def getJSON(self):
json = "{"
first = True
for (alt, value) in FUNCTIONS.items():
if not first:
json += ", "
json += '"%s": %d' % (alt, value["enabled"])
first = False
json += ', "GPIO":{\n'
first = True
for gpio in range(GPIO.GPIO_COUNT):
if not first:
json += ", \n"
function = GPIO.getFunctionString(gpio)
value = GPIO.input(gpio)
json += '"%d": {"function": "%s", "value": %d' % (gpio, function, value)
if GPIO.getFunction(gpio) == GPIO.PWM:
(type, value) = GPIO.getPulse(gpio).split(':')
json += ', "%s": %s' % (type, value)
json += '}'
first = False
json += "\n}}"
return json
def __portWrite__(self, value):
if len(self.export) < 54:
for i in self.export:
if GPIO.getFunction(i) == GPIO.OUT:
GPIO.digitalWrite(i, (value >> i) & 1)
else:
raise Exception("Please limit exported GPIO to write integers")
def close(self):
for g in self.gpio_reset:
gpio = g["gpio"]
debug("Reset GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def close(self):
for g in self.gpio_reset:
gpio = g["gpio"]
debug("Reset GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def getJSON(self):
json = "{"
first = True
for (alt, value) in FUNCTIONS.items():
if not first:
json += ", "
json += '"%s": %d' % (alt, value["enabled"])
first = False
json += ', "GPIO":{\n'
first = True
for gpio in range(GPIO.GPIO_COUNT):
if not first:
json += ", \n"
function = GPIO.getFunctionString(gpio)
value = GPIO.input(gpio)
json += '"%d": {"function": "%s", "value": %d' % (gpio, function, value)
if GPIO.getFunction(gpio) == GPIO.PWM:
(type, value) = GPIO.getPulse(gpio).split(':')
json += ', "%s": %s' % (type, value)
json += '}'
first = False
json += "\n}}"
return json
def getJSON(self, compact=False):
if compact:
f = 'f'
v = 'v'
else:
f = 'function'
v = 'value'
json = {}
for (bus, value) in BUSLIST.items():
json[bus] = int(value["enabled"])
gpios = {}
if len(self.export) > 0:
export = self.export
else:
export = range(GPIO.GPIO_COUNT)
for gpio in export:
gpios[gpio] = {}
if compact:
gpios[gpio][f] = GPIO.getFunction(gpio)
else:
gpios[gpio][f] = GPIO.getFunctionString(gpio)
gpios[gpio][v] = int(GPIO.input(gpio))
if GPIO.getFunction(gpio) == GPIO.PWM:
(pwmType, value) = GPIO.getPulse(gpio).split(':')
gpios[gpio][pwmType] = value
json['GPIO'] = gpios
return types.jsonDumps(json)
def GPIOSetup():
for g in GPIO_SETUP:
gpio = g["gpio"]
debug("Setup GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.output(gpio, g["value"])
def __portWrite__(self, value):
if len(self.export) < 54:
for i in self.export:
if GPIO.getFunction(i) == GPIO.OUT:
GPIO.digitalWrite(i, (value >> i) & 1)
else:
raise Exception("Please limit exported GPIO to write integers")
def GPIOReset():
for g in GPIO_RESET:
gpio = g["gpio"]
debug("Reset GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.output(gpio, g["value"])
def setup(self):
for g in self.gpio_setup:
gpio = g["gpio"]
debug("Setup GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def setup(self):
for g in self.gpio_setup:
gpio = g["gpio"]
debug("Setup GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def GPIOSetup():
for g in GPIO_SETUP:
gpio = g["gpio"]
debug("Setup GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.output(gpio, g["value"])
def GPIOReset():
for g in GPIO_RESET:
gpio = g["gpio"]
debug("Reset GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.output(gpio, g["value"])
def getJSON(self, compact=False):
if compact:
f = 'f'
v = 'v'
else:
f = 'function'
v = 'value'
json = {}
for (bus, value) in BUSLIST.items():
json[bus] = int(value["enabled"])
gpios = {}
if len(self.export) > 0:
export = self.export
else:
export = range(GPIO.GPIO_COUNT)
for gpio in export:
gpios[gpio] = {}
if compact:
gpios[gpio][f] = GPIO.getFunction(gpio)
else:
gpios[gpio][f] = GPIO.getFunctionString(gpio)
gpios[gpio][v] = int(GPIO.input(gpio))
if GPIO.getFunction(gpio) == GPIO.PWM:
(pwmType, value) = GPIO.getPulse(gpio).split(':')
