First commit for gui branch

GUI/server/odrive_server.py

@@ -0,0 +1,200 @@
+import sys
+import flask
+import os
+from flask import make_response, request, jsonify, session
+from flask_socketio import SocketIO, send, emit
+from flask_cors import CORS
+import json
+import time
+import argparse
+
+
+# interface for odrive GUI to get data from odrivetool
+
+#better handling of websockets
+# eventlet.monkey_patch()
+
+app = flask.Flask(__name__)
+app.config['SECRET_KEY'] = 'secret'
+app.config.update(
+    SESSION_COOKIE_SECURE=True,
+    SESSION_COOKIE_HTTPONLY=True,
+    SESSION_COOKIE_SAMESITE='None'
+)
+CORS(app, support_credentials=True)
+socketio = SocketIO(app, cors_allowed_origins="*")
+odrives = []
+odriveDict = {}
+configDict = {}
+
+def get_all_odrives():
+    odrives = []
+    odrives.append(odrive.find_any()) #, find_multiple=100)
+    #odrives.append(odrive.find_any())
+    return odrives
+
+@socketio.on('enableSampling')
+def enableSampling(message):
+    print("sampling enabled")
+    session['samplingEnabled'] = True
+    emit('samplingEnabled')
+
+@socketio.on('stopSampling')
+def stopSampling(message):
+    session['samplingEnabled'] = False
+    emit('samplingDisabled')
+
+@socketio.on('sampledVarNames')
+def sampledVarNames(message):
+    session['sampledVars'] = message
+    print(session['sampledVars'])
+
+@socketio.on('startSampling')
+def sendSamples(message):
+    print(session['samplingEnabled'])
+    while session['samplingEnabled']:
+        emit('sampledData', json.dumps(getSampledData(session['sampledVars'])))
+        time.sleep(0.02)
+
+@socketio.on('message')
+def handle_message(message):
+    print(message)
+    emit('response', 'hello from server!')
+
+@app.route('/', methods=['GET'])
+def home():
+    return "<h1>ODrive GUI Server</h1>"
+
+
+@app.route('/api/odrives', methods=["GET"])
+def api_odrives():
+    for (index, odrv) in enumerate(odrives):
+        odriveDict["odrive" + str(index)] = dictFromRO(odrv)
+    response = jsonify(odriveDict)
+    response.headers.add('Access-Control-Allow-Origin', '*')
+    return response
+
+
+@app.route('/api/property', methods=["GET", "PUT"])
+def api_property():
+    # here, reqDict["key"] is a list of keys from the query
+    # ?key=odrive0&key=axis0&key=config...
+    if request.method == 'PUT':
+        reqDict = request.args.to_dict(flat=False)
+        postVal(odrives, reqDict["key"], reqDict["val"][0], reqDict["type"][0])
+        response = make_response(jsonify({"message": "success"}), 200)
+        return response
+    else:
+        print("request: " + str(request))
+        reqDict = request.args.to_dict(flat=False)
+        response = jsonify(getVal(odrives, reqDict["key"]))
+        response.headers.add('Access-Control-Allow-Origin', '*')
+        return response
+
+
+@app.route('/api/function', methods=["PUT"])
+def api_function():
+    # execute a function from the odrive config dict?
+    reqDict = request.args.to_dict(flat=False)
+    callFunc(odrives, reqDict["key"])
+    response = make_response(jsonify({"message": "success"}), 200)
+    return response
+
+
+def dictFromRO(RO):
+    # create dict from an odrive RemoteObject that's suitable for sending as JSON
+    returnDict = {}
+    for key in RO._remote_attributes.keys():
+        if isinstance(RO._remote_attributes[key], fibre.remote_object.RemoteObject):
+            # recurse
+            returnDict[key] = dictFromRO(RO._remote_attributes[key])
+        elif isinstance(RO._remote_attributes[key], fibre.remote_object.RemoteProperty):
+            # grab value of that property
+            # indicate if this property can be written or not
+            returnDict[key] = {"val": str(RO._remote_attributes[key].get_value()),
+                               "readonly": not RO._remote_attributes[key]._can_write,
+                               "type": str(RO._remote_attributes[key]._property_type.__name__)}
+        elif isinstance(RO._remote_attributes[key], fibre.remote_object.RemoteFunction):
+            # this is a function - do nothing for now.
+            returnDict[key] = "function"
+        else:
+            returnDict[key] = RO._remote_attributes[key]
+    return returnDict
+
+# set a value from a POST http request
+
+
+def postVal(odrives, keyList, value, argType):
+    # expect a list of keys in the form of ["key1", "key2", "keyN"]
+    # "key1" will be "odriveN"
+    # like this: postVal(odrives, ["odrive0","axis0","config","calibration_lockin","accel"], 17.0)
+    index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
+
+    RO = odrives[index]
+    for key in keyList:
+        RO = RO._remote_attributes[key]
+    if argType == "numeric":
+        RO.set_value(float(value))
+    elif argType == "boolean":
+        RO.set_value(value == "true")
+    else:
+        pass # dont support that type yet
+
+def getVal(odrives, keyList):
+    index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
+    RO = odrives[index]
+    try:
+        for key in keyList:
+            RO = RO._remote_attributes[key]
+        if isinstance(RO, fibre.remote_object.RemoteObject):
+            return dictFromRO(RO)
+        else:
+            return RO.get_value()
+    except:
+        return 0
+
+def getSampledData(vars):
+    #use getVal to populate a dict
+    #return a dict {path:value}
+    samples = {}
+    for path in vars["paths"]:
+        keys = path.split('.')
+        samples[path] = getVal(odrives, keys)
+
+    return samples
+
+# call a function from a GET request
+
+
+def callFunc(odrives, keyList):
+    index = int(''.join([char for char in keyList.pop(0) if char.isnumeric()]))
+    RO = odrives[index]
+    for key in keyList:
+        RO = RO._remote_attributes[key]
+    if isinstance(RO, fibre.remote_object.RemoteFunction):
+        RO.__call__()
+
+if __name__ == "__main__":
+    print("args from python:")
+    print(sys.argv[1:])
+    # try to import based on command line arguments or config file
+
+    for optPath in sys.argv[1:]:
+        print("adding " + str(optPath.rstrip()) + " to import path for odrive_server.py")
+        sys.path.insert(0,optPath.rstrip())
+
+    import odrive
+    import odrive.utils # for dump_errors()
+    import fibre
+
+
+    # busy wait for connection
+    while len(odrives) == 0:
+        print("looking for odrives...")
+        odrives = get_all_odrives()
+
+    print("found odrives!")
+
+    for (index, odrv) in enumerate(odrives):
+        odriveDict["odrive" + str(index)] = dictFromRO(odrv)
+    socketio.run(app, host='0.0.0.0', port=5000)