, version, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time() * 1000)
hostInfo = HostInfo(self.config)
agentEnv = {}
hostInfo.register(agentEnv, False, False)
current_ping_port = self.config.get('agent', 'current_ping_port')
register = {
'responseId': int(id),
'timestamp': timestamp,
'hostname': hostname.hostname(self.config),
'currentPingPort': int(current_ping_port),
'publicHostname': hostname.public_hostname(self.config),
'hardwareProfile': self.hardware.get(),
'agentEnv': agentEnv,
'agentVersion': version,
'prefix': self.config.get('agent', 'prefix')
}
return register
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self, config):
self.hardware = Hardware(config)
self.agentInfo = AgentInfo(config)
self.config = config
def build(self, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
hostInfo = HostInfo(self.config)
agentEnv = { }
hostInfo.register(agentEnv, False, False)
version = self.agentInfo.version()
current_ping_port = self.config.get('agent','current_ping_port')
register = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : hostname.hostname(),
'currentPingPort' : int(current_ping_port),
'publicHostname' : hostname.public_hostname(),
'hardwareProfile' : self.hardware.get(),
'agentEnv' : agentEnv,
'agentVersion' : version
}
return register
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self, config):
self.hardware = Hardware()
self.config = config
def build(self, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time() * 1000)
version = self.read_agent_version()
register = {
'responseId': int(id),
'timestamp': timestamp,
'hostname': self.config.getLabel(),
'currentPingPort': 8670,
'publicHostname': hostname.public_hostname(),
'hardwareProfile': self.hardware.get(),
'agentEnv': {},
'agentVersion': version
}
return register
def read_agent_version(self):
ver_file = self.config.getResolvedPath(AgentConfig.VERSION_FILE)
f = open(ver_file, "r")
version = f.read().strip()
f.close()
return version
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self, config):
self.hardware = Hardware()
self.config = config
def build(self, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
hostInfo = HostInfo()
agentEnv = { }
hostInfo.register(agentEnv)
version = self.read_agent_version()
register = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : hostname.hostname(),
'publicHostname' : hostname.public_hostname(),
'hardwareProfile' : self.hardware.get(),
'agentEnv' : agentEnv,
'agentVersion' : version
}
return register
def read_agent_version(self):
data_dir = self.config.get('agent', 'prefix')
ver_file = os.path.join(data_dir, 'version')
f = open(ver_file, "r")
version = f.read().strip()
f.close()
return version
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self, config):
self.hardware = Hardware()
self.config = config
def build(self, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
version = self.read_agent_version()
register = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : self.config.getLabel(),
'currentPingPort' : 8670,
'publicHostname' : hostname.public_hostname(),
'hardwareProfile' : self.hardware.get(),
'agentEnv' : {},
'agentVersion' : version
}
return register
def read_agent_version(self):
ver_file = self.config.getResolvedPath(AgentConfig.VERSION_FILE)
f = open(ver_file, "r")
version = f.read().strip()
f.close()
return version
def __init__(self, logger):
# Logger
self._logger = logger
# Hardware of OS
self._hardware = Hardware(self._logger)
# Kernel of OS
self._kernel = KernelSO(self._logger, self._hardware, Scheduler())
def osdiskAvailableSpace(self, path):
diskInfo = {}
try:
df = subprocess.Popen(["df", "-kPT", path], stdout=subprocess.PIPE)
dfdata = df.communicate()[0]
return Hardware.extractMountInfo(dfdata.splitlines()[-1])
except:
pass
return diskInfo
def osdiskAvailableSpace(self, path):
diskInfo = {}
try:
df = subprocess.Popen(["df", "-kPT", path], stdout=subprocess.PIPE)
dfdata = df.communicate()[0]
return Hardware.extractMountInfo(dfdata.splitlines()[-1])
except:
pass
return diskInfo
def __init__(self):
try:
self.routinepath = os.getcwd() + '/routines'
for i in range(0, paras.jointqty):
maxdeg = paras.jsetting[i]["maxdeg"]
