#!/usr/bin/env python
# coding: Latin-1

#autoall27.py - still having problems with LedBorg on/off switch
#autoall26.py - continue on LEDBorg light
#autoall25.py - need to solve ledborg while loop exit with globals
#autoall24.py -Try moving LEDBorg Lights to Lighton/off code section

# Creates a web-page interface for DiddyBorg
 
# Import library functions we need
import PicoBorgRev
import time
import sys
import threading
import SocketServer
import picamera
import picamera.array
import cv2
import UltraBorg
import datetime
import XLoBorg
import math
import os
import wiringpi as wiringpi
wiringpi.wiringPiSetup()

#import RPi.GPIO as GPIO

# Tell the library to disable diagnostic printouts
XLoBorg.printFunction = XLoBorg.NoPrint
# Start the XLoBorg module (sets up devices)
XLoBorg.Init()

# Setup for LedBorg
# Setup software PWMs on the GPIO pins
PIN_RED = 0
PIN_GREEN = 2
PIN_BLUE = 3
LED_MAX = 100
wiringpi.softPwmCreate(PIN_RED,   0, LED_MAX)
wiringpi.softPwmCreate(PIN_GREEN, 0, LED_MAX)
wiringpi.softPwmCreate(PIN_BLUE,  0, LED_MAX)
wiringpi.softPwmWrite(PIN_RED,   0)
wiringpi.softPwmWrite(PIN_GREEN, 0)
wiringpi.softPwmWrite(PIN_BLUE,  0)

# A function to set the LedBorg colours
def SetLedBorg(red, green, blue):
    wiringpi.softPwmWrite(PIN_RED,   int(red   * LED_MAX))
    wiringpi.softPwmWrite(PIN_GREEN, int(green * LED_MAX))
    wiringpi.softPwmWrite(PIN_BLUE,  int(blue  * LED_MAX))

# A function to turn the LedBorg off
def LedBorgOff():
    SetLedBorg(0, 0, 0)

# Settings Light
#GPIO.setmode(GPIO.BOARD)

#GPIO.setup(29, GPIO.OUT)        #Headlight 1 front right
#GPIO.setup(31, GPIO.OUT)	#headlight 2 front right
#GPIO.setup(33, GPIO.OUT)        #Headlight 3 front left
#GPIO.setup(35, GPIO.OUT)        #Headlight 4 front left
#GPIO.setup(32, GPIO.OUT)        #Rearlight 1 rear left
#GPIO.setup(36, GPIO.OUT)        #Rearlight 2 Rear left


print 'Init lights, make sure there off'

#GPIO.output(29, False)
#GPIO.output(31, False)
#GPIO.output(33, False) 
#GPIO.output(35, False)
#GPIO.output(32, False)
#GPIO.output(36, False) 

# Settings for the web-page
webPort = 80                            # Port number for the web-page, 80 is what web-pages normally use
imageWidth = 240                        # Width of the captured image in pixels
imageHeight = 180                       # Height of the captured image in pixels
frameRate = 10                          # Number of images to capture per second
displayRate = 2                         # Number of images to request per second
photoDirectory = '/home/pi'             # Directory to save photos to
sliderHeight=200
distanceMin = 100.0                     # Minimum distance in mm, corresponds to DiddyBorg reversing at 100%
distanceMax = 300.0                     # Maximum distance in mm, corresponds to DiddyBorg driving at 100%
distanceMax2= 500.0			#Maximum distance in mm, corresponds to DiddyBorg driving at 100%
 
# Movement mode constants
MANUAL_MODE = 0                         # User controlled movement
SEMI_AUTO_MODE = 1                      # Semi-automatic movement
AUTO_MODE = 2                           # Fully automatic movement
 
# Global values
global PBR
global lastFrame
global lockFrame
global camera
global processor
global running
global watchdog
global movementMode
global heading

