#!/usr/bin/env python
# coding: Latin-1
# Modified for Python3
# Creates a web-page interface for MonsterBorg
# Import library functions we need
import ThunderBorg3 as ThunderBorg
import time
import sys
import threading
import socketserver as SocketServer
import datetime
# Settings for the web-page
webPort = 8000 # Port number for the web-page, 80 is what web-pages normally use
displayRate = 10 # Status requests per second, needed to keep the watchdog happy
# Global values
global TB
global running
global watchdog
global percentLeft
global percentRight
percentLeft = 0
percentRight = 0
running = True
TB = ThunderBorg.ThunderBorg()
#TB.i2cAddress = 0x15 # Uncomment and change the value if you have changed the board address
TB.Init()
if not TB.foundChip:
boards = ThunderBorg.ScanForThunderBorg()
if len(boards) == 0:
print ('No ThunderBorg found, check you are attached :)')
else:
print ('No ThunderBorg at address %02X, but we did find boards:' % (TB.i2cAddress))
for board in boards:
print (' %02X (%d)' % (board, board))
print ('If you need to change the I²C address change the setup line so it is correct, e.g.')
print ('TB.i2cAddress = 0x%02X' % (boards[0]))
sys.exit()
TB.SetCommsFailsafe(False)
TB.SetLedShowBattery(False)
TB.SetLeds(0,0,1)
# Power settings
voltageIn = 1.2 * 10 # Total battery voltage to the ThunderBorg
voltageOut = 12.0 * 0.95 # Maximum motor voltage, we limit it to 95% to allow the RPi to get uninterrupted power
# Setup the power limits
if voltageOut > voltageIn:
maxPower = 0.95
else:
maxPower = voltageOut / float(voltageIn)
# Timeout thread
class Watchdog(threading.Thread):
def __init__(self):
super(Watchdog, self).__init__()
self.event = threading.Event()
self.terminated = False
self.start()
self.timestamp = time.time()
def run(self):
timedOut = True
# This method runs in a separate thread
while not self.terminated:
# Wait for a network event to be flagged for up to one second
if timedOut:
if self.event.wait(1):
# Connection
print ('Reconnected...')
TB.SetLedShowBattery(True)
timedOut = False
self.event.clear()
else:
if self.event.wait(1):
self.event.clear()
else:
# Timed out
print ('Timed out...')
TB.SetLedShowBattery(False)
TB.SetLeds(0,0,1)
timedOut = True
TB.MotorsOff()
# Class used to implement the web server
class WebServer(SocketServer.BaseRequestHandler):
def handle(self):
global TB
global watchdog
global percentLeft
global percentRight
# Get the HTTP request data
reqData = self.request.recv(1024).strip()
reqData = reqData.split(b'\n')
# Get the URL requested
getPath = ''
for line in reqData:
if line.startswith(b'GET'):
parts = line.split(b' ')
getPath = parts[1]
break
watchdog.event.set()
if getPath.startswith(b'/status/'):
# Status update - no changes
httpText = '
\n'
httpText += '\n'
httpText += '\n'
self.send(httpText)
else:
# Unexpected page
self.send(b'Path : "%s"' % (getPath))
def send(self, content):
if isinstance(content, bytes):
byte_content = content
else:
string_data = content
byte_content = string_data.encode()
self.request.sendall(b'HTTP/1.0 200 OK\n\n%s' % (byte_content))
print ('Setup the watchdog')
watchdog = Watchdog()
# Run the web server until we are told to close
try:
httpServer = None
httpServer = SocketServer.TCPServer(("0.0.0.0", webPort), WebServer)
except:
# Failed to open the port, report common issues
print ()
print ('Failed to open port %d' % (webPort))
print ('Make sure you are running the script with sudo permissions')
print ('Other problems include running another script with the same port')
print ('If the script was just working recently try waiting a minute first')
print ()
# Flag the script to exit
running = False
try:
print ('Press CTRL+C to terminate the web-server')
while running:
httpServer.handle_request()
except KeyboardInterrupt:
# CTRL+C exit
print ('\nUser shutdown')
finally:
# Turn the motors off under all scenarios
TB.MotorsOff()
print ('Motors off')
# Tell each thread to stop, and wait for them to end
if httpServer != None:
httpServer.server_close()
running = False
watchdog.terminated = True
watchdog.join()
TB.SetLedShowBattery(False)
TB.SetLeds(0,0,0)
TB.MotorsOff()
print ('Web-server terminated.')