Add a basic page to configure motors without using Jupyter Terminal

bouteillederouge.py

@@ -2,6 +2,7 @@
 import sys
 import requests
 import argparse
+import subprocess
 
 from threading import Thread
 
@@ -51,11 +52,10 @@
         parser.print_help()
         sys.exit(1)
 
-    from subprocess import call
     configfile = '/tmp/poppy_config.yaml'
-    call(['python', 'bootstrap.py',
-          '--config-path', configfile,
-          'localhost', args.creature])
+    subprocess.call(['python', 'bootstrap.py',
+                     '--config-path', configfile,
+                     'localhost', args.creature])
 else:
     configfile = os.path.expanduser('~/.poppy_config.yaml')
 
@@ -210,12 +210,41 @@ def done_updating():
 
 @app.route('/camera', methods=['POST'])
 def switch_camera():
-    checked = request.form['checked'];
+    checked = request.form['checked']
     pm.update_config('robot.camera', True if checked == 'on' else False)
     flash('Your robot camera is now turned {}!'.format(checked), 'success')
     return ('', 204)
 
 
+@app.route('/configure-motors')
+def configure_motors():
+    # Remove old poppy-configure output to avoid user confusion
+    try:
+        os.remove(pm.config.poppy_configure.logfile)
+    except OSError:
+        pass
+    return render_template('motor-configuration.html', motors=pm._get_robot_motor_list())
+
+
+@app.route('/call_poppy_configure', methods=['POST'])
+def call_poppy_configure():
+    motor = request.form['motor']
+    pm.update_config('robot.motors', motor)
+    return ('', 204)
+
+@app.route('/settings/wifi')
+def configure_wifi():
+    return render_template('wifi.html')
+
+@app.route('/wifi/list')
+def wifi_list():
+    return
+
+@app.route('/configure_hostspot', methods=['POST'])
+def hostspot_configuration():
+    return
+
+
 @app.route('/ready-to-roll')
 def ready_to_roll():
     with open(pm.config.info.logfile) as f:
@@ -263,6 +292,16 @@ def update_raw_logs():
     return Response(content, mimetype='text/plain')
 
 
+@app.route('/api/configure_motors_logs')
+def poppy_config_logs():
+    try:
+        with open(pm.config.poppy_configure.logfile) as f:
+            content = f.read()
+    except IOError:
+        content = ''
+    return Response(content, mimetype='text/plain')
+
+
 def get_host():
     host = pm.config.robot.name
     host = host if host == 'localhost' else '{}.local'.format(host)

default_config.yaml

@@ -12,3 +12,13 @@ update:
   url: https://raw.githubusercontent.com/poppy-project/raspoppy/master/auto-update.sh
   logfile: $home/.install.log
   lockfile: /tmp/poppy-update-pid.lock
+
+poppy_configure:
+  logfile: /tmp/poppy-config.log
+  poppup_startup: on
+
+wifi:
+  hostspot_conf_file: /boot/hotspot.txt
+  hostspot_service: rpi-access-point
+  default_ssid: Poppy Hotspot
+  default_password: poppyproject

puppet_master.py

@@ -1,13 +1,16 @@
 import os
 import time
+import re
 import requests
 
 from subprocess import call, check_call
 from contextlib import closing
 from threading import Thread
+from string import Template
 
 from poppyd import PoppyDaemon
 from config import Config, attrsetter
+from pypot.creatures import installed_poppy_creatures
 
 
 class PuppetMaster(object):
@@ -21,6 +24,7 @@ def __init__(self, DaemonCls, configfile, pidfile):
         self.config_handlers = {
             'robot.camera': lambda _: self.restart(),
             'robot.name': self._change_hostname,
+            'robot.motors': self._configure_motors
         }
         self._updating = False
 
@@ -85,6 +89,62 @@ def _change_hostname(self, name):
         call(['sudo', 'systemctl', 'restart', 'avahi-daemon.service'])
         self.restart()
 
+    def _get_robot_motor_list(self):
+        try:
+            RobotCls = installed_poppy_creatures[self.config.robot.creature]
+            return sorted(RobotCls.default_config['motors'].keys())
+        except KeyError:
+            return ['']
+
+    def _configure_motors(self, motor):
+        self.stop()
+        creature = self.config.robot.creature.split('poppy-')[1]
+        f = open(self.config.poppy_configure.logfile,"wb")
+        check_call(['poppy-configure', creature, motor], stdout=f, stderr=f)
+        self.start()
+
+    def _set_hostspot_configuration(self, ssid, passphrase, hide_hostname=0):
+        conf = "ssid=%s\npassphrase=%s\nhide_hostname=%s\n" % (ssid, passphrase, hide_hostname)
+        with open('/tmp/hotspot.conf', 'w') as f:
+            f.write(conf)
+
+        os.system('sudo mv /tmp/hotspot.conf %s' % self.config.wifi.hostspot_conf_file)
+        call(['sudo', 'systemctl', 'restart', self.config.wifi.hostspot_service])
+
+    def _get_hostspot_configuration(self):
+        conf=''
+        with open(self.config.wifi.hostspot_conf_file, 'r') as f:
+            conf = f.read()
+        ssid=re.match('s/^ssid=\(.\+\)$/\1/p', conf)
+        passphrase = re.match('s/^passphrase=\(.\+\)$/\1/p', conf)
+        hide_hostname = re.match('s/^hide_hostname=\(.\+\)$/\1/p', conf)
+        return {'ssid'=ssid, 'passphrase'=passphrase, 'hide_hostname'=hide_hostname}
+
+    def _disable_hostpot(self):
+        conf_path = self.config.wifi.hostspot_conf_file
+        if os.path.isfile(conf_path):
+            os.system("sudo mv %s %s" % (conf_path, os.path.join(conf_path, '.backup'))
+            call(['sudo', 'systemctl', 'restart', self.config.wifi.hostspot_service])
+
+    def _enable_hostspot(self):
+        conf_path = self.config.wifi.hostspot_conf_file
+        if os.path.isfile(os.path.join(conf_path, '.backup')):
+            cmd = "sudo mv %s %s" % (os.path.join(conf_path, '.backup'), conf_path)
+            call(['sudo', 'systemctl', 'restart', self.config.wifi.hostspot_service])
+
+        else:
+            self._set_hostspot_configuration(self.config.wifi.default_ssid, self.config.wifi.default_password)
+
+
+    def _disable_wifi_client(self):
+        pass
+        # os.system("sudo mv /etc/wpa-supplicant.conf")
+
+    def _wifi_list(self):
+        pass
+    def _wifi connect(self, ssid, password):
+        pass
+
     def shutdown(self):
         try:
             for m in self.get_motors():
@@ -106,6 +166,7 @@ def send_value(self, motor, register, value):
         r = requests.post(url.format(motor, register), json=value)
         return r
 