mindeg = paras.jsetting[i]["mindeg"]
steplimit = paras.jsetting[i]["steplimit"]
paras.jsetting[i]["degperstep"] = round(
float((maxdeg - mindeg) / float(steplimit)), 8)
for k, v in paras.tracksetting.items():
steplimit = paras.tracksetting[k]['steplimit']
length = paras.tracksetting[k]['length']
paras.tracksetting[k]['mmperstep'] = round(
(length / steplimit), 8)
self.hw = Hardware(values, paras)
except Exception as e:
print("Failed connect arm ", e)
exit()
def test_swing_action_plays_sound():
state = State(initial_mode=mode.ON, initial_color=colors.GREEN)
state.sounds.swing = lambda: 'swingblah'
state.sounds.idle = lambda: 'idleblah'
hardware = Hardware(30)
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
actions.swing(hardware, state)
play_clash_call = call('swingblah', speaker_mock)
play_idle_call = call('idleblah',
speaker_mock,
loop=True,
override_current_sound=False)
actions.sound.play_wav.assert_has_calls([play_clash_call, play_idle_call])
def build(self, id='-1', state_interval=-1, componentsMapped=False):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
queueResult = self.actionQueue.result()
nodeStatus = { "status" : "HEALTHY",
"cause" : "NONE" }
nodeStatus["alerts"] = []
heartbeat = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : hostname.hostname(self.config),
'nodeStatus' : nodeStatus
}
commandsInProgress = False
if not self.actionQueue.commandQueue.empty():
commandsInProgress = True
if len(queueResult) != 0:
heartbeat['reports'] = queueResult['reports']
heartbeat['componentStatus'] = queueResult['componentStatus']
if len(heartbeat['reports']) > 0:
# There may be IN_PROGRESS tasks
commandsInProgress = True
pass
# For first request/heartbeat assume no components are mapped
if int(id) == 0:
componentsMapped = False
logger.info("Building Heartbeat: {responseId = %s, timestamp = %s, commandsInProgress = %s, componentsMapped = %s}",
str(id), str(timestamp), repr(commandsInProgress), repr(componentsMapped))
if logger.isEnabledFor(logging.DEBUG):
logger.debug("Heartbeat: %s", pformat(heartbeat))
hostInfo = HostInfo(self.config)
if (int(id) >= 0) and state_interval > 0 and (int(id) % state_interval) == 0:
nodeInfo = { }
# for now, just do the same work as registration
# this must be the last step before returning heartbeat
hostInfo.register(nodeInfo, componentsMapped, commandsInProgress)
heartbeat['agentEnv'] = nodeInfo
mounts = Hardware.osdisks()
heartbeat['mounts'] = mounts
if logger.isEnabledFor(logging.DEBUG):
logger.debug("agentEnv: %s", str(nodeInfo))
logger.debug("mounts: %s", str(mounts))
nodeStatus["alerts"] = hostInfo.createAlerts(nodeStatus["alerts"])
return heartbeat
def test_power_on_action_turns_on_lightsaber():
hardware = Hardware(30)
speaker_mock = MagicMock()
hardware.speaker = speaker_mock
actions.saber = MagicMock()
actions.sound = MagicMock()
state = State(initial_mode=mode.OFF, initial_color=colors.CONSULAR_GREEN)
state.sounds.on = lambda: 'onblah'
state.sounds.idle = lambda: 'idleblah'
actions.power_on(hardware, state)
actions.saber.power.assert_called_with(hardware.strip, speaker_mock,
'onblah', 1.0, False,
state.idle_color)
actions.sound.play_wav.assert_called_with('idleblah',
speaker_mock,
loop=True,
override_current_sound=False)
def test_execute_action_loops_back_to_first_color_on_next_color_action():
state = State(initial_mode=mode.COLOR_CHANGE,
initial_color=colors.ALL_COLORS[len(colors.ALL_COLORS) - 1])
hardware = Hardware(30)
actions.saber = MagicMock()
actions.next_color(hardware, state)
actions.saber.on(hardware.strip, color=colors.ALL_COLORS[0])
def get_hardware_list_for_platform(self, params):
"""Get a list of all hardware for a platform in the user's collection
param params: An instance of GetHardwareListInteractorParams
returns: A list of instances of Hardware
"""
sorder = MongoSortDirectionMapper().map(params.sort_direction)
mapped_sort_field = HardwareSortFieldMapper().map(params.sort_field)
hardware = self.__db.hardware.find({"_Hardware__platform": params.platform, "user_id": str(params.user_id)},
limit=params.number_of_items)
return list(map(lambda p: Hardware.from_mongo_result(p), hardware))
