def __init__(self):
# read config
self.config = {
'remote': False,
'host': '127.0.0.1',
'actions': {},
'pi.ir': True,
'arduino.ir': False,
'arduino.nmea.in': False,
'arduino.nmea.out': False,
'arduino.nmea.baud': 4800,
'lcd': {}
}
self.configfilename = os.getenv('HOME') + '/.pypilot/hat.conf'
print('loading config file:', self.configfilename)
try:
file = open(self.configfilename)
config = pyjson.loads(file.read())
file.close()
for name in config:
self.config[name] = config[name]
except Exception as e:
print('config failed:', e)
try:
configfile = '/proc/device-tree/hat/custom_0'
f = open(configfile)
hat_config = pyjson.loads(f.read())
f.close()
print('loaded device tree hat config')
if not 'hat' in self.config or hat_config != self.config['hat']:
self.config['hat'] = hat_config
print('writing device tree hat to hat.conf')
self.write_config()
except Exception as e:
print('failed to load', configfile, ':', e)
if not 'hat' in self.config:
if os.path.exists('/dev/spidev0.0'):
print(
'assuming original 26 pin tinypilot with nokia5110 display'
)
self.config['hat'] = {
'lcd': {
'driver': 'nokia5110',
'port': '/dev/spidev0.0'
},
'lirc': 'gpio4'
}
self.write_config()
self.servo_timeout = time.monotonic() + 1
self.last_msg = {}
self.last_msg['ap.enabled'] = False
self.last_msg['ap.heading_command'] = 0
if self.config['remote']:
host = self.config['host']
else:
host = 'localhost'
self.client = pypilotClient(host)
self.client.registered = False
self.watchlist = ['ap.enabled', 'ap.heading_command']
for name in self.watchlist:
self.client.watch(name)
self.lcd = lcd.LCD(self)
self.gpio = gpio.gpio()
self.arduino = Arduino(self)
self.poller = select.poll()
self.poller.register(self.arduino.pipe, select.POLLIN)
self.lirc = lircd.lirc(self.config)
self.lirc.registered = False
self.keytimes = {}
self.keytimeouts = {}
# keypad for lcd interface
self.actions = []
keypadnames = [
'auto', 'menu', 'port1', 'starboard1', 'select', 'port10',
'starboard10', 'tack', 'dodge_port', 'dodge_starboard'
]
for i in range(len(keypadnames)):
self.actions.append(ActionKeypad(self.lcd, i, keypadnames[i]))
# stateless actions for autopilot control
self.actions += [
ActionEngage(self),
ActionPypilot(self, 'disengage', 'ap.enabled', False),
ActionHeading(self, 1),
ActionHeading(self, -1),
ActionHeading(self, 2),
ActionHeading(self, -2),
ActionHeading(self, 5),
ActionHeading(self, -5),
ActionHeading(self, 10),
ActionHeading(self, -10),
ActionPypilot(self, 'compassmode', 'ap.mode', 'compass'),
ActionPypilot(self, 'gpsmode', 'ap.mode', 'gps'),
ActionPypilot(self, 'windmode', 'ap.mode', 'wind'),
ActionPypilot(self, 'center', 'servo.position', 0),
ActionTack(self, 'tackport', 'port'),
ActionTack(self, 'tackstarboard', 'starboard'),
ActionNone()
]
for action in self.actions:
if action.name in self.config['actions']:
action.keys = self.config['actions'][action.name]
self.web = Web(self)
def cleanup(signal_number, frame=None):
print('got signal', signal_number, 'cleaning up', os.getpid())
childpids = []
processes = [self.arduino, self.web]
for process in processes:
if process.process:
childpids.append(process.process.pid)
if signal_number == signal.SIGCHLD:
pid = os.waitpid(-1, os.WNOHANG)
if not pid[0] in childpids:
print('subprocess returned', pid, childpids)
# flask or system makes process at startup that dies
return
print('child process', pid, childpids)
while childpids:
pid = childpids.pop()
#print('kill!', pid, childpids, os.getpid())
try:
os.kill(pid, signal.SIGTERM) # get backtrace
except ProcessLookupError:
pass # ok, process is already terminated
sys.stdout.flush()
for process in processes:
process.process = False
if signal_number != 'atexit':
raise KeyboardInterrupt # to get backtrace on all processes
sys.stdout.flush()
for s in range(1, 16):
if s != 9 and s != 13:
signal.signal(s, cleanup)
signal.signal(signal.SIGCHLD, cleanup)
import atexit
atexit.register(lambda: cleanup('atexit'))
close_room, rooms, disconnect
from pypilot.client import pypilotClient
from pypilot import pyjson
sys.path.append(os.path.dirname(os.path.abspath(__file__)))
import tinypilot
pypilot_web_port = 8000
if len(sys.argv) > 1:
pypilot_web_port = int(sys.argv[1])
else:
filename = os.getenv('HOME') + '/.pypilot/web.conf'
try:
file = open(filename, 'r')
config = pyjson.loads(file.readline())
if 'port' in config:
pypilot_web_port = config['port']
file.close()
except:
print('using default port of', pypilot_web_port)
# Set this variable to 'threading', 'eventlet' or 'gevent' to test the
# different async modes, or leave it set to None for the application to choose
# the best option based on installed packages.
async_mode = None
app = Flask(__name__)
app.config['SECRET_KEY'] = 'secret!'
socketio = SocketIO(app, async_mode=async_mode)