gpios[gpio][pwmType] = value
json['GPIO'] = gpios
return types.jsonDumps(json)
def do_GET(self, relativePath):
# JSON full state
if relativePath == "*":
return (200, self.getJSON(), M_JSON)
# RPi header map
elif relativePath == "map":
json = "%s" % MAPPING[GPIO.BOARD_REVISION]
json = json.replace("'", '"')
return (200, json, M_JSON)
# server version
elif relativePath == "version":
return (200, SERVER_VERSION, M_PLAIN)
# board revision
elif relativePath == "revision":
revision = "%s" % GPIO.BOARD_REVISION
return (200, revision, M_PLAIN)
# get temperature
elif relativePath == "TEMP":
strPath="/home/pi/test/thermostate/lastTemp.txt"
f = open(strPath)
strText = f.read()
return (200, strText, M_PLAIN)
# Single GPIO getter
elif relativePath.startswith("GPIO/"):
(mode, s_gpio, operation) = relativePath.split("/")
gpio = int(s_gpio)
value = None
if operation == "value":
if GPIO.input(gpio):
value = "1"
else:
value = "0"
elif operation == "function":
value = GPIO.getFunctionString(gpio)
elif operation == "pwm":
if GPIO.isPWMEnabled(gpio):
value = "enabled"
else:
value = "disabled"
elif operation == "pulse":
value = GPIO.getPulse(gpio)
else:
return (404, operation + " Not Found", M_PLAIN)
return (200, value, M_PLAIN)
else:
return (0, None, None)
def outputSequence(self, channel, args):
self.checkDigitalChannelExported(channel)
self.checkPostingValueAllowed()
self.checkDigitalChannel(channel)
(period, sequence) = args.split(",")
period = int(period)
GPIO.outputSequence(channel, period, sequence)
return int(sequence[-1])
def outputSequence(self, channel, args):
self.checkDigitalChannelExported(channel)
self.checkPostingValueAllowed()
self.checkDigitalChannel(channel)
(period, sequence) = args.split(",")
period = int(period)
GPIO.outputSequence(channel, period, sequence)
return int(sequence[-1])
def do_GET(self, relativePath):
# JSON full state
if relativePath == "*":
return (200, self.getJSON(), M_JSON)
# RPi header map
elif relativePath == "map":
json = "%s" % MAPPING[GPIO.BOARD_REVISION]
json = json.replace("'", '"')
return (200, json, M_JSON)
# server version
elif relativePath == "version":
return (200, SERVER_VERSION, M_PLAIN)
# board revision
elif relativePath == "revision":
revision = "%s" % GPIO.BOARD_REVISION
return (200, revision, M_PLAIN)
# get temperature
elif relativePath == "TEMP":
strPath = "/home/pi/test/thermostate/lastTemp.txt"
f = open(strPath)
strText = f.read()
return (200, strText, M_PLAIN)
# Single GPIO getter
elif relativePath.startswith("GPIO/"):
(mode, s_gpio, operation) = relativePath.split("/")
gpio = int(s_gpio)
value = None
if operation == "value":
if GPIO.input(gpio):
value = "1"
else:
value = "0"
elif operation == "function":
value = GPIO.getFunctionString(gpio)
elif operation == "pwm":
if GPIO.isPWMEnabled(gpio):
value = "enabled"
else:
value = "disabled"
elif operation == "pulse":
value = GPIO.getPulse(gpio)
else:
return (404, operation + " Not Found", M_PLAIN)
return (200, value, M_PLAIN)
else:
return (0, None, None)
def setHWPWMoutput(self, channel, value):
self.checkPostingValueAllowed()
if value == "enable":
GPIO.HWPWMenable(channel)
elif value == "disable":
GPIO.HWPWMdisable(channel)
else:
raise ValueError("Bad Function")
return self.getHWPWMoutput(channel)
def wildcard(self, compact=False):
if compact:
f = "f"
v = "v"
else:
f = "function"
v = "value"
values = {}
print(self.export)
for i in self.export:
if compact:
func = GPIO.getFunction(i)
else:
func = GPIO.getFunctionString(i)
values[i] = {f: func, v: int(GPIO.digitalRead(i))}
return values
def wildcard(self, compact=False):
if compact:
f = "f"
v = "v"
else:
f = "function"
v = "value"
values = {}
print(self.export)
for i in self.export:
if compact:
func = GPIO.getFunction(i)
else:
func = GPIO.getFunctionString(i)
values[i] = {f: func, v: int(GPIO.digitalRead(i))}
return values
def writeJSON(self, out):
json = "{"
first = True
