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Commit f378bd4

Browse files
previRoberto Previtera
and
Roberto Previtera
authored
Refactor api v3 (#167)
* wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * merge remove_old_ui * merge remove_old_ui * fix merge * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * WIP #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wop #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #184 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 * wip #164 Co-authored-by: Roberto Previtera <roberto@MacBook-Air.station>
1 parent cc4792a commit f378bd4

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12 files changed

+119
-57
lines changed

12 files changed

+119
-57
lines changed

‎.github/workflows/build_backend.yml‎

Lines changed: 8 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -20,19 +20,24 @@ jobs:
2020
#python3 -m unittest test/cnn_test.py 2>&1 | tee test-reports/test_report.txt
2121
echo "test complete"
2222
- run: |
23-
export PYTHONPATH=./coderbot:./stub:./test
23+
export PYTHONPATH=./stub:./coderbot:./test
2424
python3 coderbot/main.py > coderbot.log &
2525
sleep 30
2626
apt-get install -y python3-venv
2727
mkdir -p schemathesis
2828
python3 -m venv schemathesis
2929
. schemathesis/bin/activate
3030
pip install schemathesis
31-
st run --endpoint '^(?!(\/api\/v1\/video\/stream|\/api\/v1\/control\/move|\/api\/v1\/video\/rec|\/api\/v1\/video\/stop)$).*$' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
31+
st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
32+
st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
33+
st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
34+
st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
35+
st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
36+
st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
3237
echo "openapi test complete"
3338
3439
release-backend:
35-
#needs: [test]
40+
needs: [test]
3641
runs-on: ubuntu-latest
3742
steps:
3843
- name: Docker meta

‎coderbot/activity.py‎

Lines changed: 6 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -1,14 +1,12 @@
11
from tinydb import TinyDB, Query
2-
from tinydb.operations import delete
3-
import json
42

53
# Programs and Activities databases
64
class Activities():
75
_instance = None
8-
6+
97
@classmethod
108
def get_instance(cls):
11-
if cls._instance == None:
9+
if cls._instance is None:
1210
cls._instance = Activities()
1311
return cls._instance
1412

@@ -22,15 +20,14 @@ def load(self, name, default):
2220
if len(activities) > 0:
2321
return activities[0]
2422
elif default is not None:
25-
default_Activities = self.activities.search(self.query.default == True)
2623
if len(self.activities.search(self.query.default == True)) > 0:
2724
return self.activities.search(self.query.default == True)[0]
28-
else:
29-
return None
25+
returnNone
26+
return None
3027

3128
def save(self, name, activity):
3229
# if saved activity is "default", reset existing default activity to "non-default"
33-
if activity.get("default", False) == True:
30+
if activity.get("default", False) is True:
3431
self.activities.update({'default': False})
3532
if self.activities.search(self.query.name == name) == []:
3633
self.activities.insert(activity)
@@ -41,10 +38,9 @@ def delete(self, name):
4138
activities = self.activities.search(self.query.name == name)
4239
if len(activities) > 0:
4340
activity = activities[0]
44-
if activity.get("default", False) == True:
41+
if activity.get("default", False) is True:
4542
self.activities.update({'default': True}, self.query.stock == True)
4643
self.activities.remove(self.query.name == activity["name"])
4744

4845
def list(self):
4946
return self.activities.all()
50-

‎coderbot/api.py‎

Lines changed: 27 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -28,6 +28,7 @@
2828
from audio import Audio
2929
from event import EventManager
3030
from coderbotTestUnit import run_test as runCoderbotTestUnit
31+
from balena import Balena
3132

3233
BUTTON_PIN = 16
3334

@@ -95,7 +96,7 @@ def get_info():
9596
backend_commit = "undefined"
9697
coderbot_version = "undefined"
9798
update_status = "ok"
98-
kernel = 'undefined'
99+
device = {}
99100
motors = 'undefined'
100101

101102
try:
@@ -107,11 +108,6 @@ def get_info():
107108
except Exception:
108109
pass
109110

