def run_with_callback(host):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
handler = default_app()
server = wsgiref.simple_server.make_server(host, NETWORK_PORT, handler)
server.timeout = 0.01
server.quiet = True
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
print "http://%s:%d/ (local)" % ("127.0.0.1", NETWORK_PORT)
if host == "":
print "http://%s:%d/ (public)" % (socket.gethostbyname(socket.gethostname()), NETWORK_PORT)
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
try:
webbrowser.open_new_tab("http://127.0.0.1:" + str(NETWORK_PORT))
except webbrowser.Error:
print "Cannot open Webbrowser, please do so manually."
sys.stdout.flush() # make sure everything gets flushed
while 1:
try:
SerialManager.send_queue_as_ready()
server.handle_request()
except KeyboardInterrupt:
break
print "\nShutting down..."
SerialManager.close()
def run_with_callback(host, port=4444, timeout=0.01):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
handler = default_app()
server = wsgiref.simple_server.make_server(host, port, handler)
server.timeout = timeout
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
print "http://%s:%d/ (local)" % ('127.0.0.1', port)
if host == '':
print "http://%s:%d/ (public)" % (socket.gethostbyname(socket.gethostname()), port)
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
while 1:
try:
SerialManager.send_queue_as_ready()
server.handle_request()
except KeyboardInterrupt:
break
print "\nShutting down..."
SerialManager.close()
def flash_firmware_handler():
if SerialManager.is_connected():
SerialManager.close()
global SERIAL_PORT, GUESS_PREFIX
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX)
flash_upload(SERIAL_PORT, resources_dir())
return '<h2>flashing finished!</h2> Check Log window for possible errors.<br><a href="/">return</a>'
def flash_firmware_handler(firmware_file=FIRMWARE):
global SERIAL_PORT, GUESS_PREFIX
return_code = 1
if SerialManager.is_connected():
SerialManager.close()
# get serial port by url argument
# e.g: /flash_firmware?port=COM3
if 'port' in request.GET.keys():
serial_port = request.GET['port']
if serial_port[:3] == "COM" or serial_port[:4] == "tty.":
SERIAL_PORT = serial_port
# get serial port by enumeration method
# currenty this works on windows only for updating the firmware
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
# resort to brute force methode
# find available com ports and try them all
if not SERIAL_PORT:
comport_list = SerialManager.list_devices(BITSPERSECOND)
for port in comport_list:
print "Trying com port: " + port
return_code = flash_upload(port, resources_dir(), firmware_file,
HARDWARE)
if return_code == 0:
print "Success with com port: " + port
SERIAL_PORT = port
break
else:
return_code = flash_upload(SERIAL_PORT, resources_dir(), firmware_file,
HARDWARE)
ret = []
ret.append('Using com port: %s<br>' % (SERIAL_PORT))
ret.append('Using firmware: %s<br>' % (firmware_file))
if return_code == 0:
print "SUCCESS: Arduino appears to be flashed."
ret.append('<h2>Successfully Flashed!</h2><br>')
ret.append('<a href="/">return</a>')
return ''.join(ret)
else:
print "ERROR: Failed to flash Arduino."
ret.append(
'<h2>Flashing Failed!</h2> Check terminal window for possible errors. '
)
ret.append(
'Most likely LasaurApp could not find the right serial port.')
ret.append('<br><a href="/flash_firmware/' + firmware_file +
'">try again</a> or <a href="/">return</a><br><br>')
if os.name != 'posix':
ret.append(
'If you know the COM ports the Arduino is connected to you can specifically select it here:'
)
for i in range(1, 13):
ret.append(
'<br><a href="/flash_firmware?port=COM%s">COM%s</a>' %
(i, i))
return ''.join(ret)
def run_with_callback(host, port, rfidreader, logger, powertimer):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
debug(True)
handler = default_app()
handler.catchall = False
handler.rfidreader = rfidreader
handler.logger = logger
handler.powertimer = powertimer
server = make_server(host, port, handler, handler_class=HackedWSGIRequestHandler)
server.timeout = 0.01
#server.quiet = True
print "Persistent storage root is: " + storage_dir()
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
print "http://%s:%d/ (local)" % ('127.0.0.1', port)
# if host == '':
# try:
# print "http://%s:%d/ (public)" % (socket.gethostbyname(socket.gethostname()), port)
# except socket.gaierror:
# # print "http://beaglebone.local:4444/ (public)"
# pass
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
# auto-connect on startup
global SERIAL_PORT
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
# open web-browser
try:
webbrowser.open_new_tab('http://127.0.0.1:'+str(port))
pass
except webbrowser.Error:
print "Cannot open Webbrowser, please do so manually."
sys.stdout.flush() # make sure everything gets flushed
server.timeout = 0
while 1:
try:
SerialManager.send_queue_as_ready()
server.handle_request()
time.sleep(0.0004)
except KeyboardInterrupt:
break
print "\nShutting down..."