for (alt, value) in FUNCTIONS.items():
if not first:
json += ", "
json += '"%s": %d' % (alt, value["enabled"])
first = False
json += ', "GPIO":{\n'
first = True
for gpio in range(GPIO.GPIO_COUNT):
if not first:
json += ", \n"
function = GPIO.getFunctionString(gpio)
value = GPIO.input(gpio)
json += '"%d": {"function": "%s", "value": %d}' % (gpio, function, value)
first = False
json += "\n}}"
out.write(json.encode())
def setPullUpDnControl(self, channel, value):
value = value.lower()
if value == "up":
GPIO.setPullUpDn(channel, GPIO.PUD_UP)
elif value == "down":
GPIO.setPullUpDn(channel, GPIO.PUD_DOWN)
elif value == "off":
GPIO.setPullUpDn(channel, GPIO.PUD_OFF)
else:
raise ValueError("Bad Pull up/down control")
return "OK"
def getHWPWMpolarity(self, channel):
return GPIO.HWPWMgetPolarity(channel)
def do_GET(self):
if not self.checkAuthentication():
return
relativePath = self.path.replace(self.server.context, "/")
if (relativePath.startswith("/")):
relativePath = relativePath[1:]
# JSON full state
if relativePath == "*":
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
self.server.writeJSON(self.wfile)
elif relativePath == "map":
json = "%s" % MAPPING[GPIO.BOARD_REVISION]
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
self.wfile.write(json.replace("'", '"').encode())
# version
elif relativePath == "version":
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(SERVER_VERSION.encode())
# Single GPIO getter
elif (relativePath.startswith("GPIO/")):
(mode, s_gpio, operation) = relativePath.split("/")
gpio = int(s_gpio)
value = None
if (operation == "value"):
if GPIO.input(gpio):
value = "1"
else:
value = "0"
elif (operation == "function"):
value = GPIO.getFunctionString(gpio)
elif (operation == "pwm"):
if GPIO.isPWMEnabled(gpio):
value = "enabled"
else:
value = "disabled"
elif (operation == "pulse"):
value = GPIO.getPulse(gpio)
else:
self.send_error(404, operation + " Not Found")
return
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(value.encode())
# handle files
else:
if relativePath == "":
relativePath = self.server.index
realPath = relativePath
if not os.path.exists(realPath):
realPath = self.server.docroot + os.sep + relativePath
if not os.path.exists(realPath):
self.send_error(404, "Not Found")
return
realPath = os.path.realpath(realPath)
if realPath.endswith(".py"):
self.send_error(403, "Not Authorized")
return
if not (realPath.startswith(self.server.docroot)
or realPath.startswith(os.getcwd())):
self.send_error(403, "Not Authorized")
return
if (os.path.isdir(realPath)):
realPath += os.sep + self.server.index
if not os.path.exists(realPath):
self.send_error(403, "Not Authorized")
return
(type, encoding) = mime.guess_type(realPath)
f = open(realPath)
data = f.read()
f.close()
self.send_response(200)
self.send_header("Content-type", type)
# self.send_header("Content-length", os.path.getsize(realPath))
self.end_headers()
try:
self.wfile.write(data.encode())
except UnicodeDecodeError:
self.wfile.write(data)
def __digitalRead__(self, channel):
self.checkDigitalChannelExported(channel)
return GPIO.digitalRead(channel)
import _webiopi.GPIO
import time
GPIO = _webiopi.GPIO
# GPIO, status, time
data = [[num, 0, 0.0] for num in [17, 27, 22]]
for n in data:
print(n[0], n[1], n[2])
GPIO.setFunction(n[0], GPIO.IN)
while True:
for n in data:
status = GPIO.digitalRead(n[0])
if n[1] == 0 and status:
n[1] = 1
n[2] = time.time()
elif n[1] == 1 and not status:
n[1] = 2
elif n[1] == 2 and 0.2 < (time.time() - n[2]):
n[1] = 0
print("%d clicked" % n[0])
def getPulse(self, channel):
self.checkDigitalChannelExported(channel)
self.checkDigitalChannel(channel)
return GPIO.getPulse(channel)
def get(self, channel):
return GPIO.HWPWMgetPort(channel)
def do_POST(self):
if not self.checkAuthentication():
return
relativePath = self.path.replace(self.server.context, "")
if (relativePath.startswith("/")):