def get_hardware_list(self, params):
"""Get a list of all hardware in the user's collection
:param params: An instance of GetHardwareListInteractorParams
:returns: A list of instances of Hardware
"""
sorder = MongoSortDirectionMapper().map(params.sort_direction)
mapped_sort_field = HardwareSortFieldMapper().map(params.sort_field)
result = self.__db.hardware.find({"user_id": str(params.user_id)}, limit=params.number_of_items).sort(
mapped_sort_field, sorder)
return list(map(lambda p: Hardware.from_mongo_result(p), result))
def system_verification(env, component):
import params
hardware = Hardware().get()
requirements = specs.requirements
verify = Verifications(hardware, requirements)
verify.mandatory_checks(component)
if not params.skip_preinstall_verification:
verify.preinstall_checks(component)
if verify.get_messages():
raise Fail(verify.get_notice())
def get_hardware(self, hardware_id="", name="name", platform="platform", num_owned=0, num_boxed=0):
hardware = Hardware()
hardware.id = hardware_id
hardware.name = name
hardware.platform = platform
hardware.num_owned = num_owned
hardware.num_boxed = num_boxed
return hardware
def __get_hardware(self, params):
hardware = Hardware()
hardware.name = params.get("name", "")
hardware.platform = params.get("platform", "")
hardware.num_owned = params.get("numcopies", "")
hardware.num_boxed = params.get("numboxed", "")
hardware.notes = params.get("notes", "")
return hardware
def get_hardware_details(self, platform_id, user_id):
"""Gets the details of a specific item of hardware.
:param hardware_id: The uuid of the item of hardware to retrieve.
:param user_id: The uuid of the current user.
:returns: An instance of Hardware containing the requested item of hardware.
"""
try:
h = self.__db.hardware.find_one({
"_id": ObjectId(platform_id),
"user_id": str(user_id)
})
except InvalidId:
raise HardwareNotFoundException()
return Hardware.from_mongo_result(h)
def build(self, id='-1', state_interval=-1, componentsMapped=False):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
queueResult = self.actionQueue.result()
nodeStatus = { "status" : "HEALTHY",
"cause" : "NONE"}
heartbeat = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : hostname.hostname(),
'nodeStatus' : nodeStatus
}
commandsInProgress = False
if not self.actionQueue.commandQueue.empty():
commandsInProgress = True
if len(queueResult) != 0:
heartbeat['reports'] = queueResult['reports']
heartbeat['componentStatus'] = queueResult['componentStatus']
if len(heartbeat['reports']) > 0:
# There may be IN_PROGRESS tasks
commandsInProgress = True
pass
# For first request/heartbeat assume no components are mapped
if int(id) == 0:
componentsMapped = False
logger.info("Sending heartbeat with response id: " + str(id) + " and "
"timestamp: " + str(timestamp) +
". Command(s) in progress: " + repr(commandsInProgress) +
". Components mapped: " + repr(componentsMapped))
logger.debug("Heartbeat : " + pformat(heartbeat))
if (int(id) >= 0) and state_interval > 0 and (int(id) % state_interval) == 0:
hostInfo = HostInfo(self.config)
nodeInfo = { }
# for now, just do the same work as registration
# this must be the last step before returning heartbeat
hostInfo.register(nodeInfo, componentsMapped, commandsInProgress)
heartbeat['agentEnv'] = nodeInfo
logger.debug("agentEnv : " + str(nodeInfo))
mounts = Hardware.osdisks()
heartbeat['mounts'] = mounts
logger.debug("mounts : " + str(mounts))
return heartbeat
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self):
self.hardware = Hardware()
def build(self, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
register = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : socket.gethostname(),
'hardwareProfile' : self.hardware.get(),
}
return register
def get_page(self, params):
"""Handles Hardware Update requests (i.e. new values to save to a hardware record).
This is really intended to be used as an ajax request rather than a webpage, so
it doesn't give much in the way of user feedback. If the user is not currently logged
in then it will redirect to the homepage.
param params: A dictionary comprised of the following keys:
+ id -- The uuid of the item of hardware to save.
