971 lines
33 KiB
Python
971 lines
33 KiB
Python
#!/usr/bin/env python3
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import fcntl
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import glob
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import http.server
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import json
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import os
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import shutil
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import socketserver
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import struct
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import subprocess
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import threading
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import time
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PORT = 8082
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EXOMY_CONTAINER = 'exomy_autostart'
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DELAY_FILE = '/tmp/exomy_delay.txt'
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SPEED_LIMIT_FILE = '/tmp/exomy_speed_limit.txt'
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DRIVE_ESTIMATOR_CALIBRATION_FILE = os.path.join(
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os.path.dirname(__file__), '..', 'config', 'drive_estimator_calibration.json'
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)
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MOTOR_TEST_LOCK = threading.Lock()
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class ReusableThreadingTCPServer(socketserver.ThreadingTCPServer):
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allow_reuse_address = True
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def run_command(command):
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result = subprocess.run(command, capture_output=True, text=True, check=False)
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return result.stdout.strip(), result.stderr.strip(), result.returncode
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def read_cpu_temperature():
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try:
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with open('/sys/class/thermal/thermal_zone0/temp', 'r', encoding='utf-8') as handle:
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raw_value = handle.read().strip()
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return f'{int(raw_value) / 1000:.1f} °C'
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except (FileNotFoundError, ValueError):
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return 'unbekannt'
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def read_cpu_usage():
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try:
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with open('/proc/stat', 'r', encoding='utf-8') as handle:
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first = handle.readline().split()[1:]
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first = [int(value) for value in first]
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idle_first = first[3] + first[4]
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total_first = sum(first)
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time.sleep(0.12)
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with open('/proc/stat', 'r', encoding='utf-8') as handle:
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second = handle.readline().split()[1:]
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second = [int(value) for value in second]
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idle_second = second[3] + second[4]
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total_second = sum(second)
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total_delta = total_second - total_first
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idle_delta = idle_second - idle_first
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if total_delta <= 0:
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return 'unbekannt'
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usage = (1 - (idle_delta / total_delta)) * 100
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return f'{usage:.0f}%'
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except (FileNotFoundError, ValueError, IndexError):
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return 'unbekannt'
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def read_memory_usage():
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try:
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values = {}
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with open('/proc/meminfo', 'r', encoding='utf-8') as handle:
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for line in handle:
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key, raw_value = line.split(':', 1)
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values[key] = int(raw_value.strip().split()[0])
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total = values.get('MemTotal')
