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driver_api.py
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driver_api.py
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import tornado.ioloop
import tornado.web
from datetime import datetime
import os
from operator import itemgetter
import RPi.GPIO as GPIO
from range_sensor import calculate_distance
import requests
from time import sleep
class PostHandler(tornado.web.RequestHandler):
def post(self):
timestamp = datetime.now()
data_json = tornado.escape.json_decode(self.request.body)
allowed_commands = set(['37', '38', '39', '40'])
command = data_json['command']
command = list(command.keys())
command = set(command)
command = allowed_commands & command
file_path = str(os.path.dirname(os.path.realpath(__file__))) + "/session.txt"
log_entry = str(command) + " " + str(timestamp)
log_entries.append((command, timestamp))
with open(file_path, "a") as writer:
writer.write(log_entry + "\n")
print(log_entry)
command_duration = 0.1
if '37' in command:
motor.forward_left(100)
elif '38' in command:
motor.forward(100)
elif '39' in command:
motor.forward_right(100)
elif '40' in command:
motor.backward(100)
else:
motor.stop()
# This only works on data from the same live python process. It doesn't
# read from the session.txt file. It only sorts data from the active
# python process. This is required because it reads from a list instead
# of a file on data from the same live python process. It doesn't
# read from the session.txt file. It only sorts data from the active
# log_entries python list
class StoreLogEntriesHandler(tornado.web.RequestHandler):
def get(self):
file_path = str(os.path.dirname(os.path.realpath(__file__))) + "/clean_session.txt"
sorted_log_entries = sorted(log_entries, key=itemgetter(1))
prev_command = set()
allowed_commands = set(['38', '37', '39', '40'])
for log_entry in sorted_log_entries:
command = log_entry[0]
timestamp = log_entry[1]
if len(command ^ prev_command) > 0:
prev_command = command
with open(file_path, "a") as writer:
readable_command = []
for element in list(command):
if element == '37':
readable_command.append("left")
if element == '38':
readable_command.append("up")
if element == '39':
readable_command.append("right")
if element == '40':
readable_command.append("down")
log_entry = str(list(readable_command)) + " " + str(timestamp)
writer.write(log_entry + "\n")
print(log_entry)
self.write("Finished")
class DistanceSenor(tornado.web.RequestHandler):
def get(self):
self.write(str(calculate_distance(ECHO, TRIG)))
class MultipleKeysHandler(tornado.web.RequestHandler):
def get(self):
print("HelloWorld")
self.write('''
<!DOCTYPE html>
<html>
<head>
<script src="https://ajax.googleapis.com/ajax/libs/jquery/1.12.2/jquery.min.js"></script>
<script>
var keys = {};
$(document).keydown(function (e) {
keys[e.which] = true;
var json_upload = JSON.stringify({command:keys});
var xmlhttp = new XMLHttpRequest();
xmlhttp.open("POST", "/post");
xmlhttp.setRequestHeader("Content-Type", "application/x-www-form-urlencoded");
xmlhttp.send(json_upload);
printKeys();
});
$(document).keyup(function (e) {
delete keys[e.which];
var json_upload = JSON.stringify({command:keys});
var xmlhttp = new XMLHttpRequest();
xmlhttp.open("POST", "/post");
xmlhttp.setRequestHeader("Content-Type", "application/x-www-form-urlencoded");
xmlhttp.send(json_upload);
printKeys();
});
function printKeys() {
var html = '';
for (var i in keys) {
if (!keys.hasOwnProperty(i)) continue;
html += '<p>' + i + '</p>';
}
$('#out').html(html);
}
</script>
</head>
<body>
Click in this frame, then try holding down some keys
<div id="out"></div>
</body>
</html>
''')
class Motor:
def __init__(self, pinForward, pinBackward, pinControlStraight, pinLeft, pinRight, pinControlSteering):
""" Initialize the motor with its control pins and start pulse-width
modulation """
self.pinForward = pinForward
self.pinBackward = pinBackward
self.pinControlStraight = pinControlStraight
self.pinLeft = pinLeft
self.pinRight = pinRight
self.pinControlSteering = pinControlSteering
GPIO.setup(self.pinForward, GPIO.OUT)
GPIO.setup(self.pinBackward, GPIO.OUT)
GPIO.setup(self.pinControlStraight, GPIO.OUT)
GPIO.setup(self.pinLeft, GPIO.OUT)
GPIO.setup(self.pinRight, GPIO.OUT)
GPIO.setup(self.pinControlSteering, GPIO.OUT)
self.pwm_forward = GPIO.PWM(self.pinForward, 100)
self.pwm_backward = GPIO.PWM(self.pinBackward, 100)
self.pwm_forward.start(0)
self.pwm_backward.start(0)
self.pwm_left = GPIO.PWM(self.pinLeft, 100)
self.pwm_right = GPIO.PWM(self.pinRight, 100)
self.pwm_left.start(0)
self.pwm_right.start(0)
GPIO.output(self.pinControlStraight, GPIO.HIGH)
GPIO.output(self.pinControlSteering, GPIO.HIGH)
def forward(self, speed):
""" pinForward is the forward Pin, so we change its duty
cycle according to speed. """
self.pwm_backward.ChangeDutyCycle(0)
self.pwm_forward.ChangeDutyCycle(speed)
def forward_left(self, speed):
""" pinForward is the forward Pin, so we change its duty
cycle according to speed. """
self.pwm_backward.ChangeDutyCycle(0)
self.pwm_forward.ChangeDutyCycle(speed)
self.pwm_right.ChangeDutyCycle(0)
self.pwm_left.ChangeDutyCycle(100)
def forward_right(self, speed):
""" pinForward is the forward Pin, so we change its duty
cycle according to speed. """
self.pwm_backward.ChangeDutyCycle(0)
self.pwm_forward.ChangeDutyCycle(speed)
self.pwm_left.ChangeDutyCycle(0)
self.pwm_right.ChangeDutyCycle(100)
def backward(self, speed):
""" pinBackward is the forward Pin, so we change its duty
cycle according to speed. """
self.pwm_forward.ChangeDutyCycle(0)
self.pwm_backward.ChangeDutyCycle(speed)
def left(self, speed):
""" pinForward is the forward Pin, so we change its duty
cycle according to speed. """
self.pwm_right.ChangeDutyCycle(0)
self.pwm_left.ChangeDutyCycle(speed)
def right(self, speed):
""" pinForward is the forward Pin, so we change its duty
cycle according to speed. """
self.pwm_left.ChangeDutyCycle(0)
self.pwm_right.ChangeDutyCycle(speed)
def stop(self):
""" Set the duty cycle of both control pins to zero to stop the motor. """
self.pwm_forward.ChangeDutyCycle(0)
self.pwm_backward.ChangeDutyCycle(0)
self.pwm_left.ChangeDutyCycle(0)
self.pwm_right.ChangeDutyCycle(0)
def make_app():
return tornado.web.Application([
(r"/drive", MultipleKeysHandler), (r"/post", PostHandler),
(r"/StoreLogEntries", StoreLogEntriesHandler),
(r"/distance", DistanceSenor)
])
if __name__ == "__main__":
GPIO.setmode(GPIO.BOARD)
command_duration = 0.1
motor = Motor(16, 18, 22, 19, 21, 23)
# Range sensor details
TRIG = 3
ECHO = 5
GPIO.setup(TRIG, GPIO.OUT)
GPIO.setup(ECHO, GPIO.IN)
log_entries = []
app = make_app()
app.listen(81)
tornado.ioloop.IOLoop.current().start()