SerialManager.close()
def flash_firmware_handler(firmware_file=FIRMWARE):
global user_approved
global user_admin
if not user_approved and user_admin:
return 'Access denied'
logger.log(current_user, 'Flashing ATMEGA')
return_code = 1
if SerialManager.is_connected():
SerialManager.close()
# get serial port by url argument
# e.g: /flash_firmware?port=COM3
if 'port' in request.GET.keys():
serial_port = request.GET['port']
if serial_port[:3] == "COM" or serial_port[:4] == "tty.":
SERIAL_PORT = serial_port
# get serial port by enumeration method
# currenty this works on windows only for updating the firmware
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
# resort to brute force methode
# find available com ports and try them all
if not SERIAL_PORT:
comport_list = SerialManager.list_devices(BITSPERSECOND)
for port in comport_list:
print "Trying com port: " + port
return_code = flash_upload(port, resources_dir(), firmware_file, HARDWARE)
if return_code == 0:
print "Success with com port: " + port
SERIAL_PORT = port
break
else:
return_code = flash_upload(SERIAL_PORT, resources_dir(), firmware_file, HARDWARE)
ret = []
ret.append('Using com port: %s<br>' % (SERIAL_PORT))
ret.append('Using firmware: %s<br>' % (firmware_file))
if return_code == 0:
print "SUCCESS: Arduino appears to be flashed."
ret.append('<h2>Successfully Flashed!</h2><br>')
ret.append('<a href="/">return</a>')
return ''.join(ret)
else:
print "ERROR: Failed to flash Arduino."
ret.append('<h2>Flashing Failed!</h2> Check terminal window for possible errors. ')
ret.append('Most likely LasaurApp could not find the right serial port.')
ret.append('<br><a href="/flash_firmware/'+firmware_file+'">try again</a> or <a href="/">return</a><br><br>')
if os.name != 'posix':
ret. append('If you know the COM ports the Arduino is connected to you can specifically select it here:')
for i in range(1,13):
ret. append('<br><a href="/flash_firmware?port=COM%s">COM%s</a>' % (i, i))
return ''.join(ret)
def run_with_callback(host, port):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
handler = default_app()
server = make_server(host,
port,
handler,
handler_class=HackedWSGIRequestHandler)
server.timeout = 0.01
server.quiet = True
print "Persistent storage root is: " + storage_dir()
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
print "http://%s:%d/ (local)" % ('127.0.0.1', port)
# if host == '':
# try:
# print "http://%s:%d/ (public)" % (socket.gethostbyname(socket.gethostname()), port)
# except socket.gaierror:
# # print "http://beaglebone.local:4444/ (public)"
# pass
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
# auto-connect on startup
global SERIAL_PORT
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
# open web-browser
try:
webbrowser.open_new_tab('http://127.0.0.1:' + str(port))
pass
except webbrowser.Error:
print "Cannot open Webbrowser, please do so manually."
sys.stdout.flush() # make sure everything gets flushed
server.timeout = 0
while 1:
try:
SerialManager.send_queue_as_ready()
server.handle_request()
time.sleep(0.0004)
except KeyboardInterrupt:
break
print "\nShutting down..."
SerialManager.close()
def serial_handler(connect):
if connect == '1':
# print 'js is asking to connect serial'
if not SerialManager.is_connected():
try:
global SERIAL_PORT, BITSPERSECOND, GUESS_PREFIX
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
ret = "Serial connected to %s:%d." % (SERIAL_PORT, BITSPERSECOND) + '<br>'
time.sleep(1.0) # allow some time to receive a prompt/welcome
SerialManager.flush_input()
SerialManager.flush_output()
return ret
except serial.SerialException:
SERIAL_PORT = None
print "Failed to connect to serial."
return ""
elif connect == '0':
# print 'js is asking to close serial'
if SerialManager.is_connected():
if SerialManager.close(): return "1"
else: return ""
elif connect == "2":
# print 'js is asking if serial connected'
if SerialManager.is_connected(): return "1"
else: return ""
else:
print 'ambigious connect request from js: ' + connect
return ""
def serial_handler(connect):
if connect == '1':
# print 'js is asking to connect serial'
if not SerialManager.is_connected():
try:
global SERIAL_PORT, BITSPERSECOND, GUESS_PREFIX
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(
GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
ret = "Serial connected to %s:%d." % (SERIAL_PORT,
BITSPERSECOND) + '<br>'
time.sleep(1.0) # allow some time to receive a prompt/welcome
SerialManager.flush_input()
SerialManager.flush_output()
return ret
except serial.SerialException:
SERIAL_PORT = None
print "Failed to connect to serial."