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available = values.get('MemAvailable')
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if not total or available is None:
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return 'unbekannt'
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used = total - available
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percent = (used / total) * 100
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return f'{percent:.0f}%'
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except (FileNotFoundError, ValueError):
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return 'unbekannt'
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def read_undervoltage_status():
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stdout, _, returncode = run_command(['vcgencmd', 'get_throttled'])
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if returncode != 0 or not stdout or '=' not in stdout:
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return {
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'text': 'unbekannt',
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'state': 'unknown',
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}
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try:
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throttled_value = int(stdout.split('=', 1)[1].strip(), 16)
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except ValueError:
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return {
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'text': 'unbekannt',
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'state': 'unknown',
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}
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undervoltage_now = bool(throttled_value & 0x1)
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undervoltage_occurred = bool(throttled_value & 0x10000)
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if undervoltage_now:
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return {
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'text': 'Ja, aktuell',
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'state': 'active',
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}
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if undervoltage_occurred:
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return {
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'text': 'Früher erkannt',
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'state': 'past',
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}
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return {
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'text': 'Nein',
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'state': 'clear',
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}
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def format_uptime():
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try:
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with open('/proc/uptime', 'r', encoding='utf-8') as handle:
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uptime_seconds = int(float(handle.read().split()[0]))
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except (FileNotFoundError, ValueError, IndexError):
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return 'unbekannt'
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days, remainder = divmod(uptime_seconds, 86400)
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hours, remainder = divmod(remainder, 3600)
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minutes, _ = divmod(remainder, 60)
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parts = []
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if days:
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parts.append(f'{days}d')
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if days or hours:
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parts.append(f'{hours}h')
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parts.append(f'{minutes}m')
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return ' '.join(parts)
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def format_disk_free():
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usage = shutil.disk_usage('/')
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free_gb = usage.free / (1024 ** 3)
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total_gb = usage.total / (1024 ** 3)
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return f'{free_gb:.1f} GB frei / {total_gb:.1f} GB'
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def get_ip_addresses():
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stdout, _, returncode = run_command(['ip', '-4', '-o', 'addr', 'show', 'dev', 'wlan0', 'scope', 'global'])
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if returncode == 0 and stdout:
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for line in stdout.splitlines():