#GPIO.setup(40,GPIO.IN)          #button pin on switch to shutdown OS

borglights = False
running = True
movementMode = MANUAL_MODE



               
 # Class used to implement the web server
class WebServer(SocketServer.BaseRequestHandler):
    def handle(self):
        global PBR
        global lastFrame
        global watchdog
        global movementMode
        global borglights
        borglights = True
        # Get the HTTP request data
        reqData = self.request.recv(1024).strip()
        reqData = reqData.split('\n')
        # Get the URL requested
        getPath = ''
        for line in reqData:
            if line.startswith('GET'):
                parts = line.split(' ')
                getPath = parts[1]
                break
 
        watchdog.event.set()
 
        if getPath.startswith('/distances-once'):
            # Ultrasonic distance readings
            # Get the readings
            distance1 = int(UB.GetRawDistance1())
            distance2 = int(UB.GetRawDistance2())
            distance3 = int(UB.GetRawDistance3())
            distance4 = int(UB.GetRawDistance4())
 
            # Read and display the raw magnetometer reading
             
            # Build a table for the values
            httpText = '<html><body><center><table border="0" style="width:60%"><tr>'
            if distance1 == 0:
                httpText += '<td width="25%"><center>None</center></td>'
            else:
                httpText += '<td width="25%%"><center>Front: %04d</center></td>' % (distance1)
            if distance2 == 0:
                httpText += '<td width="25%"><center>None</center></td>'
            else:
                httpText += '<td width="25%%"><center>Left: %04d</center></td>' % (distance2)
            if distance3 == 0:
                httpText += '<td width="25%"><center>None</center></td>'
            else:
                httpText += '<td width="25%%"><center>Right: %04d</center></td>' % (distance3)
            if distance4 == 0:
                httpText += '<td width="25%"><center>None</center></td>'
            else:
                httpText += '<td width="25%%"><center>Rear: %04d</center></td>' % (distance4)
            httpText += '</tr></table>'

            #httpText += 'Wifi Signal Strength %.0f %%' % (wifiPercent)
            httpText += '</center></body></html>'
            self.send(httpText) 
 
        elif getPath.startswith('/set/'):
            # Servo position setting: /set/servo/position
            parts = getPath.split('/')
            # Get the power levels
            if len(parts) >= 4:
                try:
                    servo = int(parts[2])
                    position = float(parts[3])
                except:
                    # Bad values
                    servo = 0
                    position = 0.0
            else:
                # Bad request
                servo = 0
                position = 0.0
            # Ensure settings are within limits
            if position < -1:
                position = -1
            elif position > 1:
                position = 1
            # Set the new servo position
            if servo == 1:
                UB.SetServoPosition1(position)
            elif servo == 2:
                UB.SetServoPosition2(position)
            elif servo == 3:
                UB.SetServoPosition3(position)
            elif servo == 4:
                UB.SetServoPosition4(position)
            # Read the current servo positions
            position1 = UB.GetServoPosition1() * 100.0
            position2 = UB.GetServoPosition2() * 100.0
            position3 = UB.GetServoPosition3() * 100.0
            position4 = UB.GetServoPosition4() * 100.0
            # Build a table for the values
            httpText = '<html><body><center><table border="0" style="width:50%"><tr>'
            httpText += '<td width="25%%"><center>%04d</center></td>' % (position1)
            httpText += '<td width="25%%"><center>%04d</center></td>' % (position2)
            httpText += '<td width="25%%"><center>%04d</center></td>' % (position3)
            httpText += '<td width="25%%"><center>%04d</center></td>' % (position4)
            httpText += '</tr></table></body></html>'
            self.send(httpText)

        elif getPath.startswith('/semiAuto'):
              # Toggle Auto mode
              if movementMode == SEMI_AUTO_MODE:
                  # We are in semi-auto mode, turn it off
                  movementMode = MANUAL_MODE
                  httpText = '<html><body><center>'
                  httpText += 'Speeds: 0 %, 0 %'
                  httpText += '</center></body></html>'
                  self.send(httpText)
                  PBR.MotorsOff()
              else:
                  # We are not in semi-auto mode, turn it on
                  movementMode = SEMI_AUTO_MODE
                  httpText = '<html><body><center>'
                  httpText += 'Semi Mode'
                  httpText += '</center></body></html>'
                  self.send(httpText)
 
