-
Notifications
You must be signed in to change notification settings - Fork 0
/
__init__.py
144 lines (105 loc) · 3.39 KB
/
__init__.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
__all__ = ['camera', 'sonar', 'control']
import sys
sys.path.append('/home/pi')
sys.path.append('./pycreate')
import create
import os.path
import random
import string
import cv2
from autonomousController import *
import cherrypy
from cherrypy.lib.static import serve_file
from cherrypy.process import plugins
current_dir = os.path.dirname(os.path.abspath(__file__))
serialPort = '/dev/ttyUSB0'
class autonomousController(object):
def __init__(self):
self.exitFlag = False
self.piCam = camera.Camera()
self.piCam.start()
self.sonar1 = sonar.Sonar(trig=23, echo=24)
self.sonar1.start()
self.iRobot = create.Create(serialPort)
self.sensorArray = False
self.robotController = control.Control(self.iRobot,self.piCam,self.sonar1,self.sensorArray)
self.robotController.start()
def validRequest(self):
if self.exitFlag == False:
return True
else:
return False
def stop(self):
self.exitFlag = True
self.robotController.stop()
self.piCam.stop()
self.sonar1.stop()
cherrypy.engine.stop()
cherrypy.engine.exit()
@cherrypy.expose
def getImage(self, random):
if self.validRequest() == False:
print("ended")
return
# print(piCam.image)
cherrypy.response.headers['Content-Type'] = 'image/jpeg'
return cv2.imencode('.jpg', self.piCam.image)[1].tostring()
@cherrypy.expose
def getSensor(self, sensor):
if self.validRequest() == False:
return
if sensor == "sonar":
return str(self.sonar1.currentDistance)
@cherrypy.expose
def move(self, num):
if self.validRequest() == False:
return
#print("test " + str(num))
self.robotController.changeVel(int(num))
@cherrypy.expose
def turn(self, num):
if self.validRequest() == False:
return
#print("test " + str(num))
self.robotController.changeTurn(int(num))
@cherrypy.expose
def auto(self, val):
if self.validRequest() == False:
return
#print("test " + str(num))
if val == "true":
self.robotController.enableAuto()
else:
self.robotController.disableAuto()
@cherrypy.expose
def cleanslateprotocol(self):
if self.validRequest() == False: return
self.stop()
@cherrypy.expose
def index(self):
if self.validRequest() == False:
return
return serve_file(os.path.join(current_dir, 'webfiles/html', 'index.html'),content_type='text/html')
cherrypy.server.socket_host = '0.0.0.0'
# cherrypy._cpconfig.Config(file= current_dir + "/cherrypyConfig.conf")
cherrypy.log.screen = None
conf = {
'/':
{'tools.staticdir.root': os.path.dirname(os.path.abspath(__file__))},
'/js': {
'tools.staticdir.on': True,
'tools.staticdir.dir': os.path.join(os.path.dirname(os.path.abspath(__file__)), 'webfiles/js/')
},
'/css': {
'tools.staticdir.on': True,
'tools.staticdir.dir': os.path.join(os.path.dirname(os.path.abspath(__file__)), 'webfiles/css/')
},
'/html': {
'tools.staticdir.on': True,
'tools.staticdir.dir': os.path.join(os.path.dirname(os.path.abspath(__file__)), 'webfiles/html/')
}
}
# my_feature = autonomousController(cherrypy.engine)
# my_feature.subscribe()
# cherrypy.tree.mount(my_feature)
cherrypy.quickstart(autonomousController(), config=conf)