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parts = line.split()
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if 'inet' in parts:
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inet_index = parts.index('inet')
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if inet_index + 1 < len(parts):
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return parts[inet_index + 1].split('/')[0]
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stdout, _, returncode = run_command(['hostname', '-I'])
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if returncode != 0 or not stdout:
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return 'unbekannt'
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ipv4_addresses = []
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for item in stdout.split():
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if item.count('.') == 3 and not item.startswith('172.17.'):
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ipv4_addresses.append(item)
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return ipv4_addresses[0] if ipv4_addresses else 'unbekannt'
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def get_wifi_status():
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stdout, _, returncode = run_command(['nmcli', '-t', '-f', 'DEVICE,STATE,CONNECTION', 'device'])
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if returncode != 0 or not stdout:
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return 'unbekannt'
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for line in stdout.splitlines():
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parts = line.split(':', 2)
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if len(parts) != 3:
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continue
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device, state, connection = parts
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if device == 'wlan0':
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if state == 'connected':
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return f'verbunden: {connection}'
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return state
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return 'kein wlan0'
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def get_systemd_state(service_name):
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stdout, _, returncode = run_command(['systemctl', 'is-active', service_name])
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if returncode == 0 and stdout:
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return stdout
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return stdout or 'unknown'
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def get_container_state(container_name):
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stdout, _, returncode = run_command(['docker', 'inspect', '-f', '{{.State.Status}}', container_name])
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if returncode == 0 and stdout:
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return stdout
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return 'unknown'
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def get_motor_test_container_status():
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state = get_container_state(EXOMY_CONTAINER)
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return {
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'container': EXOMY_CONTAINER,
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'state': state,
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'is_safe_for_motor_test': state in ('exited', 'stopped', 'created'),
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}
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def collect_status():
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undervoltage = read_undervoltage_status()
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return {
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'status': 'Bereit',
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'system': {
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'wifi': get_wifi_status(),
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'ips': get_ip_addresses(),
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'undervoltage': undervoltage['text'],
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'undervoltage_state': undervoltage['state'],
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'cpu_temperature': read_cpu_temperature(),
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'cpu_usage': read_cpu_usage(),
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'memory_usage': read_memory_usage(),
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'uptime': format_uptime(),
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'disk_free': format_disk_free(),
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},
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'services': {
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'camera': get_systemd_state('exomy-camera-stream.service'),