return ""
elif connect == '0':
# print 'js is asking to close serial'
if SerialManager.is_connected():
if SerialManager.close(): return "1"
else: return ""
elif connect == "2":
# print 'js is asking if serial connected'
if SerialManager.is_connected(): return "1"
else: return ""
else:
print 'ambigious connect request from js: ' + connect
return ""
def flash_firmware_handler():
global SERIAL_PORT, GUESS_PREFIX
return_code = 1
if SerialManager.is_connected():
SerialManager.close()
# get serial port by url argument
# e.g: /flash_firmware?port=COM3
if "port" in request.GET.keys():
serial_port = request.GET["port"]
if serial_port[:3] == "COM" or serial_port[:4] == "tty.":
SERIAL_PORT = serial_port
# get serial port by enumeration method
# currenty this works on windows only for updating the firmware
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
# resort to brute force methode
# find available com ports and try them all
if not SERIAL_PORT:
comport_list = SerialManager.list_devices(BITSPERSECOND)
for port in comport_list:
print "Trying com port: " + port
return_code = flash_upload(port, resources_dir())
if return_code == 0:
print "Success with com port: " + port
SERIAL_PORT = port
break
else:
return_code = flash_upload(SERIAL_PORT, resources_dir())
ret = []
ret.append("Using com port: %s<br>" % (SERIAL_PORT))
if return_code == 0:
print "SUCCESS: Arduino appears to be flashed."
ret.append("<h2>Successfully Flashed!</h2><br>")
ret.append('<a href="/">return</a>')
return "".join(ret)
else:
SERIAL_PORT = None
print "ERROR: Failed to flash Arduino."
ret.append("<h2>Flashing Failed!</h2> Check Log window for possible errors. ")
ret.append('Most likely LasaurApp could not find the right serial port.<br><a href="/">return</a><br><br>')
if os.name != "posix":
ret.append("If you know the COM ports the Arduino is connected to you can specifically select it here:")
for i in range(1, 13):
ret.append('<br><a href="/flash_firmware?port=COM%s">COM%s</a>' % (i, i))
return "".join(ret)
def run_with_callback(host):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
handler = default_app()
server = wsgiref.simple_server.make_server(host, NETWORK_PORT, handler)
server.timeout = 0.01
server.quiet = True
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
print "http://%s:%d/ (local)" % ('127.0.0.1', NETWORK_PORT)
if host == '':
try:
print "http://%s:%d/ (public)" % (socket.gethostbyname(
socket.gethostname()), NETWORK_PORT)
except socket.gaierror:
# print "http://beaglebone.local:4444/ (public)"
pass
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
try:
webbrowser.open_new_tab('http://127.0.0.1:' + str(NETWORK_PORT))
pass
except webbrowser.Error:
print "Cannot open Webbrowser, please do so manually."
sys.stdout.flush() # make sure everything gets flushed
while 1:
try:
SerialManager.send_queue_as_ready()
server.handle_request()
except KeyboardInterrupt:
break
print "\nShutting down..."
SerialManager.close()
ev2 = EventWrapper(
e2,
marm.calculate_timeout(115200) + v2dt.calculate_timeout(115200))
sertest = AutoTimer(period=1, events=[ev0, ev1, ev2])
if manager.open_port('0', 115200):
sertest.start()
try:
while True:
if dataflag:
print(marm.voltages)
print(marm.test)
dataflag = False
#user_input = raw_input()
'''
if manager.open_port(user_input, 115200):
sertest.start()
else:
if user_input == 'q' or user_input == 'quit':
sertest.stop()
manager.close()
quit()'''
except KeyboardInterrupt:
print('Closing threads, serial port, and quitting...')
sertest.kill()
manager.close()
quit(0)
alive = False
manager1 = SerialManager()
print('Ports available')
manager1.list_ports()
print('Select Dynamixel port')
user_input = utils.getch()
if manager1.open_port(user_input, 115200):
serv2 = Robotis_Servo(manager1,2)
print('Setting up Dynamixel')
print('Dynamixel angle at ' + str(serv2.read_angle()))
print('Dynamixel encoder at ' + str(serv2.read_encoder()))
serv5 = Robotis_Servo(manager1,5)
print('Setting up Dynamixel')
print('Dynamixel angle at ' + str(serv5.read_angle()))
print('Dynamixel encoder at ' + str(serv5.read_encoder()))
while(alive):
#serv.move_angle(1, 1.5, blocking=False)
serv2.move_angle(0.5,blocking=False)
serv5.move_angle(0.1,blocking=False)
time.sleep(2)
serv2.move_angle(0.1,blocking=False)
serv5.move_angle(0.5,blocking=False)
time.sleep(2)
manager1.close()
def run_with_callback(host, port):
""" Start a wsgiref server instance with control over the main loop.