relativePath = relativePath[1:];
if (relativePath.startswith("GPIO/")):
(mode, s_gpio, operation, value) = relativePath.split("/")
gpio = int(s_gpio)
if (operation == "value"):
if GPIO.getFunction(gpio) != GPIO.OUT:
self.send_error(400, "Not Output")
return;
if (value == "0"):
GPIO.output(gpio, GPIO.LOW)
elif (value == "1"):
GPIO.output(gpio, GPIO.HIGH)
else:
self.send_error(400, "Bad Value")
return
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "function"):
value = value.lower()
if value == "in":
GPIO.setFunction(gpio, GPIO.IN)
elif value == "out":
GPIO.setFunction(gpio, GPIO.OUT)
elif value == "pwm":
GPIO.setFunction(gpio, GPIO.PWM)
else:
self.send_error(400, "Bad Function")
return
value = GPIO.getFunctionString(gpio)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "sequence"):
if GPIO.getFunction(gpio) != GPIO.OUT:
self.send_error(400, "Not Output")
return;
(period, sequence) = value.split(",")
period = int(period)
GPIO.outputSequence(gpio, period, sequence)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(sequence[-1].encode())
elif (operation == "pwm"):
if value == "enable":
GPIO.enablePWM(gpio)
elif value == "disable":
GPIO.disablePWM(gpio)
if GPIO.isPWMEnabled(gpio):
result = "enabled"
else:
result = "disabled"
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(result.encode())
elif (operation == "pulse"):
GPIO.pulse(gpio)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write("OK".encode())
elif (operation == "pulseRatio"):
ratio = float(value)
GPIO.pulseRatio(gpio, ratio)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "pulseAngle"):
angle = float(value)
GPIO.pulseAngle(gpio, angle)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
else: # operation unknown
self.send_error(404, operation + " Not Found")
return
elif (relativePath.startswith("macros/")):
(mode, fname, value) = relativePath.split("/")
if (fname in self.server.callbacks):
if ',' in value:
args = value.split(',')
else:
args = [value]
callback = self.server.callbacks[fname]
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(callback(*args).encode())
else:
self.send_error(404, fname + " Not Found")
return
else: # path unknowns
self.send_error(404, "Not Found")
def do_POST(self):
if not self.checkAuthentication():
return
relativePath = self.path.replace(self.server.context, "")
if (relativePath.startswith("/")):
relativePath = relativePath[1:];
if (relativePath.startswith("GPIO/")):
(mode, s_gpio, operation, value) = relativePath.split("/")
gpio = int(s_gpio)
if (operation == "value"):
if GPIO.getFunction(gpio) != GPIO.OUT:
self.send_error(400, "Not Output")
return;
if (value == "0"):
GPIO.output(gpio, GPIO.LOW)
elif (value == "1"):
GPIO.output(gpio, GPIO.HIGH)
else:
self.send_error(400, "Bad Value")
return
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "function"):
value = value.lower()
if value == "in":
GPIO.setFunction(gpio, GPIO.IN)
elif value == "out":
GPIO.setFunction(gpio, GPIO.OUT)
else:
self.send_error(400, "Bad Function")
return
value = GPIO.getFunctionString(gpio)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "sequence"):
if GPIO.getFunction(gpio) != GPIO.OUT:
self.send_error(400, "Not Output")
return;
(period, sequence) = value.split(",")
period = int(period)
GPIO.outputSequence(gpio, period, sequence)
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(sequence[-1].encode())
else: # operation unknown
self.send_error(404, operation + " Not Found")
return
elif (relativePath.startswith("macros/")):
(mode, fname, value) = relativePath.split("/")
if (fname in self.server.callbacks):
callback = self.server.callbacks[fname]
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(callback(value).encode())
else:
self.send_error(404, fname + " Not Found")
return
else: # path unknowns
self.send_error(404, "Not Found")
def do_GET(self):
if not self.checkAuthentication():
return
relativePath = self.path.replace(self.server.context, "/")
