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| import argparse
import tornado.ioloop
import tornado.web
from datetime import datetime
import os
from operator import itemgetter
import RPi.GPIO as GPIO
import requests
from time import sleep
class PostHandler(tornado.web.RequestHandler):
# I don't understand decorators, but this fixed my "can't set attribute" error
@property
def settings(self):
return self._settings
@settings.setter
def settings(self,settings):
self._settings = settings
def initialize(self, settings):
self.settings = settings
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)
speed = self.settings['speed']
if '37' in command:
motor.forward_left(speed)
elif '38' in command:
print("forward")
motor.forward(100)
elif '39' in command:
motor.forward_right(speed)
elif '40' in command:
print("backward")
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 MultipleKeysHandler(tornado.web.RequestHandler):
def get(self):
print("HelloWorld")
self.write('''
<!DOCTYPE html>
<html>
<head>
<script src="https://cdn.bootcss.com/jquery/3.2.1/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 hcommandtml = '';
for (var i in keys) {
if (!keys.hasOwnProperty(i)) continue;
html += '<p>' + i + '</p>';
}
$('#out').html(html);
}
</script>
</head>
<body>
Click in thiscommand frame, then try holding down some keys
<div id="out"></div>
</body>
</html>
''')
# class Motor:
# def __init__(self, pinForward, pinBackward, pinControlStraight,
# pinLeft, pinRight, pinControlSteering):
# 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)
class Motor:
def __init__(self, pinForward, pinBackward, pinForward2,
pinBackward2,pinLeft, pinRight):
""" Initialize the motor with its control pins and start pulse-width
modulation """
self.pinForward = pinForward
self.pinBackward = pinBackward
self.pinForward2 = pinForward2
self.pinLeft = pinLeft
self.pinRight = pinRight
self.pinBackward2 = pinBackward2
GPIO.setup(self.pinLeft, GPIO.OUT)
GPIO.setup(self.pinRight, GPIO.OUT)
GPIO.setup(self.pinForward, GPIO.OUT)
GPIO.setup(self.pinBackward, GPIO.OUT)
GPIO.setup(self.pinForward2, GPIO.OUT)
GPIO.setup(self.pinBackward2, GPIO.OUT)
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)
def forward(self, speed):
self.pwm_right.ChangeDutyCycle(speed)
self.pwm_left.ChangeDutyCycle(speed)
GPIO.output(self.pinForward, True)
GPIO.output(self.pinBackward, False)
GPIO.output(self.pinForward2, True)
GPIO.output(self.pinBackward2, False)
def backward(self, speed):
self.pwm_right.ChangeDutyCycle(speed)
self.pwm_left.ChangeDutyCycle(speed)
GPIO.output(self.pinForward, False)
GPIO.output(self.pinBackward, True)
GPIO.output(self.pinForward2, False)
GPIO.output(self.pinBackward2, True)
def forward_right(self, speed):
self.pwm_right.ChangeDutyCycle(speed)
self.pwm_left.ChangeDutyCycle(100)
# GPIO.output(self.pinForward, True)
# GPIO.output(self.pinBackward, False)
# GPIO.output(self.pinForward2, True)
# GPIO.output(self.pinBackward2, False)
def forward_left(self, speed):
self.pwm_right.ChangeDutyCycle(100)
self.pwm_left.ChangeDutyCycle(speed)
# GPIO.output(self.pinForward, True)
# GPIO.output(self.pinBackward, False)
# GPIO.output(self.pinForward2, True)
# GPIO.output(self.pinBackward2, False)
def stop(self):
""" Set the duty cycle of both control pins to zero
to stop the motor. """
self.pwm_left.ChangeDutyCycle(0)
self.pwm_right.ChangeDutyCycle(0)
GPIO.output(self.pinForward,0)
GPIO.output(self.pinBackward,0)
GPIO.output(self.pinForward2,0)
GPIO.output(self.pinBackward2,0)
def make_app(settings):
return tornado.web.Application([
(r"/drive",MultipleKeysHandler),(r"/post", PostHandler, {'settings':settings}),
(r"/StoreLogEntries",StoreLogEntriesHandler)
])
if __name__ == "__main__":
# Parse CLI args
ap = argparse.ArgumentParser()
ap.add_argument("-s", "--speed_percent", required=True, help="Between 0 and 100")
args = vars(ap.parse_args())
#GPIO.cleanup(0)
GPIO.setmode(GPIO.BOARD)
motor = Motor(18, 19, 21, 22, 23, 24)
log_entries = []
settings = {'speed':float(args['speed_percent'])}
app = make_app(settings)
app.listen(81)
tornado.ioloop.IOLoop.current().start()
|