+ name -- The name of the item of hardware. Mandatory.
+ platform -- The plaform of the item of hardware. Mandatory.
+ numcopies -- The number of copies owned of the item of hardware.
+ numboxed -- The number of boxed copies owned of the item of hardware.
+ notes -- Miscellaneous notes added by the user.
+ hardwaretype -- The type of hardware
returns: If one of the mandatory args keys is omitted then an empty string. Else None.
"""
super().get_page(params)
if not self.validate_params(params, ["name", "platform"]):
return ""
interactor = self.interactor_factory.create("UpdateHardwareInteractor")
interactor.execute(Hardware.from_dict(params), self.session.get_value("user_id"))
class Register:
""" Registering with the server. Get the hardware profile and
declare success for now """
def __init__(self, config):
self.hardware = Hardware()
self.config = config
def build(self, id='-1'):
global clusterId, clusterDefinitionRevision, firstContact
timestamp = int(time.time()*1000)
hostInfo = HostInfo(self.config)
agentEnv = { }
hostInfo.register(agentEnv, False, False)
version = self.read_agent_version()
current_ping_port = self.config.get('agent','current_ping_port')
register = { 'responseId' : int(id),
'timestamp' : timestamp,
'hostname' : hostname.hostname(self.config),
'currentPingPort' : int(current_ping_port),
'publicHostname' : hostname.public_hostname(self.config),
'hardwareProfile' : self.hardware.get(),
'agentEnv' : agentEnv,
'agentVersion' : version,
'prefix' : self.config.get('agent', 'prefix')
}
return register
def read_agent_version(self):
data_dir = self.config.get('agent', 'prefix')
ver_file = os.path.join(data_dir, 'version')
f = open(ver_file, "r")
version = f.read().strip()
f.close()
return version
def __init__(self):
id = "hw"
Hardware.__init__(self, id)
def __init__(self):
id = "hw"
Hardware.__init__(self, id)
from kivy.clock import Clock
from kivy.uix.floatlayout import FloatLayout
from kivy.uix.popup import Popup
from SitePriorities import SitePriorities
from Hardware import Hardware
from datetime import datetime
class WindowManager(ScreenManager):
pass
sitePriorities = SitePriorities()
siteHardware = Hardware()
hardwareType = ""
package = ""
onboarding = ""
#Algorithm for reading the lookup table into a 2d list
lookupTable = []
file = open("LookUpTable.txt", "r")
for x in file:
lookupTable.append(x.split(" "))
file.close()
def __init__(self, config): self.hardware = Hardware() self.config = config
def __init__(self, config):
self.hardware = Hardware(config)
self.agentInfo = AgentInfo(config)
self.config = config
@app.route('/getscanvars')
def getScanVars():
result = g_Hardware.getScanVars()
return Response(json.dumps(result), content_type='text/plain; charset=utf-8')
@app.route('/setscanvar/<var>/<value>')
def setScanVar(var, value):
result = g_Hardware.setScanVar(var, value)
return Response(json.dumps(result), content_type='text/plain; charset=utf-8')
@app.route('/worm/startscan')
def startScan():
result = g_Hardware.startScan()
return Response(json.dumps(result), content_type='text/plain; charset=utf-8')
@app.route('/worm/getlastmeasurements')
def getLasMeasurements():
result = g_Hardware.getLastMeasurements()
return Response(json.dumps(result), content_type='text/plain; charset=utf-8')
if __name__ == "__main__":
if len(sys.argv) >= 2 and sys.argv[1] == "stub":
from HardwareStub import HardwareStub
g_Hardware = HardwareStub(app.logger, "config/config.ini")
else:
from Hardware import Hardware
g_Hardware = Hardware(app.logger, "config/config.ini")
app.run(host='0.0.0.0', port=7778, debug=True)
class Kernel:
hw = None
routinepath = ""
routineextenstion = ".json"
methodname = ""
resource = ""
subresource = ""
req = {}
def __init__(self):
try:
self.routinepath = os.getcwd() + '/routines'
for i in range(0, paras.jointqty):
maxdeg = paras.jsetting[i]["maxdeg"]
mindeg = paras.jsetting[i]["mindeg"]
steplimit = paras.jsetting[i]["steplimit"]
paras.jsetting[i]["degperstep"] = round(
float((maxdeg - mindeg) / float(steplimit)), 8)
for k, v in paras.tracksetting.items():
steplimit = paras.tracksetting[k]['steplimit']
length = paras.tracksetting[k]['length']
paras.tracksetting[k]['mmperstep'] = round(
(length / steplimit), 8)
self.hw = Hardware(values, paras)
except Exception as e:
print("Failed connect arm ", e)
exit()
########################################################################
######################## process http route ############################
