Merge pull request #29 from caternuson/webgl

Add WebGL example

examples/webgl_demo/server.py

@@ -0,0 +1,173 @@
+# Adafruit BNO055 WebGL Example
+#
+# Requires the flask web framework to be installed.  See http://flask.pocoo.org/
+# for installation instructions, however on a Linux machine like the Raspberry
+# Pi or BeagleBone black you can likely install it by running:
+#  sudo apt-get update
+#  sudo apt-get install python3-flask
+#
+# Copyright (c) 2015 Adafruit Industries
+# Author: Tony DiCola
+# 2019 update: Carter Nelson
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+import json
+import logging
+import threading
+import time
+
+from flask import *
+
+import board
+import busio
+import adafruit_bno055
+i2c = busio.I2C(board.SCL, board.SDA)
+
+# Create the BNO sensor connection.
+bno = adafruit_bno055.BNO055(i2c)
+
+# Application configuration below.  You probably don't need to change these values.
+
+# How often to update the BNO sensor data (in hertz).
+BNO_UPDATE_FREQUENCY_HZ = 10
+
+# Name of the file to store calibration data when the save/load calibration
+# button is pressed.  Calibration data is stored in JSON format.
+CALIBRATION_FILE = 'calibration.json'
+
+# BNO sensor axes remap values.  These are the parameters to the BNO.set_axis_remap
+# function.  Don't change these without consulting section 3.4 of the datasheet.
+# The default axes mapping below assumes the Adafruit BNO055 breakout is flat on
+# a table with the row of SDA, SCL, GND, VIN, etc pins facing away from you.
+#BNO_AXIS_REMAP = { 'x': BNO055.AXIS_REMAP_X,
+#                   'y': BNO055.AXIS_REMAP_Z,
+#                   'z': BNO055.AXIS_REMAP_Y,
+#                   'x_sign': BNO055.AXIS_REMAP_POSITIVE,
+#                   'y_sign': BNO055.AXIS_REMAP_POSITIVE,
+#                   'z_sign': BNO055.AXIS_REMAP_NEGATIVE }
+
+
+# Create flask application.
+app = Flask(__name__)
+
+# Global state to keep track of the latest readings from the BNO055 sensor.
+# This will be accessed from multiple threads so care needs to be taken to
+# protect access with a lock (or else inconsistent/partial results might be read).
+# A condition object is used both as a lock for safe access across threads, and
+# to notify threads that the BNO state has changed.
+bno_data = {}
+bno_changed = threading.Condition()
+
+# Background thread to read BNO sensor data.  Will be created right before
+# the first request is served (see start_bno_thread below).
+bno_thread = None
+
+
+def read_bno():
+    """Function to read the BNO sensor and update the bno_data object with the
+    latest BNO orientation, etc. state.  Must be run in its own thread because
+    it will never return!
+    """
+    while True:
+        # Capture the lock on the bno_changed condition so the bno_data shared
+        # state can be updated.
+        with bno_changed:
+            bno_data['euler'] = bno.euler
+            bno_data['temp'] = bno.temperature
+            bno_data['quaternion'] = bno.quaternion
+            bno_data['calibration'] = bno.calibration_status
+            # Notify any waiting threads that the BNO state has been updated.
+            bno_changed.notifyAll()
+        # Sleep until the next reading.
+        time.sleep(1.0/BNO_UPDATE_FREQUENCY_HZ)
+
+def bno_sse():
+    """Function to handle sending BNO055 sensor data to the client web browser
+    using HTML5 server sent events (aka server push).  This is a generator function
+    that flask will run in a thread and call to get new data that is pushed to
+    the client web page.
+    """
+    # Loop forever waiting for a new BNO055 sensor reading and sending it to
+    # the client.  Since this is a generator function the yield statement is
+    # used to return a new result.
+    while True:
+        # Capture the bno_changed condition lock and then wait for it to notify
+        # a new reading is available.
+        with bno_changed:
+            bno_changed.wait()
+            # A new reading is available!  Grab the reading value and then give
+            # up the lock.
+            heading, roll, pitch = bno_data['euler']
+            temp = bno_data['temp']
+            x, y, z, w = bno_data['quaternion']
+            sys, gyro, accel, mag = bno_data['calibration']
+        # Send the data to the connected client in HTML5 server sent event format.
+        data = {'heading': heading, 'roll': roll, 'pitch': pitch, 'temp': temp,
+                'quatX': x, 'quatY': y, 'quatZ': z, 'quatW': w,
+                'calSys': sys, 'calGyro': gyro, 'calAccel': accel, 'calMag': mag }
+        yield 'data: {0}\n\n'.format(json.dumps(data))
+
+
+@app.before_first_request
+def start_bno_thread():
+    # Start the BNO thread right before the first request is served.  This is
+    # necessary because in debug mode flask will start multiple main threads so
+    # this is the only spot to put code that can only run once after starting.
+    # See this SO question for more context:
+    #   http://stackoverflow.com/questions/24617795/starting-thread-while-running-flask-with-debug
+    global bno_thread
+    # Kick off BNO055 reading thread.
+    bno_thread = threading.Thread(target=read_bno)
+    bno_thread.daemon = True  # Don't let the BNO reading thread block exiting.
+    bno_thread.start()
+
+@app.route('/bno')
+def bno_path():
+    # Return SSE response and call bno_sse function to stream sensor data to
+    # the webpage.
+    return Response(bno_sse(), mimetype='text/event-stream')
+
+@app.route('/save_calibration', methods=['POST'])
+def save_calibration():
+    # Save calibration data to disk.
+    #
+    # TODO: implement this
+    #
+    return 'OK'
+
+@app.route('/load_calibration', methods=['POST'])
+def load_calibration():
+    # Load calibration from disk.
+    #
+    # TODO: implement this
+    #
+    return 'OK'
+
+@app.route('/')
+def root():
+    return render_template('index.html')
+
+
+if __name__ == '__main__':
+    # Create a server listening for external connections on the default
+    # port 5000.  Enable debug mode for better error messages and live
+    # reloading of the server on changes.  Also make the server threaded
+    # so multiple connections can be processed at once (very important
+    # for using server sent events).
+    app.run(host='0.0.0.0', debug=True, threaded=True)

examples/webgl_demo/static/bunny.mtl

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+# File Created: 04.07.2010 10:41:39
+
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