# -*- coding: cp1252 -*- import time import web import serial import os from web import form print('.................................\n') print('............. EARTH .............\n') print('.................................\n') # Global variable used to debug #### True = WebServer #### False = Console WEB=True ################### SERIAL CONFIGURATION ################################### ser = serial.Serial( port='/dev/ttyUSB0', #COM1 for Windows or /dev/ttyUSB0 for Linux/RasPi baudrate= 19200, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, timeout = 0.5 ) ############################################################################ ################## CONSTANT ################################################ TIME_OUT = 5 #seconds #Number of the last instruction available on each Arduino arduino1_max=8 #9 instructions available : 0,1,2,3...,7,8 arduino2_max=9 ############################################################################ ###################### WEB CONFIGURATION ################################### if (WEB) : # I add a line each time I need to include a new folder # Weird, but it works urls = ('/','index', '/index.*','index', '/images/(.*)','images', '/css/images/(.*)','css_images', '/css/(.*)','css', '/js/(.*)','js', '/fonts/(.*)','fonts' ) dossier_web = web.template.render('templates') app = web.application(urls,globals()) #### Global variable used to save the lastest value for each sensor ### my_data=["Empty","Empty","Empty","Empty","Empty","Empty","Empty","Empty"] #Quite useless def my_Data(): return my_data #Class called foreach request on "/index.html" or "/" class index : def GET(self): data_web=my_Data() print("GET") print(data_web) #The function header is defined in index.html return dossier_web.index(data_web[0], data_web[1], data_web[2], data_web[3], data_web[4], data_web[5], data_web[6], data_web[7]) def POST(self): #Someone have clicked on a button ! But, which one ? userdata = web.input() if (userdata.__contains__("btn")): print(userdata.btn.encode()) state_Input_Earth(userdata.btn.encode()) elif (userdata.__contains__("angle1")): angle=userdata.angle1 print(angle) if(isInt(angle)): message=angle+"125" print(message) state_Input_Earth(message.encode()) elif(userdata.__contains__("angle2")): angle=userdata.angle2 print(angle) if(isInt(angle)): message=angle+"126" print(message) state_Input_Earth(message.encode()) elif(userdata.__contains__("angle3")): angle=userdata.angle3 print(angle) if(isInt(angle)): message=angle+"127" print(message) state_Input_Earth(message.encode()) elif(userdata.__contains__("angle4")): angle=userdata.angle4 print(angle) if(isInt(angle)): message=angle+"128" print(message) state_Input_Earth(message.encode()) elif(userdata.__contains__("angle5")): angle=userdata.angle5 print(angle) if(isInt(angle)): message=angle+"129" print(message) state_Input_Earth(message.encode()) else: print("Nope") #Never happened raise web.seeother('/') if __name__ == '__main__': app.run() #Pour chaque folder, j'associe une classe qui va "open" au bon endroit #D'abord "images"... class images: def GET(self,name): #J'utilise ce bout de code sans vraiment comprendre #si c'est nécessaire, mais au moins ca marche. ext = name.split(".")[-1] cType = { "png":"images/png", "jpg":"images/jpeg", "gif":"images/gif", "ico":"images/x-icon" } if name in os.listdir('static/images'): # Security web.header("Content-Type", cType[ext]) # Set the Header return open('static/images/%s'%name,"rb").read() # Notice 'rb' for reading images else: raise web.notfound() #...puis "css"...etc ! class css: def GET(self,name): if name in os.listdir('static/css'): # Security return open('static/css/%s'%name,"rb").read() # Notice 'rb' for reading images else: raise web.notfound() class css_images: def GET(self,name): if name in os.listdir('static/css/images'): # Security return open('static/css/images/%s'%name,"rb").read() # Notice 'rb' for reading images else: raise web.notfound() class js: def GET(self,name): if name in os.listdir('static/js'): # Security return open('static/js/%s'%name,"rb").read() # Notice 'rb' for reading images else: raise web.notfound() class fonts: def GET(self,name): if name in os.listdir('static/fonts'): # Securitys return open('static/fonts/%s'%name,"rb").read() # Notice 'rb' for reading images else: raise web.notfound() ############################################################################ ################## TOOL BOX ################################################ def isInt(data): try : data_int=int(data) return True except ValueError : return False def getData(canal,bool_print): time.sleep(0.05) #Wait the complete reception of the data txt=canal.read(canal.inWaiting()) if (bool_print): print("Message : '"+txt+"'") return txt def inputIsValid(input): if (not(isInt(input))): return False data_int=int(input) ############################################################### # # # data = abc d e f (without space) # # abc : x = c+10*b+100*a ; 0 < x < 360 ; servomotor position # # d : 0 = action (sensor or tool) , 1 = fetch data # # e : n° of the Arduino # # f : n° of the sensor # # # ############################################################### capteur_n0=data_int % 10 data_int = data_int /10 arduino_n0=data_int % 10 data_int = data_int /10 is_action=data_int%10 if is_action!=0: print("----> Type : order") else : print("----> Type : request") angle = data_int / 10 if (angle < 0 or angle > 360): return False if (is_action < 0 or is_action > 1): return False if angle!=0 : print("----> Angle : "+str(angle)) return isValid(arduino_n0,capteur_n0) def isValid(arduino_n0,capteur_n0): isCorrect = False if (arduino_n0==1): print("----> Arduino n 1 selected") isCorrect = (capteur_n0 >=0 and capteur_n0 <= arduino1_max) elif (arduino_n0==2): print("----> Arduino n 2 selected") isCorrect = (capteur_n0 >=0 and capteur_n0 <= arduino2_max) else: print("----> Arduino number unknown : "+str(arduino_n0)) if(not isCorrect): print("----> Capteur unknown "+str(capteur_n0)) else: print("----> Capteur n "+str(capteur_n0)) return isCorrect ############################################################################## def state_Input_Earth(input): # If user wants to exit if input == 'exit': #Exit ser.close() print("----> Exit ") exitflag = 1 while exitflag > 0: pass exit() else : if (not(inputIsValid(input))): #### SHOULD BE SEND TO THE SERVER ### print("----> ERROR ! Input is not valid") else : go=True if ser.inWaiting()!=0 : # Not handled for the moment if(getData(ser,False)=="HELP"): print(" !!!!!!!!!!!!! ROVER HAVE A PROBLEM !!!!!!!!!!!!!!") go = False else : print("----> Flush ") #Flush buffer (avoid old message) ! flush =ser.read(ser.inWaiting()) if (go): is_action = (int(input)/100)%10 if (is_action): print("----> Send an order ") state_Send(input) else : print("----> Send a request ") state_Send_and_Wait(input) def state_Send(input): # Send instruction ser.write(input) ########### CHECK ??? ########" print("----> END") print(""); def state_Send_and_Wait(input): # Send instruction ser.write(input) # We wait the "check" 5 sec waiting=1 time_end=time.time() + TIME_OUT*2 while waiting==1: if ser.inWaiting()!=0 or time.time()>time_end: waiting=0 if ser.inWaiting()!=0: state_Order_Arrived(int(input)%10) else : print("----> Transmission : TIMEOUT") #MAY BE DELETED print("----> END") print(""); def state_Order_Arrived(input) : ### We have a message : the Rover have answered print("----> Transmission : Message received by the Rover") data=getData(ser,True) ### Check if the Rover understood ? print("COUCOU") if (WEB): global my_data my_data[input-1]=data raise web.seeother('/') ############################################################################ ############################# MAIN ################################# if (not(WEB)): while 1 : # Wait for user instructiom input = raw_input(">>") state_Input_Earth(input)