def do_POST(self):
ctype, pdict = parse_header(self.headers['content-type'])
if ctype == 'multipart/form-data':
postvars = parse_multipart(self.rfile, pdict)
elif ctype == 'application/x-www-form-urlencoded':
length = int(self.headers['content-length'])
postvars = parse_qs(self.rfile.read(length), keep_blank_values=1)
else:
postvars = {}
pathArray = self.path[1:].split("/")
if (len(pathArray) == 1):
if (pathArray[0] == "hydraulics"):
if "state" in postvars:
newState = postvars["state"][0]
hydraulics_drv.setState(newState)
self.send_response(200)
if ("oldPlaybackName" in postvars
and "newPlaybackName" in postvars):
oldName = postvars["oldPlaybackName"][0]
newName = postvars["newPlaybackName"][0]
hydraulics_playback.renamePlayback(oldName, newName)
if ("currentPlayback" in postvars):
playback = postvars["currentPlayback"][0]
hydraulics_playback.setCurrentPlayback(playback)
if ("record" in postvars):
doRecord = postvars["record"][0]
if doRecord.lower() == "true":
recordingFile = hydraulics_playback.getNewRecordingFile(
)
hydraulics_drv.startRecording(recordingFile)
else:
hydraulics_drv.stopRecording()
if ("loopback_x" in postvars):
loopback_x = postvars["loopback_x"][0]
x, y, z = hydraulics_drv.getLoopbackValues()
print("loopback_x set to", loopback_x)
hydraulics_drv.setLoopbackValues(loopback_x, y, z)
if ("loopback_y" in postvars):
print postvars
loopback_y = postvars["loopback_y"][0]
print("loopback_y set to", loopback_y)
x, y, z = hydraulics_drv.getLoopbackValues()
hydraulics_drv.setLoopbackValues(x, loopback_y, z)
if ("loopback_z" in postvars):
loopback_z = postvars["loopback_z"][0]
print("loopback_z set to", loopback_z)
x, y, z = hydraulics_drv.getLoopbackValues()
hydraulics_drv.setLoopbackValues(x, y, loopback_z)
self.send_response(200)
else:
self.sendError(404)
else:
self.sendError(404)
def log_message(self, format, *args):
# yep, I'm sick of the annoying logging of all requests
pass
def getHydraulicsState():
control_x, control_y, control_z = hydraulics_drv.getCurrentInput()
pid_x, pid_y, pid_z = hydraulics_drv.getVoltageInput()
loopback_x, loopback_y, loopback_z = hydraulics_drv.getLoopbackValues()
retObj = {}
retObj["x"] = control_x
retObj["y"] = control_y
retObj["z"] = control_z
retObj["pid_x"] = pid_x
retObj["pid_y"] = pid_y
retObj["pid_z"] = pid_z
retObj["playbacks"] = hydraulics_playback.getList()
retObj["currentPlayback"] = hydraulics_playback.getCurrentPlayback()
retObj["states"] = hydraulics_drv.getAllStates()
retObj["currentState"] = hydraulics_drv.getState()
retObj["isRecording"] = hydraulics_drv.isRecording()
retObj["loopback_x"] = loopback_x
retObj["loopback_y"] = loopback_y
retObj["loopback_z"] = loopback_z
print("Adding currentState to the data {} ({})".format(
retObj["currentPlayback"], hydraulics_playback.getCurrentPlayback()))
return retObj