web_control.py

import getopt
import os
import sys

from flask import Flask


from custom_modules.serial_command import control, direction, motor

OK = "ok"
ERROR = "error"


def printusage():
    print("python3 " + os.path.basename(__file__) + " -c <COM_Port>")
    print("<COM_Port>")
    print("  Windows: COMx where x is a number")
    print("  Linux: /dev/ttyXYZ where XYZ can be S2 or USB0 or any valid tty type")
    print("         keep in mind you need root priviledges to acces serial ports in Linux")
    print(
        "         so execute the command in priviledge mode like: sudo python3 "
        + os.path.basename(__file__)
        + " -c /dev/ttyS2"
    )
    print("  You can use as well environement variable COM_PORT. Arguments will prevent on environment variable")


def get_port_name(argv):
    comPort = ""
    try:
        opts, args = getopt.getopt(argv, "c:h", ["com=", "help"])
    except getopt.GetoptError:
        printusage()
        sys.exit(2)

    for opt, arg in opts:
        if opt in ("-h", "--help"):
            printusage()
            sys.exit()
        elif opt in ("-c", "--com"):
            comPort = arg.strip()
        else:
            printusage()
            sys.exit(2)

    if comPort == "":
        try:
            comPort = os.environ["COM_PORT"]
        except KeyError:
            printusage()
            sys.exit(2)
    return comPort


app = Flask(__name__)
ser = control(get_port_name(sys.argv[1:]))


def cleanargs(val):
    retval = str(val).split("?")
    return retval[0]


@app.route("/")
def hello():
    return app.send_static_file("index.html")


@app.route("/motor/<name>/<dir>")
def pilotmotor(name, dir):
    val = int(cleanargs(dir))
    mot = str(name).lower()
    if val in range(0, len(motor) - 1):
        if mot == "a":
            ser.ChangeMotorA(val)
        else:
            if mot == "b":
                ser.ChangeMotorB(val)
            else:
                return ERROR
        return OK
    return ERROR


@app.route("/dir/<dir>")
def pilotdir(dir):
    val = int(cleanargs(dir))
    if val in range(0, len(direction) - 1):
        ser.ChangeDirection(val)
        return OK
    return ERROR


@app.route("/pwm/<pwm>")
def pilotpwm(pwm):
    val = int(cleanargs(pwm))
    if val in range(0, 255):
        ser.ChangePWM(val)
        return OK
    return ERROR


@app.route("/stop")
def pilotstop():
    ser.ChangeAll(direction.DIR_STRAIGHT, motor.MOTOR_STOP, motor.MOTOR_STOP, 0)
    return OK


@app.route("/turns")
def turns():
    out = ser.GetTurns()
    return str(out)


if __name__ == "__main__":
    # run flask, host = 0.0.0.0 needed to get access to it outside of the host
    app.run(host="0.0.0.0", port=1337)