######################## return result in json #########################
########################################################################
# display welcome msg
def api_index(self):
return {
"status": "OK",
"msg":
"Welcome index page of AR3 webservice, you can call /info now"
}
# display robot arm environment data
def api_info(self):
result = {}
result = self.hw.checkMachineStatus()
# result['xyz'] = self.getEndPointPosition(result['jointvalues'])
return result
def api_calibrate(self):
# display calibration options
x = self.resource
if x == "setrest":
result = self.overrideRestPosition()
elif x == "all":
result = self.calibrateAll()
elif len(x) == 2 and self.left(x, 1) == 'j':
result = self.calibrateJoints(x)
elif x is None:
return log.getMsg(
'OK',
'You can calibrate all joint with /calibrate/all, calibrate single joint (j1-j6) like /calibrate/j1, set new rest position /calibrate/setrest'
)
else:
return log.getMsg('ERR_CALIBRATION_UNKNOWN',
x + " is not valid calibration command")
return log.getMsg(result, "")
def api_movetorestposition(self):
result = self.moveToRestPosition([1, 1, 1, 1, 1, 1])
return log.getMsg(result, "")
def api_calibratetrack(self):
if self.resource is None:
tracks = self.hw.getAllTracks()
separator = ','
txttracks = separator.join(tracks)
return log.getMsg("OK", "Available travel track is " + txttracks)
else:
result = self.calibrateTrack(self.resource)
return log.getMsg(result, "")
def api_movetrack(self):
if self.resource is None:
tracks = self.hw.getAllTracks()
separator = ','
txttracks = separator.join(tracks)
return log.getMsg("OK", "Available travel track is " + txttracks)
else:
mm = self.req.get("mm")
movetype = self.req.get("movetype")
result = self.moveTrack(self.resource, mm, movetype)
return log.getMsg(result, "")
def api_servo(self):
if self.resource is None:
servos = self.hw.getAllServos()
separator = ','
txtservos = separator.join(servos)
return log.getMsg("OK", "Available servo is " + txtservos)
else:
value = self.req.get("value")
result = self.moveServo(self.resource, value)
return log.getMsg(result, "")
def api_move_j(self):
if self.resource is None:
return log.getMsg(
"OK",
"You can move joint j1-j6, like /move_j/j1?movetype=absolute/move°ree=10"
)
else:
degree = self.req.get("degree")
movetype = self.req.get("movetype")
result = self.moveJoint(self.resource, degree, movetype)
return log.getMsg(result, "")
def api_move_l(self):
x = self.req.get('x')
y = self.req.get('y')
z = self.req.get('z')
result = self.moveLinear(x, y, z)
return log.getMsg(result, "")
def api_getpositionurl(self):
result = self.getPositionUrl()
return log.getMsg("OK", result)
def api_setposition(self):
allparas = {}
for k, v in self.req.items():
allparas[k] = v
result = self.setPosition(allparas)
return log.getMsg(result, "")
def api_setspeed(self):
result = self.setSpeed(self.req.get('percent'))
return log.getMsg(result, "")
def api_io(self):
l = self.getAllIO()
if self.resource is None:
return log.getMsg(
"OK", "Only support digital input/output at the moment", {
'inputpin': l['input'],
'outputpin': l['output']
})
elif self.subresource is None:
operation = self.resource.lower()
if operation == 'on' or operation == 'off':
return log.getMsg(
"OK", "You can output digital signal to following pins",
{'pins': l['output']})
elif operation == 'read':
return log.getMsg(
"OK", "You can read digital input from following pins",
{'pins': l['input']})
else:
return log.getMsg("ERR_IO_INVALIDOPERATION", "")
else:
operation = self.resource.lower()
pinno = int(self.subresource)
if operation == 'read':
result = self.readDigitalInput(pinno)
if self.isErrorCode(result):
return log.getMsg(result, "")
else:
return log.getMsg("OK", "", {"value": result})
#write digital io
elif operation == 'on' or operation == 'off':
result = self.sendDigitalOutput(pinno, operation)
else:
result = "ERR_IO_INVALIDOPERATION"
return log.getMsg(result, "")
def api_routine(self):
if self.resource is None:
list = self.getAllRoutines()
separator = ","
availableroutine = separator.join(list)
return log.getMsg('OK',
f"Available routines is {availableroutine}",
{'routines': list})
routinename = self.resource
othersinfo = self.subresource
# direct give routine json content
if othersinfo is None:
result = self.getRoutineInfo(routinename)
if not self.isErrorCode(result):
return result
else:
return log.getMsg(
result,
f"Invalid json content, please check again {routinename}.json."
