endless.py

import json
import gevent
import random
import operator
from flask import Flask, render_template, jsonify
from flask_sockets import Sockets

import motors
import redis_conduit as r

app = Flask(__name__)
sockets = Sockets(app)

ACTION_LIMIT = 80
position_min = 1
position_max = 3
position_default = 2
current_speed = default_speed = 6
SPEED_MAX = 10
SPEED_MIN = 1


@app.route('/')
def control_view():
    return render_template('handheld_control.html')


def vote(name, side):
    q = getattr(r, side)
    q.append(name)
    if name in r.vote_count:
        r.redis_conn.hincrby('vote-count', name)
    else:
        r.vote_count[name] = 1
    if name not in r.color_mapping:
        r.color_mapping[name] = (random.randint(100, 255), random.randint(100, 255), random.randint(100, 255))


@sockets.route('/vote')
def vote_ws(ws):
    while not ws.closed:
        # Sleep to prevent *contstant* context-switches.
        #gevent.sleep(0.1)
        message_json = ws.receive()
        if message_json:
            message = json.loads(message_json)
            vote(**message)
            #print('voted %s' % repr(message))


@app.route('/status')
def status():
    return render_template('status.html')


@app.route('/get-status')
def get_status():
    with r.status_lock:
        left_count = len(r.left)
        right_count = len(r.right)
        if (left_count >= ACTION_LIMIT) or (right_count >= ACTION_LIMIT):
            r.left.clear()
            r.right.clear()
            r.state['last-left-count-upon-action'] = left_count
            r.state['last-right-count-upon-action'] = right_count
            if left_count >= right_count:
                r.state['current-position'] = max(position_min, int(r.state['current-position']) - 1)
            else:
                r.state['current-position'] = min(position_max, int(r.state['current-position']) + 1)
            pos = r.state['current-position']
            motors.set_position(pos)
            print('set position to %s' % pos)
        status_data = {
            'position-min': position_min,
            'position-max': position_max,
            'current-position': int(r.state['current-position']),
            'color-mapping': dict(r.color_mapping),
            'vote-count': sorted(dict(r.vote_count).iteritems(), key=operator.itemgetter(1)),
            'left': list(r.left),
            'right': list(r.right),
            'action-limit': ACTION_LIMIT,
            'last-left-count-upon-action': int(r.state['last-left-count-upon-action']),
            'last-right-count-upon-action': int(r.state['last-right-count-upon-action']),
        }
    return jsonify(**status_data)


@app.route('/reset')
def reset():
    global current_speed
    r.color_mapping.clear()
    r.vote_count.clear()
    r.left.clear()
    r.right.clear()
    r.state['last-left-count-upon-action'] = 0
    r.state['last-right-count-upon-action'] = 0
    r.state['current-position'] = position_default
    r.redis_conn.delete('status-lock')
    motors.init()
    motors.barrel_rotation_off()
    motors.turn_motors_on()
    current_speed = default_speed
    motors.set_speed(current_speed)
    return 'reset'


@app.route('/fast')
def fast():
    global current_speed
    current_speed = min(SPEED_MAX, current_speed+1)
    motors.set_speed(current_speed)


@app.route('/slow')
def slow():
    global current_speed
    current_speed = max(SPEED_MIN, current_speed-1)
    motors.set_speed(current_speed)


@app.route('/on')
def on():
    motors.barrel_rotation_on()


@app.route('/off')
def off():
    motors.barrel_rotation_off()


if __name__ == '__main__':
    # app.debug = True
    from gevent.pywsgi import WSGIServer
    from geventwebsocket.handler import WebSocketHandler
    server = WSGIServer(("0.0.0.0", 80), app, handler_class=WebSocketHandler)
    server.serve_forever()