if (relativePath.startswith("/")):
relativePath = relativePath[1:];
# JSON full state
if relativePath == "*":
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
self.server.writeJSON(self.wfile)
elif relativePath == "map":
json = "%s" % MAPPING[GPIO.BOARD_REVISION]
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
self.wfile.write(json.replace("'", '"').encode())
# version
elif relativePath == "version":
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(SERVER_VERSION.encode())
# Single GPIO getter
elif (relativePath.startswith("GPIO/")):
(mode, s_gpio, operation) = relativePath.split("/")
gpio = int(s_gpio)
value = None
if (operation == "value"):
value = GPIO.input(gpio)
elif (operation == "function"):
value = GPIO.getFunctionString(gpio)
else:
self.send_error(404, operation + " Not Found")
return
self.send_response(200)
self.send_header("Content-type", "text/plain");
self.end_headers()
self.wfile.write(value.encode())
# handle files
else:
if relativePath == "":
relativePath = self.server.index
realPath = relativePath;
if not os.path.exists(realPath):
realPath = self.server.docroot + os.sep + relativePath
if not os.path.exists(realPath):
self.send_error(404, "Not Found")
return
realPath = os.path.realpath(realPath)
if realPath.endswith(".py"):
self.send_error(403, "Not Authorized")
return
if not (realPath.startswith(self.server.docroot) or realPath.startswith(os.getcwd())):
self.send_error(403, "Not Authorized")
return
if (os.path.isdir(realPath)):
realPath += os.sep + self.server.index;
if not os.path.exists(realPath):
self.send_error(403, "Not Authorized")
return
(type, encoding) = mime.guess_type(realPath)
f = open(realPath)
data = f.read()
f.close()
self.send_response(200)
self.send_header("Content-type", type);
# self.send_header("Content-length", os.path.getsize(realPath))
self.end_headers()
try:
self.wfile.write(data.encode())
except UnicodeDecodeError:
self.wfile.write(data)
def MotorDrive(iIn1Pin, iIn2Pin, percentage):
if 100 < percentage:
percentage = 100
if -100 > percentage:
percentage = -100
if 10 > percentage and -10 < percentage:
GPIO.pwmWrite(iIn1Pin, 0.0)
GPIO.pwmWrite(iIn2Pin, 0.0)
elif 0 < percentage:
GPIO.pwmWrite(iIn1Pin, percentage * 0.01)
GPIO.pwmWrite(iIn2Pin, 0.0)
else:
GPIO.pwmWrite(iIn1Pin, 0.0)
GPIO.pwmWrite(iIn2Pin, -percentage * 0.01)
#!/usr/bin/env python3
from SimpleWebSocketServer import SimpleWebSocketServer, WebSocket
import sys
import _webiopi.GPIO
import json
PIN_L1 = 6
PIN_L2 = 13
PIN_R1 = 19
PIN_R2 = 26
g_mode = 0
g_percentage = 50
GPIO = _webiopi.GPIO
GPIO.setFunction(PIN_L1, GPIO.PWM)
GPIO.setFunction(PIN_L2, GPIO.PWM)
GPIO.setFunction(PIN_R1, GPIO.PWM)
GPIO.setFunction(PIN_R2, GPIO.PWM)
def MotorDrive(iIn1Pin, iIn2Pin, percentage):
if 100 < percentage:
percentage = 100
if -100 > percentage:
percentage = -100
if 10 > percentage and -10 < percentage:
GPIO.pwmWrite(iIn1Pin, 0.0)
GPIO.pwmWrite(iIn2Pin, 0.0)
elif 0 < percentage:
GPIO.pwmWrite(iIn1Pin, percentage * 0.01)
def do_POST(self, relativePath):
if relativePath.startswith("GPIO/"):
(mode, s_gpio, operation, value) = relativePath.split("/")
gpio = int(s_gpio)
if operation == "value":
if value == "0":
GPIO.output(gpio, GPIO.LOW)
elif value == "1":
GPIO.output(gpio, GPIO.HIGH)
else:
return (400, "Bad Value", M_PLAIN)
return (200, value, M_PLAIN)
elif operation == "function":
value = value.lower()
if value == "in":
GPIO.setFunction(gpio, GPIO.IN)
elif value == "out":
GPIO.setFunction(gpio, GPIO.OUT)
elif value == "pwm":
GPIO.setFunction(gpio, GPIO.PWM)
else:
return (400, "Bad Function", M_PLAIN)
value = GPIO.getFunctionString(gpio)
return (200, value, M_PLAIN)
elif operation == "sequence":
(period, sequence) = value.split(",")
period = int(period)
GPIO.outputSequence(gpio, period, sequence)
return (200, sequence[-1], M_PLAIN)
elif operation == "pwm":
if value == "enable":