        elif getPath.startswith('/Auto'):
              # Toggle Auto mode
              if movementMode == AUTO_MODE:
                  # We are in auto mode, turn it off
                  movementMode = MANUAL_MODE
                  httpText = '<html><body><center>'
                  httpText += 'Speeds: 0 %, 0 %'
                  httpText += '</center></body></html>'
                  self.send(httpText)
                  PBR.MotorsOff()
              else:
                  # We are not in auto mode, turn it on
                  movementMode = AUTO_MODE
                  httpText = '<html><body><center>'
                  httpText += 'Auto Mode'
                  httpText += '</center></body></html>'
                  self.send(httpText)
 
        elif getPath.startswith('/cam.jpg'):
            # Camera snapshot
            lockFrame.acquire()
            sendFrame = lastFrame
            lockFrame.release()
            if sendFrame != None:
                self.send(sendFrame.tostring())
 
        elif getPath.startswith('/Lighton'):
            # Lights on
            print 'Lights On',borglights
            borglights = True

            #Turn on Headlights
            #GPIO.output(29, True)        #Headlight 1 front right
            #GPIO.output(31, True)       #headlight 2 front right
            #GPIO.output(33, True)       #headlight 3 front left
            #GPIO.output(35, True)        #headlight 4 front left
            #GPIO.output(32, True)        #headlight 1 Rear  
            #GPIO.output(36, True)        #headlight 2 Rear
            httpText = '<html><body><center>'
            httpText += 'Lights On'
            httpText += '</center></body></html>'
            self.send(httpText)

            print 'borglights', borglights
            while borglights:
                print 'borglights at While break test', borglights
                if not borglights:
                   break
		# Loop over a set of different hues:
                print 'Inside While LEDBorg Loop'
                print 'borglights', borglights
                for hue in range(30):
                    print 'borglights at break test after for', borglights
                    if not borglights:
                       break
                    print 'hue range', hue, range
                    # Get hue into the 0 to 3 range
                    hue /= 100.0
                    # Decide which two channels we are between
                    if hue < 1.0:
                       # Red to Green
                       red = 1.0 - hue
                       green = hue
                       blue = 0.0
                    elif hue < 2.0:
                       # Green to Blue
                       red = 0.0
                       green = 2.0 - hue
                       blue = hue - 1.0
                    else:
                       # Blue to Red
                       red = hue - 2.0
                       green = 0.
                       blue = 3.0 - hue
                    # Set the chosen colour  
  
                    SetLedBorg(red, green, blue)
                    # Wait a short while
                    
                    print 'borglights at break test after sleep', borglights
                    if not borglights:
                       break
                    time.sleep(0.1)

            time.sleep(0.2)

        elif getPath.startswith('/Lightoff'):
            # Lights off
            print 'lights off borg',borglights
            borglights = False
            SetLedBorg(0, 0, 0)
            #GPIO.output(29, False)
            #GPIO.output(31, False)
            #GPIO.output(33, False) 
            #GPIO.output(35, False)
            #GPIO.output(32, False)
            #GPIO.output(36, False) 
            httpText = '<html><body><center>'
            httpText += 'Lights Off'
            httpText += '</center></body></html>'
            self.send(httpText)

        elif getPath.startswith('/off'):
            # Turn the drives off and switch to manual mode
            movementMode = MANUAL_MODE
            httpText = '<html><body><center>'
            httpText += 'Speeds: 0 %, 0 %'
            httpText += '</center></body></html>'
            self.send(httpText)
            PBR.MotorsOff()
            borglights = False

        elif getPath.startswith('/drv/'):
            # Motor power setting: /set/driveLeft/driveRight
            parts = getPath.split('/')
            # Get the power levels
            if len(parts) >= 4:
                try:
                    driveLeft = float(parts[2])
                    driveRight = float(parts[3])
                except:
                    # Bad values
                    driveRight = 0.0
                    driveLeft = 0.0
            else:
                # Bad request
                driveRight = 0.0
                driveLeft = 0.0
            # Ensure settings are within limits
            if driveRight < -1:
                driveRight = -1
            elif driveRight > 1:
                driveRight = 1
            if driveLeft < -1:
                driveLeft = -1
            elif driveLeft > 1:
                driveLeft = 1
                 
