First workink prototype.

.gitignore

+# use glob syntax
+syntax: glob
+
+*.elc
+*.pyc
+*~
+*.db
+
+# Emacs
+eproject.cfg
+
+# Temporary files (vim backups)
+*.swp
+
+# Log files:
+*.log
+
+# Virtualenv
+venv
+build
+
+
+conf/conf.cfg
+.coverage

AUTHORS

+Cédric Bonhomme <cedric@cedricbonhomme.org>

CHANGELOG.md

+EV3WebController project news
+
+0.1 (2014-12-15)
+* First workink prototype.

README.md

+EV3WebController
+================
+
+# Presentation
+
+This application based on the [Flask](http://flask.pocoo.org/)
+microframework provides an interface in order to control the EV3 robot.
+
+Tested with Python 3.4 and Python 2.7.
+
+
+
+# Contact
+
+Cédric BOnhomme.

bootstrap.py

+#! /usr/bin/env python
+#-*- coding: utf-8 -*-
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+"""Bootstrap
+
+Required imports and code execution for basic functionning.
+"""
+
+import sys
+if 'threading' in sys.modules:
+    raise Exception('threading module loaded before patching!')
+import conf
+import logging

conf.py

+#! /usr/bin/env python
+#-*- coding: utf-8 -*-
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+""" Program variables.
+
+This file contain the variables used by the application.
+"""
+
+import os, sys
+
+BASE_DIR = os.path.abspath(os.path.dirname(__file__))
+PATH = os.path.abspath(".")
+
+ON_HEROKU = int(os.environ.get('HEROKU', 0)) == 1
+DEFAULTS = {"platform_url": "http://0.0.0.0:5000",
+            "host": "0.0.0.0",
+            "port": "5000",
+            "https": "true",
+            "debug": "true"
+            }
+
+if not ON_HEROKU:
+    try:
+        import configparser as confparser
+    except:
+        import ConfigParser as confparser
+    # load the configuration
+    config = confparser.SafeConfigParser(defaults=DEFAULTS)
+    config.read(os.path.join(BASE_DIR, "conf/conf.cfg"))
+else:
+    class Config(object):
+        def get(self, _, name):
+            return os.environ.get(name.upper(), DEFAULTS.get(name))
+
+        def getint(self, _, name):
+            return int(self.get(_, name))
+
+        def getboolean(self, _, name):
+            value = self.get(_, name)
+            if value == 'true':
+                return True
+            elif value == 'false':
+                return False
+            return None
+    config = Config()
+
+PATH = os.path.abspath(".")
+
+PLATFORM_URL = config.get('misc', 'platform_url')
+
+WEBSERVER_DEBUG = config.getboolean('webserver', 'debug')
+WEBSERVER_HOST = config.get('webserver', 'host')
+WEBSERVER_PORT = config.getint('webserver', 'port')
+WEBSERVER_HTTPS = config.getboolean('webserver', 'https')

conf/conf.cfg-sample

+[misc]
+platform_url = http://0.0.0.0:5000
+[webserver]
+debug = 1
+host = 0.0.0.0
+port = 5000
+https = false

requirements.txt

+smbus-cffi
+python-ev3
+itsdangerous
+Flask
+Flask-RESTful
+Flask-Login
+Flask-Principal

runserver.py

+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+from bootstrap import conf
+from web import app as application
+
+if __name__ == "__main__":
+    application.run(host=conf.WEBSERVER_HOST,
+                    port=conf.WEBSERVER_PORT,
+                    debug=conf.WEBSERVER_DEBUG)

web/__init__.py

+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+import os
+from flask import Flask
+
+#from ev3.ev3dev import Ev3Dev
+from ev3.ev3dev import Key, Motor
+from ev3.lego import LargeMotor
+from ev3.lego import TouchSensor
+from ev3.lego import InfraredSensor
+
+import conf
+
+# Create Flask application
+app = Flask(__name__)
+app.debug = True
+
+# Create a random secrey key so we can use sessions
+app.config['SECRET_KEY'] = os.urandom(12)
+
+#Ev3Dev.__init__()
+#head = None#Motor(port=Motor.PORT.A)
+right_wheel = None#Motor(port=Motor.PORT.B)
+left_wheel  = None#Motor(port=Motor.PORT.C)
+
+button = None#TouchSensor()
+ir_sensor = None#InfraredSensor()
+
+# Views
+#from flask.ext.restful import Api
+#api = Api(app, prefix='/api/v1.0')
+
+from web import views

web/decorators.py

+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+import json
+from functools import wraps
+from threading import Thread
+from flask import Response, request, session, jsonify, current_app
+from web.lib.utils import default_handler
+
+def async(f):
+    """
+    This decorator enables to send email in a new thread.
+    This prevent the server to freeze.
+    """
+    def wrapper(*args, **kwargs):
+        thr = Thread(target = f, args = args, kwargs = kwargs)
+        thr.start()
+    return wrapper
+
+
+def to_response(func):
+    """Will cast results of func as a result, and try to extract
+    a status_code for the Response object"""
+    def wrapper(*args, **kwargs):
+        status_code = 200
+        result = func(*args, **kwargs)
+        if isinstance(result, Response):
+            return result
+        if isinstance(result, list) and len(result) == 1:
+            result = result[0]
+        elif isinstance(result, tuple):
+            result, status_code = result
+        return Response(json.dumps(result, default=default_handler),
+                        status=status_code)
+    return wrapper