110-
try:
111-
kernel = subprocess.check_output(["uname", "-r"]).decode('utf-8').replace('\n', '')
112-
except Exception:
113-
pass
114-
115111
try:
116112
encoder = bool(Config.read().get('encoder'))
117113
if(encoder):
@@ -123,12 +119,16 @@ def get_info():
123119

124120
serial = get_serial()
125121

126-
return {'backend_commit': backend_commit,
127-
'coderbot_version': coderbot_version,
128-
'update_status': update_status,
129-
'kernel': kernel,
130-
'serial': serial,
131-
'motors': motors}
122+
try:
123+
device = Baleba.get_instance().device()
124+
except Exception:
125+
pass
126+
return { 'backend_commit': device.get("commit"),
127+
'coderbot_version': coderbot_version,
128+
'update_status': device.get("status"),
129+
'kernel': device.get("os_version"),
130+
'serial': serial,
131+
'motors': motors }
132132

133133
prog = None
134134
prog_engine = ProgramEngine.get_instance()
@@ -161,21 +161,24 @@ def turn(body):
161161
def takePhoto():
162162
try:
163163
cam.photo_take()
164-
Audio.say(config.get("sound_shutter"))
164+
audio_device.say(config.get("sound_shutter"))
165+
return 200
165166
except Exception as e:
166167
logging.warning("Error: %s", e)
167168

168169
def recVideo():
169170
try:
170171
cam.video_rec()
171172
audio_device.say(config.get("sound_shutter"))
173+
return 200
172174
except Exception as e:
173175
logging.warning("Error: %s", e)
174176

175177
def stopVideo():
176178
try:
177179
cam.video_stop()
178180
audio_device.say(config.get("sound_shutter"))
181+
return 200
179182
except Exception as e:
180183
logging.warning("Error: %s", e)
181184

@@ -184,24 +187,24 @@ def speak(body):
184187
locale = body.get("locale", "")
185188
logging.debug("say: " + text + " in: " + locale)
186189
audio_device.say(text, locale)
190+
return 200
187191

188192
def reset():
189-
logging.debug("reset bot")
190-
shutil.rmtree("data/*")
191-
bot.restart()
193+
Balena.get_instance().purge()
194+
return 200
192195

193196
def halt():
194-
logging.debug("shutting down")
195197
audio_device.say(what=config.get("sound_stop"))
196-
bot.halt()
198+
Balena.get_instance().shutdown()
199+
return 200
197200

198201
def restart():
199-
logging.debug("restarting bot")
200-
bot.restart()
202+
Balena.get_instance().restart()
201203

202204
def reboot():
203-
logging.debug("rebooting")
204-
bot.reboot()
205+
audio_device.say(what=config.get("sound_stop"))
206+
Balena.get_instance().reboot()
207+
return 200
205208

206209
def video_stream(a_cam):
207210
while True:
@@ -287,13 +290,14 @@ def info():
287290

288291
def restoreSettings():
289292
Config.restore()
290-
restart()
293+
returnrestart()
291294

292295
def loadSettings():
293296
return Config.get()
294297

295298
def saveSettings(body):
296299
Config.write(body)
300+
return 200
297301

298302
def updateFromPackage():
299303
os.system('sudo bash /home/pi/clean-update.sh')