This is a function that I derived from the bottle.py run()
"""
handler = default_app()
server = make_server(host, port, handler, handler_class=HackedWSGIRequestHandler)
if CERTSDIR:
server.socket = ssl.wrap_socket(server.socket,
keyfile=KEYFILE,
certfile=CERTSFILE,
server_side=True,
cert_reqs=ssl.CERT_REQUIRED,
ca_certs=CA_CERTSFILE)
loadAccounts()
server.verify_request = verify_request
server.timeout = 0.01
server.quiet = True
print "Persistent storage root is: " + storage_dir()
print "-----------------------------------------------------------------------------"
print "Bottle server starting up ..."
print "Serial is set to %d bps" % BITSPERSECOND
print "Point your browser to: "
if CERTSDIR:
print "https://%s:%d/" % (COMMON_NAME, port)
elif COMMON_NAME:
print "http://%s:%d/" % (COMMON_NAME, port)
else:
print "http://%s:%d/" % ('127.0.0.1', port)
print "Use Ctrl-C to quit."
print "-----------------------------------------------------------------------------"
print
# auto-connect on startup
global SERIAL_PORT
if not SERIAL_PORT:
SERIAL_PORT = SerialManager.match_device(GUESS_PREFIX, BITSPERSECOND)
SerialManager.connect(SERIAL_PORT, BITSPERSECOND)
# I:Mega Start
time.sleep(1.0)
# I:Mega End
# # open web-browser
# try:
# webbrowser.open_new_tab('http://127.0.0.1:'+str(port))
# pass
# except webbrowser.Error:
# print "Cannot open Webbrowser, please do so manually."
sys.stdout.flush() # make sure everything gets flushed
server.timeout = 0
lastPowerStatus = 0
powerStateChange = 0
while 1:
try:
serial_handler('1')
SerialManager.send_queue_as_ready()
server.handle_request()
if HARDWARE == 'raspberrypi':
powerStatus = RPiPowerControl.interval_check()
if powerStatus != lastPowerStatus:
powerStateChange = 1
lastPowerStatus = powerStatus
if powerStateChange:
powerStateChange = checkStatus()
time.sleep(0.0004)
except KeyboardInterrupt:
if HARDWARE == 'raspberrypi':
RPiPowerControl.gpio_cleanup()
break
except:
import traceback
traceback.print_exc()
break
print "\nShutting down..."
if redirect_pid:
os.kill(redirect_pid, signal.SIGTERM)
SerialManager.close()
ev1 = EventWrapper(e1, marm.calculate_timeout(115200))
ev2 = EventWrapper(e2, marm.calculate_timeout(115200) + v2dt.calculate_timeout(115200))
sertest = AutoTimer(period=1, events=[ev0,ev1,ev2])
if manager.open_port('0', 115200):
sertest.start()
try:
while True:
if dataflag:
print(marm.voltages)
print(marm.test)
dataflag = False
#user_input = raw_input()
'''
if manager.open_port(user_input, 115200):
sertest.start()
else:
if user_input == 'q' or user_input == 'quit':
sertest.stop()
manager.close()
quit()'''
except KeyboardInterrupt:
print('Closing threads, serial port, and quitting...')
sertest.kill()
manager.close()
quit(0)
slideRenderer = SlideshowManager(config, screen)
slideRenderer.load_default_slideshow()
serialManager = SerialManager(port="/dev/ttyAMA0", baudrate=9600)
done = False
while not done:
for event in pygame.event.get():
if event.type == pygame.QUIT:
done = True
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
done = True
serialManager.pool()
data = serialManager.process()
if data:
process_input(slideRenderer, config, data)
slideRenderer.tick()
time.sleep(0.05)
serialManager.close()
slideRenderer.destroy()
pygame.quit()
from Servo import * from data_structures import mini_arm as marm utils = Utility() alive = True def quit(): global alive alive = False manager1 = SerialManager() print 'Ports available' manager1.list_ports() print 'Select Dynamixel port' user_input = utils.getch() if manager1.open_port(user_input, 57600): serv_2 = Robotis_Servo(manager1, 1) print 'Setting up Dynamixel 2' print 'Dynamixel 2 at ' + str(serv_2.read_angle()) while(alive): serv_2.move_angle(1, 1.5, blocking=False) time.sleep(1) serv_2.move_angle(2, 1.5, blocking=False) time.sleep(1) manager1.close()