)
elif othersinfo == "run":
result = self.runRoutine(routinename)
else:
result = "ERR_ROUTINE_OPERATIONUNKNOWN"
return log.getMsg(result, "")
########################################################################
################## process robot arm operations #######################
################## return result in string only #######################
########################################################################
################## calibration #######################
def showCalibrateGuide(self):
return "OK"
def overrideRestPosition(self):
result = self.hw.writeARMPosition('rest', [1, 1, 1, 1, 1, 1])
return result
def calibrateJoints(self, jname):
jointno = int(self.right(jname, 1)) - 1
result = self.hw.calibrateJoint(jointno)
return result
def calibrateAll(self):
joints = [1, 1, 1, 1, 1, 1]
result = self.hw.goAllJointLimit(joints)
if result == "OK":
result2 = self.moveToRestPosition(joints)
return result2
else:
return result
def calibrateTrack(self, trackname):
return self.hw.setTrackValue(trackname, 0)
def moveToRestPosition(self, joints=[1, 1, 1, 1, 1, 1]):
for i in range(0, paras.jointqty):
restpos = paras.jsetting[i]["restpos"]
jname = 'J' + str(i + 1)
if joints[i] == 1:
result = self.moveJoint(jname, restpos, 'absolute')
#if error, stop and move and return err code
if self.isErrorCode(result):
return result
return "OK"
################# move arm #########################
def moveJoint(self, jname, degree, movetype):
# validate movetype is received, and with proper value
if type(movetype) is not str:
return 'ERR_MOVE_INVALIDTYPE'
else:
movetype = movetype.upper()
if movetype != 'MOVE' and movetype != 'ABSOLUTE':
return 'ERR_MOVE_INVALIDTYPE'
if degree is None:
return "ERR_JOINT_NODEGREEDEFINED"
elif type(degree) is str:
degree = float(degree)
jointname = jname.lower()
if len(jointname) != 2 and self.left(jointname, 1) != 'j':
return 'ERR_JOINT_WRONGNAME'
joint_id = int(self.right(jointname, 1)) - 1
if joint_id < 0 and joint_id > paras.jointqty:
return log.getMsg('ERR_JOINT_OUT_OF_RANGE', '')
encoders = self.hw.refreshStepperMotorEncoderValue()
if type(encoders) == str:
return encoders
if movetype == 'MOVE':
newdegree = encoders[joint_id]['degree'] + degree
else:
# put joint into absolute degree, need add existing position
# newdegree = currentdegree + changedegree
newdegree = degree
exisdegree = encoders[joint_id]['degree']
degree = newdegree - exisdegree
newdegreestr = str(newdegree)
result = self.hw.rotateJoint(joint_id, degree)
maxdegstr = str(paras.jsetting[joint_id]["maxdeg"])
mindegstr = str(paras.jsetting[joint_id]["mindeg"])
return result
# if result != 'OK':
# jsondata = log.getMsg(result, jname + " shift " + str(
# degree) + " become " + newdegreestr + " which is not within " + mindegstr + "/" + maxdegstr)
# else:
# jsondata = log.getMsg(result, jname + " shift " + str(
# degree) + " become " + newdegreestr + " which is within " + mindegstr + "/" + maxdegstr)
# log.info("done rotateJoint")
def moveLinear(self, x, y, z):