web/lib/utils.py

+import types
+import logging
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+logger = logging.getLogger(__name__)
+
+
+def default_handler(obj):
+    """JSON handler for default query formatting"""
+    if hasattr(obj, 'isoformat'):
+        return obj.isoformat()
+    if hasattr(obj, 'dump'):
+        return obj.dump()
+    if isinstance(obj, (set, frozenset, types.GeneratorType)):
+        return list(obj)
+    if isinstance(obj, BaseException):
+        return str(obj)
+    raise TypeError("Object of type %s with value of %r "
+                    "is not JSON serializable" % (type(obj), obj))

web/views/__init__.py

+from .views import *

web/views/views.py

+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# ***** BEGIN LICENSE BLOCK *****
+# This file is part of EV3WebController.
+# Copyright (c) 2014 Cédric Bonhomme.
+# All rights reserved.
+#
+#
+#
+# ***** END LICENSE BLOCK *****
+
+__author__ = "Cedric Bonhomme"
+__version__ = "$Revision: 0.1 $"
+__date__ = "$Date: 2014/12/15$"
+__revision__ = "$Date: 2014/12/15 $"
+__copyright__ = "Copyright (c) 2013 Cédric BOnhomme"
+__license__ = ""
+
+
+from flask import render_template, current_app, request, flash, session, \
+    url_for, redirect, g, send_from_directory, make_response, abort, Markup
+from flask.ext.login import LoginManager, login_user, logout_user, \
+    login_required, current_user, AnonymousUserMixin
+from flask.ext.principal import Principal, Identity, AnonymousIdentity, \
+    identity_changed, identity_loaded, Permission, RoleNeed, UserNeed
+
+import conf
+from web.decorators import to_response
+from web import app
+from web import right_wheel, left_wheel, button, ir_sensor
+
+#
+# Default errors
+#
+@app.errorhandler(404)
+def page_not_found(e):
+    return render_template('errors/404.html'), 404
+
+@app.errorhandler(405)
+def method_not_allowed(e):
+    return render_template('errors/405.html'), 405
+
+@app.errorhandler(500)
+def page_not_found(e):
+    return render_template('errors/500.html'), 500
+
+
+def redirect_url(default='profile'):
+    return request.args.get('next') or \
+           request.referrer or \
+           url_for(default)
+
+#
+# Management of the permissions
+#
+principals = Principal(app)
+
+# Create a permission with an admin role's need
+admin_permission = Permission(RoleNeed('admin'))
+
+login_manager = LoginManager(app)
+login_manager.login_view = 'login'
+login_manager.login_message = 'Please log in to access this page.'
+login_manager.login_message_category = 'danger'
+
+
+@identity_loaded.connect_via(app)
+def on_identity_loaded(sender, identity):
+    # Set the identity user object
+    g.user = current_user
+    identity.user = current_user
+
+    # Add the UserNeed to the identity
+    if hasattr(current_user, 'id'):
+        identity.provides.add(UserNeed(current_user.id))
+
+    # Assuming the User model has a list of roles, update the
+    # identity with the roles that the user provides
+    if hasattr(current_user, 'roles'):
+        for role in current_user.roles:
+            identity.provides.add(RoleNeed(role.name))
+
+
+@app.errorhandler(403)
+def authentication_failed(e):
+    flash('You do not have enough rights.', 'danger')
+    return redirect(url_for('login'))
+
+
+@app.errorhandler(401)
+def authentication_required(e):
+    flash('Authenticated required.', 'info')
+    return redirect(url_for('login'))
+
+
+@login_manager.user_loader
+def load_user(id):
+    # Return an instance of the User model
+    return models.User.objects(id=id).first()
+
+
+@app.before_request
+def before_request():
+    g.user = current_user
+
+def log_user(user):
+    """
+    Effectively log the user and update the identity with Flask-Principal.
+    """
+    login_user(user)
+    g.user = user
+    session['id'] = str(user.id)
+
+    # Tell Flask-Principal the identity changed
+    identity_changed.send(current_app._get_current_object(),
+                          identity=Identity(str(user.id)))
+
+
+
+@app.route('/move/<direction>', methods=['GET'])
+@app.route('/move/<direction>/<speed>', methods=['GET'])
+@to_response
+def move(direction="forward", speed=60):
+    """
+    """
+    result = {
+                "action": "move",
+                "direction": direction,
+                "message": "OK"
+            }
+    return_code = 200
+
+    if direction == 'forward':
+        pass#left_wheel.run_forever(speed * -1, regulation_mode=False)
+        #right_wheel.run_forever(speed * -1, regulation_mode=False)
+
+    elif direction == 'backward':
+        try:
+            left_wheel.run_forever(speed, regulation_mode=False)
+            right_wheel.run_forever(speed, regulation_mode=False)
+        except Exception as e:
+            result["message"], return_code = "error", 400
+
+    elif direction == 'left':
+        left_wheel.run_forever(speed, regulation_mode=False)
+        right_wheel.run_forever(speed * -1, regulation_mode=False)
+
+    elif direction == 'right':
+        left_wheel.run_forever(speed * -1, regulation_mode=False)
+        right_wheel.run_forever(speed, regulation_mode=False)
+
+    elif direction == 'stop':
+        left_wheel.stop()
+        right_wheel.stop()
+
+    else:
+        result["message"], return_code = "Unknown direction", 400
+
+
+    return result, return_code
+
+
+@app.route('/sensor/<sensor_name>', methods=['GET'])
+def sensor(sensor_name=""):
+    """
+    """
+    if sensor_name == "ir_sensor":
+        return {"distance": ir_sensor.prox}
+    elif sensor_name == "button":
+        pass
+    else:
+        return {"message": "Unknown sensor"}, 400
+
+
+@app.route('/about', methods=['GET'])
+def about():
+    return render_template('about.html')