+
 if __name__ == '__main__':
     import sys
 

templates/logs.html

@@ -35,7 +35,7 @@ <h1 class="section-title">Logs</h1>
 }
 
 function startTimeout() {
-  timeOut = window.setTimeout(refreshLogs, 1000);
+  timeOut = window.setTimeout(refreshLogs, 500);
 }
 
 startTimeout();

templates/motor-configuration.html

@@ -0,0 +1,97 @@
+{% extends "base.html" %}
+{% block content %}
+
+  <div class="row">
+    <div class="columns">
+      <h1 class="section-title">Configure your motors</h1>
+    </div>
+  </div>
+
+  <div class="row">
+    <div class="large-6 columns">
+      <div class="callout">
+        <p>
+          Out of factory motors come all with the same identifiant in their internal memory. To be able to differenciate each motor in the robot, we have to configure it, to change their identifiant.
+          <br>
+          To do so,
+          <b>you have to plug ONE motor at a time</b>. It is very important, otherwise, they will all have the same new identifiant and you won't be able to communicate with them.
+        </p>
+      </div>
+    </div>
+
+    <div class="large-6 columns">
+      <div class="callout">
+        <div class="row">
+          <div class="large-9 columns">
+            <img width="900" src="{{ url_for('static', filename='img/motor_one_by_one.jpg') }}" alt="How to plug a motor">
+          </div>
+        </div>
+      </div>
+    </div>
+
+    <div class="row">
+      <div class="large-6 columns">
+        <div class="callout">
+          <h4>
+            Which motor do you want to configure?
+          </h4>
+          {% if motors | length > 1 %}
+            <form>
+              <div class="row">
+                <div class="large-9 columns">
+                  <select id="motor">
+                    {% for m in motors %}
+                      <option value="{{ m }}">{{ m }}</option>
+                    {% endfor %}
+                  </select>
+                </div>
+                <div class="large-3 columns">
+                  <button id="configure-motor" type="button" class="button">Configure</button>
+                </div>
+              </div>
+            </form>
+          {% else %}
+            <p>No Poppy creature seems to be installed on the robot.</p>
+          {% endif %}
+
+        </div>
+      </div>
+    </div>
+
+    <div class="row">
+      <div class="large-12 columns">
+        <pre>
+      <code id="robot-logs" class="accesslog hljs">{{ update_logs_content }}</code>
+    </pre>
+      </div>
+    </div>
+  </div>
+{% endblock content %}
+{% block endscript %}
+  <script>
+    var timeOut;
+    // /api/configure_motors_logs
+    function refreshLogs() {
+      $.get('{{ url_for('poppy_config_logs') }}', function (rawLogs) {
+        var logsElement = document.getElementById('robot-logs');
+
+        logsElement.innerHTML = rawLogs;
+        hljs.highlightBlock(logsElement);
+
+        startTimeout();
+      });
+    }
+
+    function startTimeout() {
+      logTimeOut = window.setTimeout(refreshLogs, 1000);
+    }
+
+    startTimeout();
+
+    $('#configure-motor').click(function () {
+      motor_to_configure = $('#motor').val().trim();
+      $.post('/call_poppy_configure', {motor: motor_to_configure});
+
+    });
+  </script>
+{% endblock endscript %}

templates/settings.html

@@ -43,10 +43,26 @@ <h2>Robot hostname</h2>
       </form>
     </div>
   </div>
-</div>
 
-<div class="row">
-  <div class="large-12 columns">
+  <div class="large-6 columns">
+    <div class="callout">
+      <h2>Configure your motors</h2>
+      <div class="row">
+        <div class="large-9 columns">
+          <div class="callout primary">
+            <p>Configure your motors when you assemble your robot for the first time.</p>
+          </div>
+        </div>
+        <div class="large-3 columns">
+          <a href={{ url_for('configure_motors') }}>
+            <button type="button" class="button">Start configuration</button>
+          </a>
+        </div>
+      </div>
+    </div>
+  </div>
+
+  <div class="large-6 columns">
     <div class="callout">
       <h2>Upgrade your robot software</h2>
       <div class="row">
@@ -63,7 +79,8 @@ <h2>Upgrade your robot software</h2>
       </div>
     </div>
   </div>
-</div>
+
+
 
 {% endblock content %}