if x is None or y is None or z is None:
return "ERR_MOVEL_UNDEFINEDPARA"
if type(x) == str:
x = float(x)
if type(y) == str:
y = float(y)
if type(z) == str:
z = float(z)
return self.hw.moveLinear(x, y, z)
################# move track #########################
def moveTrack(self, trackname, mm, movetype):
# at the moment, any trackname also convert to track1
if not self.checkKey(paras.tracksetting, trackname):
return 'ERR_TRACK_INVALID'
# validate movetype is received, and with proper value
if type(movetype) is not str:
return 'ERR_MOVE_INVALIDTYPE'
else:
movetype = movetype.upper()
if movetype != 'MOVE' and movetype != 'ABSOLUTE':
return 'ERR_MOVE_INVALIDTYPE'
trackdata = self.hw.getTrackValues()[trackname]
bufferlength = 10
lengthlimit = paras.tracksetting[trackname]['length'] - bufferlength
if mm is None:
return "ERR_MOVE_INVALIDMM"
if type(mm) is str:
if mm.strip('-').isnumeric():
mm = float(mm)
else:
return "ERR_TRACK_WRONG_DATA_TYPE"
if movetype == 'MOVE':
newmm = trackdata['mm'] + mm
else:
# put joint into absolute degree, need add existing position
# newdegree = currentdegree + changedegree
newmm = mm
exismm = trackdata['mm']
mm = newmm - exismm
newmmstr = str(newmm)
if newmm < 0 or newmm > lengthlimit:
return 'ERR_MOVETRACK_OVERLIMIT'
else:
result = self.hw.moveTrack(trackname, mm)
return result
################# move servo #########################
def moveServo(self, servoname, value):
degree = 0
# validate servo exists
if (self.checkKey(paras.servosetting, servoname) == False):
return 'ERR_SERVO_INVALIDSERVO'
if value is None:
return "ERR_SERVO_INVALIDVALUE"
# if given value is position name, get position degree from servosetting, or direct use integer value
valuestr = ''
if type(value) is int or type(value) is float:
degree = value
valuestr = str(valuestr)
elif type(value) is str and value != '':
# doublecheck, maybe value is number but data type is string
if value.strip('-').isnumeric():
degree = float(value)
else:
degree = paras.servosetting[servoname]['positions'][value]
valuestr = value
else:
return 'ERR_SERVO_INVALIDVALUE'
result = self.hw.setServo(servoname, degree)
if result == "OK":
return log.getMsg(result, "")
else:
maxdeg = paras.servosetting[servoname]['maxdeg']
mindeg = paras.servosetting[servoname]['mindeg']
return result
# return log.getMsg(result, "assigned invalid value '" + valuestr + "' to servo '" + servoname + "', please check is it within " + str(
# mindeg) + "/" + str(maxdeg) + ".")
################# modifying arm speed ################
def setSpeed(self, percent):
if percent is None:
return "ERR_SETSPEED_UNDEFINEDVALUE"
if type(percent) == str:
percent = float(percent)
return self.hw.setSpeed(percent)
############### covert arm position as restful url ####
def getPositionUrl(self):
joinvalues = self.hw.refreshStepperMotorEncoderValue()
if self.isErrorCode(joinvalues):
return joinvalues
servovalues = self.hw.getServoValues()
trackvalues = self.hw.getTrackValues()
txt = '/setposition?'