‎coderbot/balena/__init__.py‎

Lines changed: 44 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,44 @@
1+
import os
2+
from urllib.request import urlopen, Request
3+
import json
4+
import logging
5+
6+
class Balena():
7+
_instance = None
8+
9+
@classmethod
10+
def get_instance(cls):
11+
if cls._instance is None:
12+
cls._instance = Balena()
13+
return cls._instance
14+
15+
def __init__(self):
16+
self.supervisor_address = os.environ["BALENA_SUPERVISOR_ADDRESS"]
17+
self.supervisor_key = os.environ["BALENA_SUPERVISOR_API_KEY"]
18+
self.app_id_data = json.dumps({ "appId": os.environ["BALENA_APP_ID"] }).encode("utf-8")
19+
self.headers = { 'Content-Type': 'application/json' }
20+
21+
def purge(self):
22+
logging.debug("reset bot")
23+
req = Request(f'{self.supervisor_address}/v1/purge?apikey={self.supervisor_key}', data=self.app_id_data, headers=self.headers, method='POST')
24+
return urlopen(req).read()
25+
26+
def shutdown(self):
27+
logging.debug("shutdown bot")
28+
req = Request(f'{self.supervisor_address}/v1/shutdown?apikey={self.supervisor_key}', headers=self.headers, method='POST')
29+
return urlopen(req).read()
30+
31+
def restart(self):
32+
logging.debug("restarting bot")
33+
req = Request(f'{self.supervisor_address}/v1/restart?apikey={self.supervisor_key}', data=self.app_id_data, headers=self.headers, method='POST')
34+
return urlopen(req).read()
35+
36+
def reboot(self):
37+
logging.debug("reboot bot")
38+
req = Request(f'{self.supervisor_address}/v1/reboot?apikey={self.supervisor_key}', headers=self.headers, method='POST')
39+
return urlopen(req).read()
40+
41+
def device(self):
42+
logging.debug("reboot bot", f'{self.supervisor_address}get?apikey={self.supervisor_key}')
43+
req = Request(f'{self.supervisor_address}/device?apikey={self.supervisor_key}', headers=self.headers, method='GET')
44+
return json.load(urlopen(req))

‎coderbot/coderbot.py‎

Lines changed: 1 addition & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@
2323
import logging
2424
import pigpio
2525
import sonar
26-
import hw.mpu
26+
from hwimportmpu
2727
from rotary_encoder.wheelsaxel import WheelsAxel
2828

2929
# GPIO
@@ -268,13 +268,3 @@ def _cb_button(self, gpio, level, tick):
268268
logging.info("pushed: %d, %d", level, tick)
269269
cb()
270270

271-
def halt(self):
272-
logging.info("halt requested")
273-
pass
274-
275-
def restart(self):
276-
sys.exit()
277-
278-
def reboot(self):
279-
logging.info("reboot requested")
280-

‎coderbot/hw/__init__.py‎

Whitespace-only changes.

‎coderbot/hw/mpu.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
from hw import lsm9ds1
1+
from . import lsm9ds1
22
import time
33

44
class AccelGyroMag:

‎coderbot/main.py‎

Lines changed: 2 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -5,22 +5,19 @@
55
import os
66
import logging
77
import logging.handlers
8-
import subprocess
98
import picamera
109
import connexion
1110

12-
from flask import (send_from_directory, redirect)
13-
1411
from flask_cors import CORS
1512

16-
from coderbot import CoderBot
1713
from camera import Camera
1814
from motion import Motion
1915
from audio import Audio
20-
from program import ProgramEngine, Program
16+
from program import ProgramEngine
2117
from config import Config
2218
from cnn.cnn_manager import CNNManager
2319
from event import EventManager
20+
from coderbot import CoderBot
2421

2522
# Logging configuration
2623
logger = logging.getLogger()

‎coderbot/program.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,7 @@
3434
import event
3535
import music
3636
import musicPackages
37-
import hw.atmega328p
37+
from hw.atmega328pimportATMega328
3838

3939
PROGRAM_PATH = "./data/"
4040
PROGRAM_PREFIX = "program_"
@@ -66,7 +66,7 @@ def get_music():
6666
return music.Music.get_instance(musicPackageManager)
6767

6868
def get_atmega():
69-
return atmega328p.ATMega328.get_instance()
69+
return ATMega328.get_instance()
7070

7171
class ProgramEngine:
7272

‎defaults/config.json‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@
3838
"hw_version":"5",
3939
"audio_volume_level":"100",
4040
"wifi_mode":"ap",
41-
"wifi_ssid":"coderbot_CHANGEMEATFIRSTRUN",
41+
"wifi_ssid":"coderbot",
4242
"wifi_psk":"coderbot",
4343
"packages_installed":"",
4444
"admin_password":"",

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