            # Report the current settings
            percentLeft = driveLeft * 100.0;
            percentRight = driveRight * 100.0;
            httpText = '<html><body><center>'
            if movementMode == MANUAL_MODE:
                httpText += 'Speeds: %.0f %%, %.0f %%' % (percentLeft, percentRight)
            elif movementMode == SEMI_AUTO_MODE:
                httpText += 'Semi: %.0f %%, %.0f %%' % (percentLeft, percentRight)
            elif movementMode == AUTO_MODE:
                percentLeft = PBR.GetMotor2() * 100.0;
                percentRight = PBR.GetMotor1() * 100.0;
                httpText += 'Auto: %.0f %%, %.0f %%' % (percentLeft, percentRight)
            httpText += '</center></body></html>'
            self.send(httpText)
             
            # Set the outputs as long as we are not in auto mode
            if movementMode != AUTO_MODE:
              driveLeft *= maxPower
              driveRight *= maxPower
              PBR.SetMotor1(driveRight)
              PBR.SetMotor2(-driveLeft)
 
        elif getPath.startswith('/photo'):
            # Save camera photo
            lockFrame.acquire()
            captureFrame = lastFrame
            lockFrame.release()
            httpText = '<html><body><center>'
            if captureFrame != None:
                photoName = '%s/Photo %s.jpg' % (photoDirectory, datetime.datetime.utcnow())
                try:
                    photoFile = open(photoName, 'wb')
                    photoFile.write(captureFrame)
                    photoFile.close()
                    httpText += 'Photo saved to %s' % (photoName)
                except:
                    httpText += 'Failed to take photo!'
            else:
                httpText += 'Failed to take photo!'
            httpText += '</center></body></html>'
            self.send(httpText)                    
 