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'admin_api': get_systemd_state('exomy-admin-api.service'),
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'exomy': get_container_state(EXOMY_CONTAINER),
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}
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}
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def get_delay():
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try:
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with open(DELAY_FILE) as f:
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return max(0.0, min(10.0, float(f.read().strip())))
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except Exception:
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return 0.0
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def set_delay(seconds):
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seconds = max(0.0, min(10.0, float(seconds)))
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data = str(seconds).encode()
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try:
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fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_TRUNC)
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except FileNotFoundError:
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fd = os.open(DELAY_FILE, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o666)
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try:
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os.write(fd, data)
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finally:
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os.close(fd)
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subprocess.run(
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['docker', 'exec', EXOMY_CONTAINER, 'bash', '-c',
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f'source /opt/ros/melodic/setup.bash && rosparam set /delay_seconds {seconds}'],
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capture_output=True, check=False
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)
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return seconds
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def get_speed_limit():
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try:
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with open(SPEED_LIMIT_FILE) as f:
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return max(10, min(100, int(f.read().strip())))
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except Exception:
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return 100
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def set_speed_limit(percent):
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percent = max(10, min(100, int(percent)))
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data = str(percent).encode()
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try:
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fd = os.open(SPEED_LIMIT_FILE, os.O_WRONLY | os.O_TRUNC)
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except FileNotFoundError:
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fd = os.open(SPEED_LIMIT_FILE, os.O_WRONLY | os.O_CREAT | os.O_TRUNC, 0o666)
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try:
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os.write(fd, data)
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finally:
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os.close(fd)
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subprocess.run(
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['docker', 'exec', EXOMY_CONTAINER, 'bash', '-c',
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f'source /opt/ros/melodic/setup.bash && rosparam set /speed_limit_percent {percent}'],
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capture_output=True, check=False
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)
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return percent
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|
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def rumble_controller(duration_ms=400):
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# Linux FF constants
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EV_FF = 0x15
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FF_RUMBLE = 0x50
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# EVIOCSFF = _IOW('E', 0x80, struct ff_effect) — ff_effect is 48 bytes on ARM64
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EVIOCSFF = (0x40000000 | (48 << 16) | (ord('E') << 8) | 0x80)
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device_path = None
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for path in sorted(glob.glob('/dev/input/event*')):
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try:
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sys_name = f'/sys/class/input/{os.path.basename(path)}/device/name'
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with open(sys_name, encoding='utf-8') as f:
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name = f.read().strip()
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if any(k in name for k in ('Gamepad', 'F710', 'GAMEPAD')):
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device_path = path
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break
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except OSError:
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pass
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|
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if not device_path:
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raise RuntimeError('Kein Gamepad gefunden')
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||
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fd = os.open(device_path, os.O_RDWR)
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try:
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# struct ff_effect layout on ARM64 (48 bytes):
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# offset 0: type (u16)
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# offset 2: id (s16) — set to -1, kernel assigns
|
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# offset 4: direction (u16)
|
||
# offset 6: trigger.button (u16)
|
||
# offset 8: trigger.interval (u16)
|
||
# offset 10: replay.length (u16, ms)
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||
# offset 12: replay.delay (u16)
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# offset 14: padding (2 bytes)
|
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# offset 16: union.rumble.strong_magnitude (u16)
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# offset 18: union.rumble.weak_magnitude (u16)
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# offset 20–47: zeros
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buf = bytearray(48)
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struct.pack_into('<H', buf, 0, FF_RUMBLE)
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struct.pack_into('<h', buf, 2, -1)
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struct.pack_into('<H', buf, 10, duration_ms)
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struct.pack_into('<H', buf, 16, 0xFFFF)
|
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struct.pack_into('<H', buf, 18, 0x8000)
|
||
|
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fcntl.ioctl(fd, EVIOCSFF, buf)
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effect_id = struct.unpack_from('<h', buf, 2)[0]
|
||
|
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# input_event on ARM64: sec(u64) + usec(u64) + type(u16) + code(u16) + value(s32) = 24 bytes
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os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 1))
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time.sleep(duration_ms / 1000.0 + 0.1)
|
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os.write(fd, struct.pack('<QQHHi', 0, 0, EV_FF, effect_id, 0))
|
||
except OSError as exc:
|
||
raise RuntimeError(f'FF ioctl fehlgeschlagen: {exc}') from exc
|
||
finally:
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os.close(fd)
|
||
|
||
|
||
def restart_camera_service():
|
||
subprocess.Popen(['systemctl', 'restart', 'exomy-camera-stream.service'])
|
||
|
||
|
||
def restart_exomy_container():
|
||
subprocess.Popen(['docker', 'restart', EXOMY_CONTAINER])
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||
|
||
|
||
def stop_exomy_container():
|
||
stdout, _, returncode = run_command(['docker', 'stop', '-t', '2', EXOMY_CONTAINER])
|
||
return returncode == 0, stdout
|
||
|
||
|
||
def start_exomy_container():
|
||
stdout, _, returncode = run_command(['docker', 'start', EXOMY_CONTAINER])
|
||
return returncode == 0, stdout
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||
|
||
|
||
def reboot_raspberry_pi():
|
||
subprocess.Popen(['systemctl', 'reboot'])
|
||
|
||
|
||
def shutdown_raspberry_pi():
|
||
subprocess.Popen(['systemctl', 'poweroff'])
|
||
|
||
|
||
def run_motor_test_action(wheel, action):
|
||
from admin_motor_test import run_motor_test
|
||
|
||
acquired = MOTOR_TEST_LOCK.acquire(blocking=False)
|
||
if not acquired:
|
||
return 409, {'status': 'Motortest läuft bereits'}
|
||
|
||
try:
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
result = run_motor_test(wheel, action)
|
||
return 200, {
|
||
'status': f"{result['wheel_label']}: {result['action_label']}",
|
||
'result': result,
|
||
'container_status': get_motor_test_container_status(),
|
||
}
|
||
except FileNotFoundError:
|
||
return 500, {'status': 'Motor-Konfiguration fehlt'}
|
||
except RuntimeError as exc:
|
||
return 500, {'status': str(exc)}
|
||
except ValueError as exc:
|
||
return 400, {'status': str(exc)}
|
||
except Exception:
|
||
return 500, {'status': 'Motortest fehlgeschlagen'}
|
||
finally:
|
||
MOTOR_TEST_LOCK.release()
|
||
|
||
|
||
def get_steering_neutral_status():
|
||
from admin_motor_test import get_steering_neutral_values
|
||
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
try:
|
||
result = get_steering_neutral_values()