GPIO.enablePWM(gpio)
elif value == "disable":
GPIO.disablePWM(gpio)
if GPIO.isPWMEnabled(gpio):
result = "enabled"
else:
result = "disabled"
return (200, result, M_PLAIN)
elif operation == "pulse":
GPIO.pulse(gpio)
return (200, "OK", M_PLAIN)
elif operation == "pulseRatio":
ratio = float(value)
GPIO.pulseRatio(gpio, ratio)
return (200, value, M_PLAIN)
elif operation == "pulseAngle":
angle = float(value)
GPIO.pulseAngle(gpio, angle)
return (200, value, M_PLAIN)
else: # operation unknown
return (404, operation + " Not Found", M_PLAIN)
elif relativePath.startswith("macros/"):
(mode, fname, value) = relativePath.split("/")
if fname in self.callbacks:
callback = self.callbacks[fname]
if "," in value:
args = value.split(",")
result = callback(*args)
elif len(value) > 0:
result = callback(value)
else:
result = callback()
response = ""
if result:
response = "%s" % result
return (200, response, M_PLAIN)
else:
return (404, fname + " Not Found", M_PLAIN)
else: # path unknowns
return (0, None, None)
def do_POST(self, relativePath):
if relativePath.startswith("GPIO/"):
(mode, s_gpio, operation, value) = relativePath.split("/")
gpio = int(s_gpio)
if operation == "value":
if value == "0":
GPIO.output(gpio, GPIO.LOW)
elif value == "1":
GPIO.output(gpio, GPIO.HIGH)
else:
return (400, "Bad Value", M_PLAIN)
return (200, value, M_PLAIN)
elif operation == "function":
value = value.lower()
if value == "in":
GPIO.setFunction(gpio, GPIO.IN)
elif value == "out":
GPIO.setFunction(gpio, GPIO.OUT)
elif value == "pwm":
GPIO.setFunction(gpio, GPIO.PWM)
else:
return (400, "Bad Function", M_PLAIN)
value = GPIO.getFunctionString(gpio)
return (200, value, M_PLAIN)
elif operation == "sequence":
(period, sequence) = value.split(",")
period = int(period)
GPIO.outputSequence(gpio, period, sequence)
return (200, sequence[-1], M_PLAIN)
elif operation == "pwm":
if value == "enable":
GPIO.enablePWM(gpio)
elif value == "disable":
GPIO.disablePWM(gpio)
if GPIO.isPWMEnabled(gpio):
result = "enabled"
else:
result = "disabled"
return (200, result, M_PLAIN)
elif operation == "pulse":
GPIO.pulse(gpio)
return (200, "OK", M_PLAIN)
elif operation == "pulseRatio":
ratio = float(value)
GPIO.pulseRatio(gpio, ratio)
return (200, value, M_PLAIN)
elif operation == "pulseAngle":
angle = float(value)
GPIO.pulseAngle(gpio, angle)
return (200, value, M_PLAIN)
else: # operation unknown
return (404, operation + " Not Found", M_PLAIN)
elif relativePath.startswith("macros/"):
(mode, fname, value) = relativePath.split("/")
if fname in self.callbacks:
callback = self.callbacks[fname]
if ',' in value:
args = value.split(',')
result = callback(*args)
elif len(value) > 0:
result = callback(value)
else:
result = callback()
response = ""
if result:
response = "%s" % result
return (200, response, M_PLAIN)
else:
return (404, fname + " Not Found", M_PLAIN)
else: # path unknowns
return (0, None, None)
def checkDigitalChannelExported(self, channel):
if not channel in self.export:
raise GPIO.InvalidChannelException("Channel %d is not allowed" %
channel)
def MotorDrive(iIn1Pin, iIn2Pin, percentage):
if 100 < percentage:
percentage = 100
if -100 > percentage:
percentage = -100
if 10 > percentage and -10 < percentage:
GPIO.pwmWrite(iIn1Pin, 0.0)
GPIO.pwmWrite(iIn2Pin, 0.0)
elif 0 < percentage:
GPIO.pwmWrite(iIn1Pin, percentage * 0.01)
GPIO.pwmWrite(iIn2Pin, 0.0)
else:
GPIO.pwmWrite(iIn1Pin, 0.0)
GPIO.pwmWrite(iIn2Pin, -percentage * 0.01)
def pulse(self, channel):
self.checkDigitalChannelExported(channel)
self.checkPostingValueAllowed()
self.checkDigitalChannel(channel)
GPIO.pulse(channel)
return "OK"
def getHWPWMoutput(self, channel):
value = GPIO.HWPWMisEnabled(channel)
if value == True:
return "enable"
else:
return "disable"
def getHWPWMDuty(self, channel):
return GPIO.HWPWMgetDuty(channel)
def __digitalRead__(self, channel):
self.checkDigitalChannelExported(channel)
return GPIO.digitalRead(channel)