        elif getPath == '/':
            # Main page, click buttons to move and to stop
            httpText = '<html>\n'
            httpText += '<head>\n'
            httpText += '<script language="JavaScript"><!--\n'
            httpText += 'function Drive(left, right) {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' var slider = document.getElementById("speed");\n'
            httpText += ' left *= speed.value / 100.0;'
            httpText += ' right *= speed.value / 100.0;'
            httpText += ' iframe.src = "/drv/" + left + "/" + right;\n'
            httpText += '}\n'
            httpText += 'function Lightoff() {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' iframe.src = "/Lightoff";\n'
            httpText += '}\n'
            httpText += 'function Lighton() {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' iframe.src = "/Lighton";\n'
            httpText += '}\n'
            httpText += 'function Off() {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' iframe.src = "/off";\n'
            httpText += '}\n'
            httpText += 'function Photo() {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' iframe.src = "/photo";\n'
            httpText += '}\n'
            httpText += 'function semiAuto() {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' iframe.src = "/semiAuto";\n'
            httpText += '}\n'
            httpText += 'function Auto() {\n'
            httpText += ' var iframe = document.getElementById("setDrive");\n'
            httpText += ' iframe.src = "/Auto";\n'
            httpText += '}\n'
            httpText += '//--></script>\n'
            httpText += '</head>\n'
            httpText += '<body>\n'
            httpText += '<iframe src="/stream" width="100%" height="500" frameborder="0"></iframe>\n'
            httpText += '<iframe id="setDrive" src="/off" width="100%" height="50" frameborder="0"></iframe>\n'
            httpText += '<center>\n'
            httpText += '<button onclick="Drive(-1,1)" style="width:200px;height:40px;"><b>Spin Left</b></button>\n'
            httpText += '<button onclick="Drive(1,1)" style="width:200px;height:40px;"><b>Forward</b></button>\n'
            httpText += '<button onclick="Drive(1,-1)" style="width:200px;height:40px;"><b>Spin Right</b></button>\n'
            httpText += '<br /><br />\n'
            httpText += '<button onclick="Drive(0,1)" style="width:200px;height:40px;"><b>Turn Left</b></button>\n'
            httpText += '<button onclick="Off()" style="width:200px;height:40px;"><b>Stop</b></button>\n'
            httpText += '<button onclick="Drive(1,0)" style="width:200px;height:40px;"><b>Turn Right</b></button>\n'
            httpText += '<br /><br />\n'
            httpText += '<button onclick="semiAuto(1)" style="width:200px;height:40px;"><b>Semi Auto</b></button>\n'
            httpText += '<button onclick="Drive(-1,-1)" style="width:200px;height:40px;"><b>Reverse</b></button>\n'
            httpText += '<button onclick="Auto(1)" style="width:200px;height:40px;"><b>Auto Mode</b></button>\n'
            httpText += '<br /><br />\n'
            httpText += '<button onclick="Lighton()" style="width:200px;height:40px;"><b>Light On</b></button>\n'
            httpText += '<button onclick="Photo()" style="width:200px;height:40px;"><b>Save Photo</b></button>\n'
            httpText += '<button onclick="Lightoff()" style="width:200px;height:40px;"><b>Light Off</b></button>\n'
            httpText += '<br /><br />\n'
            httpText += '<input id="speed" type="range" min="0" max="100" value="40" style="width:600px" />\n'
            httpText += '</html>\n'
            httpText += '</html>\n'
            httpText += '<br /><br />\n'
            httpText += '<pre><font size="4"><color:"blue">Cam Left/Right      Cam Up/Down                  Servo 3      Servo 4</font></pre></<br />\n'
            httpText += '<style>\n'
            httpText += ' input[type=range][orient=vertical]\n'
            httpText += ' {\n'
            httpText += '  writing-mode: bt-lr; /* IE */\n'
            httpText += '  -webkit-appearance: slider-vertical; /* WebKit */\n'
            httpText += '  padding: 0 0;\n'
            httpText += ' }\n'
            httpText += '</style>\n'
            httpText += '<script language="JavaScript"><!--\n'
            httpText += 'function SetServo(servo, position) {\n'
            httpText += ' var iframe = document.getElementById("setPosition");\n'
            httpText += ' position = position / 100.0;\n'
            httpText += ' iframe.src = "/set/" + servo + "/" + position;\n'
            httpText += '}\n'
            httpText += '//--></script>\n'
            httpText += '<table border="0" style="width:600px;"><tr>'
            httpText += ' </center></td>'
            httpText += ' <td width="25%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="horizontal" style="width:100%%; height:%dpx" onchange="SetServo(1, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += ' <td width="5%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="vertical" style="width:100%%; height:%dpx" onchange="SetServo(2, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += ' <td width="25%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="horizontal" style="width:100%%; height:%dpx" onchange="SetServo(3, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += ' <td width="5%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="vertical" style="width:100%%; height:%dpx" onchange="SetServo(4, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += '</tr></table>'
            httpText += '<iframe id="setPosition" src="/set/0/0" width="100%" height="100" frameborder="0"></iframe>\n'
            httpText += '</center>\n'
            httpText += '<br /><center>Distances (mm)</centre><br />\n'
            httpText += '<iframe src="/distances" width="100%" height="200" frameborder="0"></iframe>\n'
            httpText += '</body>\n'
            httpText += '</html>\n'
            self.send(httpText)
            
        elif getPath == '/stream':
            # Streaming frame, set a delayed refresh
            displayDelay = int(1000 / displayRate)
            httpText = '<html>\n'
            httpText += '<head>\n'
            httpText += '<script language="JavaScript"><!--\n'
            httpText += 'function refreshImage() {\n'
            httpText += ' if (!document.images) return;\n'
            httpText += ' document.images["rpicam"].src = "cam.jpg?" + Math.random();\n'
            httpText += ' setTimeout("refreshImage()", %d);\n' % (displayDelay)
            httpText += '}\n'
            httpText += '//--></script>\n'
            httpText += '</head>\n'
            httpText += '<body onLoad="setTimeout(\'refreshImage()\', %d)">\n' % (displayDelay)
            httpText += '<center><img src="/cam.jpg" style="width:640;height:480;" name="rpicam" /></center>\n'
            httpText += '</body>\n'
            httpText += '</html>\n'
            self.send(httpText)