|
||
return 200, {
|
||
'status': 'Servo-Mitten geladen',
|
||
'neutral_values': result,
|
||
'container_status': container_status,
|
||
}
|
||
except FileNotFoundError:
|
||
return 500, {'status': 'Motor-Konfiguration fehlt'}
|
||
except Exception:
|
||
return 500, {'status': 'Servo-Mitten konnten nicht geladen werden'}
|
||
|
||
|
||
def preview_steering_neutral_action(wheel, value):
|
||
from admin_motor_test import preview_steering_neutral_value
|
||
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
try:
|
||
result = preview_steering_neutral_value(str(wheel).lower(), int(value))
|
||
return 200, {
|
||
'status': f"{result['wheel_label']}: PWM {result['value']}",
|
||
'preview': result,
|
||
'container_status': container_status,
|
||
}
|
||
except ValueError as exc:
|
||
return 400, {'status': str(exc)}
|
||
except RuntimeError as exc:
|
||
return 500, {'status': str(exc)}
|
||
except Exception:
|
||
return 500, {'status': 'Servo-Vorschau fehlgeschlagen'}
|
||
|
||
|
||
def save_steering_neutral_action(values):
|
||
from admin_motor_test import save_steering_neutral_values
|
||
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
try:
|
||
result = save_steering_neutral_values(values)
|
||
return 200, {
|
||
'status': 'Servo-Mitten gespeichert',
|
||
'neutral_values': result,
|
||
'container_status': container_status,
|
||
}
|
||
except ValueError as exc:
|
||
return 400, {'status': str(exc)}
|
||
except RuntimeError as exc:
|
||
return 500, {'status': str(exc)}
|
||
except FileNotFoundError:
|
||
return 500, {'status': 'Motor-Konfiguration fehlt'}
|
||
except Exception:
|
||
return 500, {'status': 'Servo-Mitten konnten nicht gespeichert werden'}
|
||
|
||
|
||
def get_drive_neutral_status():
|
||
from admin_motor_test import get_drive_neutral_value
|
||
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
try:
|
||
result = get_drive_neutral_value()
|
||
return 200, {
|
||
'status': 'Fahr-Neutralwerte geladen',
|
||
'drive_neutral': result,
|
||
'container_status': container_status,
|
||
}
|
||
except FileNotFoundError:
|
||
return 500, {'status': 'Motor-Konfiguration fehlt'}
|
||
except Exception:
|
||
return 500, {'status': 'Fahr-Neutralwerte konnten nicht geladen werden'}
|
||
|
||
|
||
def get_drive_estimator_config():
|
||
from admin_motor_test import WHEELS, _load_config
|
||
|
||
try:
|
||
config_dir = os.path.join(os.path.dirname(__file__), '..', 'config')
|
||
config_candidates = [
|
||
os.path.join(config_dir, 'exomy.yaml'),
|
||
os.path.join(config_dir, 'exomy.remote.yaml'),
|
||
os.path.join(config_dir, 'exomy.yaml.template'),
|
||
]
|
||
config_path = next((path for path in config_candidates if os.path.exists(path)), None)
|
||
if config_path is None:
|
||
raise FileNotFoundError('Konfigurationsdatei nicht gefunden')
|
||
|
||
config = _load_config(config_path)
|
||
neutral_values = [
|
||
int(config[f'drive_pwm_neutral_{wheel}'])
|
||
for wheel in WHEELS
|
||
]
|
||
average_neutral = sum(neutral_values) / len(neutral_values)
|
||
return 200, {
|
||
'status': 'Bereit',
|
||
'estimator': {
|
||
'config_path': os.path.abspath(config_path),
|
||
'drive_pwm_neutral_average': average_neutral,
|
||
'drive_pwm_neutral_values': neutral_values,
|
||
'drive_pwm_range': int(config['drive_pwm_range']),
|
||
'pwm_frequency_hz': 50,
|
||
'servo_max_rpm': 50.0,
|
||
'servo_full_scale_pulse_delta_ms': 0.2,
|
||
'wheel_diameter_m_default': 0.1,
|
||
},
|
||
}
|
||
except FileNotFoundError:
|
||
return 500, {'status': 'Motor-Konfiguration fehlt'}
|
||
except Exception:
|
||
return 500, {'status': 'Estimator-Konfiguration konnte nicht geladen werden'}
|
||
|
||
|
||
def get_drive_estimator_calibration():
|
||
default_points = [0, 20, 30, 40, 50, 60, 80, 100]
|
||
data = {
|
||
'points': [
|
||
{'percent': point, 'speed_mps': 0.0}
|
||
for point in default_points
|
||
],
|
||
'updated_at': None,
|
||
'source': 'default',
|
||
}
|
||
|
||
try:
|
||
with open(DRIVE_ESTIMATOR_CALIBRATION_FILE, 'r', encoding='utf-8') as handle:
|
||
payload = json.load(handle)
|
||
points = payload.get('points')
|
||
if isinstance(points, list):
|
||
cleaned_points = []
|
||
for item in points:
|
||
if not isinstance(item, dict):
|
||
continue
|
||
percent = int(item.get('percent', 0))
|
||
speed_mps = float(item.get('speed_mps', 0.0))
|
||
cleaned_points.append({
|
||
'percent': max(0, min(100, percent)),
|
||
'speed_mps': max(0.0, speed_mps),
|
||
})
|
||
if cleaned_points:
|
||
cleaned_points.sort(key=lambda item: item['percent'])
|
||
data = {
|
||
'points': cleaned_points,
|
||
'updated_at': payload.get('updated_at'),
|
||
'source': 'saved',
|
||
}
|
||
except FileNotFoundError:
|
||
pass
|
||
except (OSError, ValueError, TypeError, json.JSONDecodeError):
|
||
return 500, {'status': 'Kalibrierung konnte nicht geladen werden'}
|
||
|
||
return 200, {
|
||
'status': 'Bereit',
|
||
'calibration': data,
|
||
}
|
||
|
||
|
||
def save_drive_estimator_calibration(points):
|
||
if not isinstance(points, list) or not points:
|
||
return 400, {'status': 'Kalibrierpunkte fehlen'}
|
||
|
||
cleaned_points = []
|
||
seen_percents = set()
|
||
for item in points:
|
||
if not isinstance(item, dict):
|
||
return 400, {'status': 'Kalibrierpunkte sind ungültig'}
|
||
try:
|
||
percent = int(item.get('percent', 0))
|
||
speed_mps = float(item.get('speed_mps', 0.0))
|
||
except (TypeError, ValueError):
|
||
return 400, {'status': 'Kalibrierwerte sind ungültig'}
|
||
percent = max(0, min(100, percent))
|
||
speed_mps = max(0.0, speed_mps)
|
||
if percent in seen_percents:
|
||
return 400, {'status': 'Jede Stufe darf nur einmal vorkommen'}
|
||
seen_percents.add(percent)
|
||
cleaned_points.append({
|
||
'percent': percent,
|
||
'speed_mps': speed_mps,
|
||
})
|
||
|
||
cleaned_points.sort(key=lambda item: item['percent'])
|
||
os.makedirs(os.path.dirname(DRIVE_ESTIMATOR_CALIBRATION_FILE), exist_ok=True)
|
||
payload = {
|
||
'updated_at': time.strftime('%Y-%m-%d %H:%M:%S'),
|
||
'points': cleaned_points,
|
||
}
|
||
try:
|
||
with open(DRIVE_ESTIMATOR_CALIBRATION_FILE, 'w', encoding='utf-8') as handle:
|
||
json.dump(payload, handle, ensure_ascii=False, indent=2)
|
||
handle.write('\n')
|
||
except OSError:
|
||
return 500, {'status': 'Kalibrierung konnte nicht gespeichert werden'}
|
||
|
||
return 200, {
|
||
'status': 'Kalibrierung gespeichert',
|
||
'calibration': {
|
||
'points': cleaned_points,
|
||
'updated_at': payload['updated_at'],
|
||
'source': 'saved',
|
||
},
|
||
}
|
||
|
||
|
||
def preview_drive_neutral_action(values):
|
||
from admin_motor_test import preview_drive_neutral_value
|
||
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
try:
|
||
result = preview_drive_neutral_value(values)
|
||
return 200, {
|
||
'status': 'Fahr-Neutralwerte angefahren',
|
||
'drive_neutral': result,
|
||
'container_status': container_status,
|
||
}
|
||
except ValueError as exc:
|
||
return 400, {'status': str(exc)}
|
||
except RuntimeError as exc:
|
||
return 500, {'status': str(exc)}
|
||
except Exception:
|
||
return 500, {'status': 'Fahr-Vorschau fehlgeschlagen'}
|
||
|
||
|
||
def save_drive_neutral_action(values):
|
||
from admin_motor_test import save_drive_neutral_value
|
||
|
||
container_status = get_motor_test_container_status()
|
||
if not container_status['is_safe_for_motor_test']:
|
||
return 409, {
|
||
'status': 'ExoMy-Container läuft noch. Bitte zuerst auf der Motortest-Seite stoppen.',
|
||
'container_status': container_status,
|
||
}
|
||
|
||
try:
|
||
result = save_drive_neutral_value(values)
|
||
return 200, {
|
||
'status': 'Fahr-Neutralwerte gespeichert',
|
||
'drive_neutral': result,
|
||
'container_status': container_status,
|
||
}
|
||
except ValueError as exc:
|
||
return 400, {'status': str(exc)}
|
||
except RuntimeError as exc:
|
||
return 500, {'status': str(exc)}
|
||
except FileNotFoundError:
|
||
return 500, {'status': 'Motor-Konfiguration fehlt'}
|
||
except Exception:
|
||
return 500, {'status': 'Fahr-Neutralwerte konnten nicht gespeichert werden'}
|
||
|
||
|
||
class Handler(http.server.BaseHTTPRequestHandler):
|
||
def end_headers(self):
|
||
self.send_header('Access-Control-Allow-Origin', '*')
|
||
self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
|
||
self.send_header('Access-Control-Allow-Headers', 'Content-Type')
|
||
super().end_headers()
|
||
|
||
def write_json(self, status_code, payload):
|
||
body = json.dumps(payload).encode('utf-8')
|
||
self.send_response(status_code)
|
||
self.send_header('Content-Type', 'application/json; charset=utf-8')
|
||
self.send_header('Content-Length', str(len(body)))
|
||
self.end_headers()
|
||
self.wfile.write(body)
|
||
|
||
def do_OPTIONS(self):
|
||
self.send_response(204)
|
||
self.end_headers()
|
||
|
||
def do_GET(self):
|
||
if self.path == '/api/delay':
|
||
self.write_json(200, {'delay_seconds': get_delay()})
|
||
return
|
||
if self.path == '/api/speed-limit':
|
||
self.write_json(200, {'speed_limit_percent': get_speed_limit()})
|
||
return
|
||
if self.path == '/api/status':
|
||
self.write_json(200, collect_status())
|
||
return
|
||
if self.path == '/api/motor-test/status':
|
||
self.write_json(200, {
|
||
'status': 'Bereit',
|
||
'container_status': get_motor_test_container_status(),
|
||
})
|
||
return
|
||
if self.path == '/api/motor-test/steering-neutral':
|
||
status_code, response = get_steering_neutral_status()
|
||
self.write_json(status_code, response)
|
||
return
|
||
if self.path == '/api/motor-test/drive-neutral':
|
||
status_code, response = get_drive_neutral_status()
|
||
self.write_json(status_code, response)
|
||
return
|
||
if self.path == '/api/drive-estimator/config':
|
||
status_code, response = get_drive_estimator_config()
|
||
self.write_json(status_code, response)
|
||
return
|
||
if self.path == '/api/drive-estimator/calibration':
|
||
status_code, response = get_drive_estimator_calibration()
|
||
self.write_json(status_code, response)
|
||
return
|
||
self.write_json(404, {'status': 'Unbekannt'})
|
||
|
||
def do_POST(self):
|
||
if self.path == '/api/delay':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
try:
|
||
seconds = set_delay(payload.get('delay_seconds', 0))
|
||
self.write_json(200, {'status': 'Delay gesetzt', 'delay_seconds': seconds})
|
||
except Exception as exc:
|
||
self.write_json(500, {'status': str(exc)})
|
||
return
|
||
|
||
if self.path == '/api/speed-limit':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
try:
|
||
percent = set_speed_limit(payload.get('speed_limit_percent', 100))
|
||
self.write_json(200, {'status': 'Geschwindigkeitslimit gesetzt', 'speed_limit_percent': percent})
|
||
except Exception as exc:
|
||
self.write_json(500, {'status': str(exc)})
|
||
return
|
||
|
||
if self.path == '/api/drive-estimator/calibration':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
status_code, response = save_drive_estimator_calibration(payload.get('points'))
|
||
self.write_json(status_code, response)
|
||
return
|
||
|
||
if self.path == '/api/motor-test/drive-neutral/preview':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
|
||
values = payload.get('values')
|
||
if not isinstance(values, dict):
|
||
self.write_json(400, {'status': 'Fahr-Neutralwerte fehlen'})
|
||
return
|
||
|
||
status_code, response = preview_drive_neutral_action(values)
|
||
self.write_json(status_code, response)
|
||
return
|
||
|
||
if self.path == '/api/motor-test/drive-neutral/save':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
|
||
values = payload.get('values')
|
||
if not isinstance(values, dict):
|
||
self.write_json(400, {'status': 'Fahr-Neutralwerte fehlen'})
|
||
return
|
||
|
||
status_code, response = save_drive_neutral_action(values)
|
||
self.write_json(status_code, response)
|
||
return
|
||
|
||
if self.path == '/api/motor-test/steering-neutral/preview':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
|
||
status_code, response = preview_steering_neutral_action(
|
||
payload.get('wheel', ''),
|
||
payload.get('value', 0)
|
||
)
|
||
self.write_json(status_code, response)
|
||
return
|
||
|
||
if self.path == '/api/motor-test/steering-neutral/save':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
|
||
values = payload.get('values')
|
||
if not isinstance(values, dict):
|
||
self.write_json(400, {'status': 'Neutralwerte fehlen'})
|
||
return
|
||
|
||
status_code, response = save_steering_neutral_action(values)
|
||
self.write_json(status_code, response)
|
||
return
|
||
|
||
if self.path == '/api/motor-test/stop-container':
|
||
stopped, _ = stop_exomy_container()
|
||
container_status = get_motor_test_container_status()
|
||
if not stopped and not container_status['is_safe_for_motor_test']:
|
||
self.write_json(500, {
|
||
'status': 'ExoMy-Container konnte nicht gestoppt werden',
|
||
'container_status': container_status,
|
||
})
|
||
return
|
||
self.write_json(200, {
|
||
'status': 'ExoMy-Container ist gestoppt',
|
||
'container_status': container_status,
|
||
})
|
||
return
|
||
|
||
if self.path == '/api/motor-test/start-container':
|
||
started, _ = start_exomy_container()
|
||
container_status = get_motor_test_container_status()
|
||
if not started and container_status['state'] != 'running':
|
||
self.write_json(500, {
|
||
'status': 'ExoMy-Container konnte nicht gestartet werden',
|
||
'container_status': container_status,
|
||
})
|
||
return
|
||
self.write_json(200, {
|
||
'status': 'ExoMy-Container läuft wieder',
|
||
'container_status': container_status,
|
||
})
|
||
return
|
||
|
||
if self.path == '/api/motor-test':
|
||
try:
|
||
content_length = int(self.headers.get('Content-Length', '0'))
|
||
except ValueError:
|
||
content_length = 0
|
||
|
||
raw_body = self.rfile.read(content_length) if content_length > 0 else b'{}'
|
||
|
||
try:
|
||
payload = json.loads(raw_body.decode('utf-8'))
|
||
except (UnicodeDecodeError, json.JSONDecodeError):
|
||
self.write_json(400, {'status': 'Ungültige Anfrage'})
|
||
return
|
||
|
||
status_code, response = run_motor_test_action(
|
||
str(payload.get('wheel', '')).lower(),
|
||
str(payload.get('action', ''))
|
||
)
|
||
self.write_json(status_code, response)
|
||
return
|
||
|
||
if self.path == '/api/rumble':
|
||
try:
|
||
rumble_controller(400)
|
||
self.write_json(200, {'status': 'Vibration ausgelöst'})
|
||
except RuntimeError as exc:
|
||
self.write_json(500, {'status': str(exc)})
|
||
return
|
||
|
||
actions = {
|
||
'/api/restart-camera': {
|
||
'handler': restart_camera_service,
|
||
'status': 'Kameradienst wird neu gestartet'
|
||
},
|
||
'/api/restart-container': {
|
||
'handler': restart_exomy_container,
|
||
'status': 'ExoMy-Container wird neu gestartet'
|
||
},
|
||
'/api/reboot': {
|
||
'handler': reboot_raspberry_pi,
|
||
'status': 'Raspberry Pi wird neu gestartet'
|
||
},
|
||
'/api/shutdown': {
|
||
'handler': shutdown_raspberry_pi,
|
||
'status': 'Raspberry Pi wird heruntergefahren'
|
||
}
|
||
}
|
||
|
||
action = actions.get(self.path)
|
||
if action is None:
|
||
self.write_json(404, {'status': 'Unbekannt'})
|
||
return
|
||
|
||
self.write_json(202, {'status': action['status']})
|
||
self.wfile.flush()
|
||
time.sleep(0.1)
|
||
action['handler']()
|
||
|
||
def log_message(self, fmt, *args):
|
||
return
|
||
|
||
|
||
if __name__ == '__main__':
|
||
with ReusableThreadingTCPServer(('0.0.0.0', PORT), Handler) as server:
|
||
server.daemon_threads = True
|
||
server.serve_forever()
|