def pulseAngle(self, channel, value):
self.checkDigitalChannelExported(channel)
self.checkPostingValueAllowed()
self.checkDigitalChannel(channel)
GPIO.pulseAngle(channel, value)
return GPIO.getPulse(channel)
def setHWPWMperiod(self, channel, period):
self.checkPostingValueAllowed()
GPIO.HWPWMsetPeriod(channel, period)
return GPIO.HWPWMgetPeriod(channel)
def setHWPWMpolarity(self, channel, polarity):
self.checkPostingValueAllowed()
GPIO.HWPWMsetPolarity(channel, polarity)
return GPIO.HWPWMgetPolarity(channel)
def do_POST(self, relativePath):
if relativePath.startswith("EGG/"):
(mode, s_gpio, operation, value) = relativePath.split("/")
if s_gpio == "1":
gpio = 7
elif s_gpio == "2":
gpio = 8
elif s_gpio == "3":
gpio = 9
elif s_gpio == "4":
gpio = 10
elif s_gpio == "5":
gpio = 11
elif s_gpio == "6":
gpio = 22
elif s_gpio == "7":
gpio = 23
elif s_gpio == "8":
gpio = 24
else:
gpio = 25
if operation == "value":
if value == "off":
GPIO.output(gpio, GPIO.LOW)
elif value == "on":
GPIO.output(gpio, GPIO.HIGH)
else:
return (400, "Bad Value", M_PLAIN)
return (200, value, M_PLAIN)
elif operation == "function":
value = value.lower()
if value == "in":
GPIO.setFunction(gpio, GPIO.IN)
elif value == "out":
GPIO.setFunction(gpio, GPIO.OUT)
elif value == "pwm":
GPIO.setFunction(gpio, GPIO.PWM)
else:
return (400, "Bad Function", M_PLAIN)
value = GPIO.getFunctionString(gpio)
return (200, value, M_PLAIN)
elif operation == "sequence":
(period, sequence) = value.split(",")
period = int(period)
GPIO.outputSequence(gpio, period, sequence)
return (200, sequence[-1], M_PLAIN)
elif operation == "pwm":
if value == "enable":
GPIO.enablePWM(gpio)
elif value == "disable":
GPIO.disablePWM(gpio)
if GPIO.isPWMEnabled(gpio):
result = "enabled"
else:
result = "disabled"
return (200, result, M_PLAIN)
elif operation == "pulse":
GPIO.pulse(gpio)
return (200, "OK", M_PLAIN)
elif operation == "pulseRatio":
ratio = float(value)
GPIO.pulseRatio(gpio, ratio)
return (200, value, M_PLAIN)
elif operation == "pulseAngle":
angle = float(value)
GPIO.pulseAngle(gpio, angle)
return (200, value, M_PLAIN)
else: # operation unknown
return (404, operation + " Not Found", M_PLAIN)
elif relativePath.startswith("macros/"):
(mode, fname, value) = relativePath.split("/")
if fname in self.callbacks:
callback = self.callbacks[fname]
if ',' in value:
args = value.split(',')
result = callback(*args)
elif len(value) > 0:
result = callback(value)
else:
result = callback()
response = ""
if result:
response = "%s" % result
return (200, response, M_PLAIN)
else:
return (404, fname + " Not Found", M_PLAIN)
elif operation == "saca17":
GPIO.setFunction(17, GPIO.OUT)
elif operation == "saca171":
GPIO.output(17,GPIO.HIGH)
elif operation == "saca170":
GPIO.output(17,GPIO.LOW)
elif operation == "saca21":
GPIO.setFunction(21, GPIO.OUT)
elif operation == "saca211":
GPIO.output(21,GPIO.HIGH)
elif operation == "saca210":
GPIO.output(21,GPIO.LOW)
elif relativePath.startswith("EGGSOFF"):
GPIO.output(7, GPIO.LOW)
GPIO.output(8, GPIO.LOW)
GPIO.output(9, GPIO.LOW)
GPIO.output(10, GPIO.LOW)
GPIO.output(11, GPIO.LOW)
GPIO.output(22, GPIO.LOW)
GPIO.output(23, GPIO.LOW)
GPIO.output(24, GPIO.LOW)
GPIO.output(25, GPIO.LOW)
return (200, "ALL EGGS OFF", M_PLAIN)
elif relativePath.startswith("EGGSON"):
GPIO.output(7, GPIO.HIGH)
GPIO.output(8, GPIO.HIGH)
GPIO.output(9, GPIO.HIGH)
GPIO.output(10, GPIO.HIGH)
GPIO.output(11, GPIO.HIGH)
GPIO.output(22, GPIO.HIGH)
GPIO.output(23, GPIO.HIGH)
GPIO.output(24, GPIO.HIGH)
GPIO.output(25, GPIO.HIGH)
return (200, "ALL EGGS ON", M_PLAIN)
else: # path unknowns
return (0, None, None)
def __digitalWrite__(self, channel, value):
self.checkDigitalChannelExported(channel)
self.checkPostingValueAllowed()
GPIO.digitalWrite(channel, value)
def getHWPWMperiod(self, channel):
return GPIO.HWPWMgetPeriod(channel)
def do_POST(self):
if not self.checkAuthentication():