        elif getPath == '/servo':
            # Alternative page with only servo control, move sliders to change the servo positions
            httpText = '<html>\n'
            httpText += '<head>\n'
            httpText += '<style>\n'
            httpText += ' input[type=range][orient=vertical]\n'
            httpText += ' {\n'
            httpText += '  writing-mode: bt-lr; /* IE */\n'
            httpText += '  -webkit-appearance: slider-vertical; /* WebKit */\n'
            httpText += '  padding: 0 0;\n'
            httpText += ' }\n'
            httpText += '</style>\n'
            httpText += '<script language="JavaScript"><!--\n'
            httpText += 'function SetServo(servo, position) {\n'
            httpText += ' var iframe = document.getElementById("setPosition");\n'
            httpText += ' position = position / 100.0;\n'
            httpText += ' iframe.src = "/set/" + servo + "/" + position;\n'
            httpText += '}\n'
            httpText += '//--></script>\n'
            httpText += '</head>\n'
            httpText += '<body>\n'
            httpText += '<table border="0" style="width:600px;"><tr>'
            httpText += ' </center></td>'
            httpText += ' <td width="25%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="horizontal" style="width:100%%; height:%dpx" onchange="SetServo(1, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += ' <td width="5%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="vertical" style="width:100%%; height:%dpx" onchange="SetServo(2, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += ' <td width="25%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="horizontal" style="width:100%%; height:%dpx" onchange="SetServo(3, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += ' <td width="5%"><center>'
            httpText += '  <input type="range" min="-100" max="100" value="0" orient="vertical" style="width:100%%; height:%dpx" onchange="SetServo(4, this.value);" />\n' % (sliderHeight)
            httpText += ' </center></td>'
            httpText += '</tr></table>'
            httpText += '<iframe id="setPosition" src="/set/0/0" width="100%" height="100" frameborder="0"></iframe>\n'
            httpText += '</body>\n'
            httpText += '</html>\n'
            self.send(httpText)    
      
        elif getPath == '/distances':
            # Repeated reading of the ultrasonic distances, set a delayed refresh
            # We use AJAX to avoid screen refreshes caused by refreshing a frame
            displayDelay = int(1000 / displayRate)
            httpText = '<html>\n'
            httpText += '<head>\n'
            httpText += '<script language="JavaScript"><!--\n'
            httpText += 'function readDistances() {\n'
            httpText += ' var xmlhttp;\n'
            httpText += ' if (window.XMLHttpRequest) {\n'
            httpText += '  // code for IE7+, Firefox, Chrome, Opera, Safari\n'
            httpText += '  xmlhttp = new XMLHttpRequest();\n'
            httpText += ' } else {\n'
            httpText += '  // code for IE6, IE5\n'
            httpText += '  xmlhttp = new ActiveXObject("Microsoft.XMLHTTP");\n'
            httpText += ' }\n'
            httpText += ' xmlhttp.onreadystatechange = function() {\n'
            httpText += '  var div = document.getElementById("readDistances");\n'
            httpText += '  var DONE = 4;\n'
            httpText += '  var OK = 200;\n'
            httpText += '  if (xmlhttp.readyState == DONE) {\n'
            httpText += '   if (xmlhttp.status == OK) {\n'
            httpText += '    div.innerHTML = xmlhttp.responseText;\n'
            httpText += '   } else {\n'
            httpText += '    div.innerHTML = "<center>Failed reading distances (not running?)</center>";\n'
            httpText += '   }\n'
            httpText += '  }\n'
            httpText += ' }\n'
            httpText += ' xmlhttp.open("GET","distances-once",true);\n'
            httpText += ' xmlhttp.send();\n'
            httpText += ' setTimeout("readDistances()", %d);\n' % (displayDelay)
            httpText += '}\n'
            httpText += '//--></script>\n'
            httpText += '</head>\n'
            httpText += '<body>\n'
            httpText += '<body onLoad="setTimeout(\'readDistances()\', %d)">\n' % (displayDelay)
            httpText += '<div id="readDistances"><center>Waiting for first distance reading...</center></div>\n'
            httpText += '</body>\n'
            httpText += '</html>\n'
            self.send(httpText)
 
        else:
            # Unexpected page
            self.send('Path : "%s"' % (getPath))