for k, v in joinvalues.items():
txt = txt + 'J' + str(k + 1) + '=' + str(v['degree']) + '&'
for k, v in servovalues.items():
txt = txt + k + '=' + str(v) + '&'
for k, v in trackvalues.items():
txt = txt + k + '=' + str(v['mm']) + '&'
return txt
################# move all arm parts in 1 go #########
def setPosition(self, allpara):
print("allpara:")
print(allpara)
# sample url = /setposition?J1=19.71&J2=-90.22&J3=1.89&J4=-0.07&J5=-0.23&J6=-0.47&gripper1=0&t1=0&
# commandCalc = "MJA"+J1dir+J1steps+"B"+J2dir+J2steps+"C"+J3dir+J3steps+"D"+J4dir+J4steps+"E"+J5dir+J5steps+"F"+J6dir+J6steps+"T"+TRdir+TRstep+"S"+newSpeed+"G"+ACCdur+"H"+ACCspd+"I"+DECdur+"K"+DECspd+"U"+str(J1StepCur)+"V"+str(J2StepCur)+"W"+str(J3StepCur)+"X"+str(J4StepCur)+"Y"+str(J5StepCur)+"Z"+str(J6StepCur)+"\n"
jointdata = {}
trackdata = {}
servodata = {}
loop = 0
for k, v in allpara.items():
loop = loop + 1
if type(v) is str or type(v) is int:
v = float(v)
if self.checkKey(paras.servosetting, k):
servodata[k] = v
elif self.checkKey(paras.tracksetting, k):
trackdata[k] = v
elif len(k) == 2 and (self.left(k, 1) == 'j'
or self.left(k, 1) == 'J') and self.right(
k, 1).isnumeric(): # j1,j2,j3,j4,j5,j6
jointno = int(self.right(k, 1)) - 1 # J1 => 0, J2=>1
jointdata[jointno] = v
else:
# dont know what is the parameter for, ignore it
a = 1
if loop > 0:
result = self.hw.changePosition(jointdata, trackdata, servodata)
else:
result = "ERR_SETPOSITION_NOPARA"
return result
########################################################################
################## process io operations #############################
################## return value (mixed) ###############################
########################################################################
def readDigitalInput(self, pin):
return self.hw.readDigitalInput(pin)
def sendDigitalOutput(self, pin, value):
digitalvalue = None
if type(value) == str:
if value.lower() in ['on', '1']:
digitalvalue = 1
elif value.lower() in ['off', '0']:
digitalvalue = 0
else:
return 'ERR_IO_INVALIDVALUE'
elif value:
digitalvalue = 1
else:
digitalvalue = 0
return self.hw.sendDigitalOutput(pin, digitalvalue)
def waitDigitalInput(self, pin, value):
digitalvalue = None
if type(value) == str:
if value.lower() in ['on', '1']:
digitalvalue = 1
elif value.lower() in ['off', '0']:
digitalvalue = 0
else:
return 'ERR_WAITIO_INVALIDVALUE'
elif value:
digitalvalue = 1
else:
digitalvalue = 0
return self.hw.waitDigitalInput(pin, digitalvalue)
def getAllIO(self):
result = {
"input": self.hw.inputpins,
"output": self.hw.outputpins,
}
return result
########################################################################
################## process robot arm routines ########################
################## return multiple type result ########################
########################################################################
def getAllRoutines(self):
files = []
for file in os.listdir(self.routinepath):
if file.endswith(self.routineextenstion):
routinename = file.replace(self.routineextenstion, '')
files.append(routinename)
return files
def getRoutineInfo(self, routinename, getcleartext=False):
rt = Routine(self)
result = rt.load(routinename)
return result
#upload new routine.json
def addRoutine(self):
return "OK"
#upload new routine and override existing
def overrideRoutine(self, routinename):
return "OK"
def deleteRoutine(self, routinename):
return "OK"
def runRoutine(self, routinename):
rt = Routine(self)
success = rt.load(routinename)
if not success:
return "ERR_ROUTINE_INVALIDJSON"
else:
result = rt.execute()
return result
########################################################################
################## Others useful method not related arm ##############
################## return multiple type result ########################
########################################################################
#### below store others function for string and data processing only ####
def left(self, s, amount):
return s[:amount]
def right(self, s, amount):
return s[-amount:]
def checkKey(self, arr, key):
if key in arr.keys():
return True
else:
return False
def isErrorCode(self, data):
if type(data) == str and self.left(data, 4) == 'ERR_':
return True
else:
return False
def __get_hardware(self):
return Hardware.from_dict(self.__get_params())
def __init__(self): self.hardware = Hardware()
def __init__(self, config): self.hardware = Hardware(config) self.agentInfo = AgentInfo(config) self.config = config
def __init__(self, config):
self.hardware = Hardware()
self.config = config
def __init__(self, actionQueue):
self.actionQueue = actionQueue
self.hardware = Hardware()