return
relativePath = self.path.replace(self.server.context, "")
if (relativePath.startswith("/")):
relativePath = relativePath[1:]
if (relativePath.startswith("GPIO/")):
(mode, s_gpio, operation, value) = relativePath.split("/")
gpio = int(s_gpio)
if (operation == "value"):
if GPIO.getFunction(gpio) != GPIO.OUT:
self.send_error(400, "Not Output")
return
if (value == "0"):
GPIO.output(gpio, GPIO.LOW)
elif (value == "1"):
GPIO.output(gpio, GPIO.HIGH)
else:
self.send_error(400, "Bad Value")
return
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "function"):
value = value.lower()
if value == "in":
GPIO.setFunction(gpio, GPIO.IN)
elif value == "out":
GPIO.setFunction(gpio, GPIO.OUT)
elif value == "pwm":
GPIO.setFunction(gpio, GPIO.PWM)
else:
self.send_error(400, "Bad Function")
return
value = GPIO.getFunctionString(gpio)
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "sequence"):
if GPIO.getFunction(gpio) != GPIO.OUT:
self.send_error(400, "Not Output")
return
(period, sequence) = value.split(",")
period = int(period)
GPIO.outputSequence(gpio, period, sequence)
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(sequence[-1].encode())
elif (operation == "pwm"):
if value == "enable":
GPIO.enablePWM(gpio)
elif value == "disable":
GPIO.disablePWM(gpio)
if GPIO.isPWMEnabled(gpio):
result = "enabled"
else:
result = "disabled"
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(result.encode())
elif (operation == "pulse"):
GPIO.pulse(gpio)
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write("OK".encode())
elif (operation == "pulseRatio"):
ratio = float(value)
GPIO.pulseRatio(gpio, ratio)
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(value.encode())
elif (operation == "pulseAngle"):
angle = float(value)
GPIO.pulseAngle(gpio, angle)
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(value.encode())
else: # operation unknown
self.send_error(404, operation + " Not Found")
return
elif (relativePath.startswith("macros/")):
(mode, fname, value) = relativePath.split("/")
if (fname in self.server.callbacks):
if ',' in value:
args = value.split(',')
else:
args = [value]
callback = self.server.callbacks[fname]
self.send_response(200)
self.send_header("Content-type", "text/plain")
self.end_headers()
self.wfile.write(callback(*args).encode())
else:
self.send_error(404, fname + " Not Found")
return
else: # path unknowns
self.send_error(404, "Not Found")
def setHWPWMport(self, channel, port):
self.checkPostingValueAllowed()
GPIO.HWPWMsetPort(channel, port)
return GPIO.HWPWMgetPort(channel)
def setHWPWMmSMode(self, channel, msmode):
self.checkPostingValueAllowed()
GPIO.HWPWMsetMSMode(channel, msmode)
return GPIO.HWPWMgetMSMode(channel)
def __getFunction__(self, channel):
self.checkDigitalChannelExported(channel)
return GPIO.getFunction(channel)
def __setFunction__(self, channel, value):
self.checkDigitalChannelExported(channel)
self.checkPostingFunctionAllowed()
GPIO.setFunction(channel, value)
def __portRead__(self):
value = 0
for i in self.export:
value |= GPIO.digitalRead(i) << i
return value
#!/usr/bin/env python3
from SimpleWebSocketServer import SimpleWebSocketServer, WebSocket
import sys
import _webiopi.GPIO
import json
PIN_L1 = 6
PIN_L2 = 13
PIN_R1 = 19
PIN_R2 = 26
g_mode = 0
g_percentage = 50
GPIO = _webiopi.GPIO
GPIO.setFunction(PIN_L1, GPIO.PWM)
GPIO.setFunction(PIN_L2, GPIO.PWM)
GPIO.setFunction(PIN_R1, GPIO.PWM)
GPIO.setFunction(PIN_R2, GPIO.PWM)
def MotorDrive(iIn1Pin, iIn2Pin, percentage):
if 100 < percentage:
percentage = 100
if -100 > percentage:
percentage = -100
if 10 > percentage and -10 < percentage:
GPIO.pwmWrite(iIn1Pin, 0.0)
GPIO.pwmWrite(iIn2Pin, 0.0)
elif 0 < percentage:
GPIO.pwmWrite(iIn1Pin, percentage * 0.01)
GPIO.pwmWrite(iIn2Pin, 0.0)
def setHWPWMDuty(self, channel, duty):
self.checkPostingValueAllowed()
GPIO.HWPWMsetDuty(channel, duty)
return GPIO.HWPWMgetDuty(channel)
