diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
index 5f458638..0feb5584 100644
--- a/.github/workflows/build_backend.yml
+++ b/.github/workflows/build_backend.yml
@@ -20,7 +20,7 @@ jobs:
#python3 -m unittest test/cnn_test.py 2>&1 | tee test-reports/test_report.txt
echo "test complete"
- run: |
- export PYTHONPATH=./coderbot:./stub:./test
+ export PYTHONPATH=./stub:./coderbot:./test
python3 coderbot/main.py > coderbot.log &
sleep 30
apt-get install -y python3-venv
@@ -28,11 +28,16 @@ jobs:
python3 -m venv schemathesis
. schemathesis/bin/activate
pip install schemathesis
- 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
+ st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+ st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
echo "openapi test complete"
release-backend:
- #needs: [test]
+ needs: [test]
runs-on: ubuntu-latest
steps:
- name: Docker meta
diff --git a/coderbot/activity.py b/coderbot/activity.py
index 71f71a71..f2864c07 100644
--- a/coderbot/activity.py
+++ b/coderbot/activity.py
@@ -1,14 +1,12 @@
from tinydb import TinyDB, Query
-from tinydb.operations import delete
-import json
# Programs and Activities databases
class Activities():
_instance = None
-
+
@classmethod
def get_instance(cls):
- if cls._instance == None:
+ if cls._instance is None:
cls._instance = Activities()
return cls._instance
@@ -22,15 +20,14 @@ def load(self, name, default):
if len(activities) > 0:
return activities[0]
elif default is not None:
- default_Activities = self.activities.search(self.query.default == True)
if len(self.activities.search(self.query.default == True)) > 0:
return self.activities.search(self.query.default == True)[0]
- else:
- return None
+ return None
+ return None
def save(self, name, activity):
# if saved activity is "default", reset existing default activity to "non-default"
- if activity.get("default", False) == True:
+ if activity.get("default", False) is True:
self.activities.update({'default': False})
if self.activities.search(self.query.name == name) == []:
self.activities.insert(activity)
@@ -41,10 +38,9 @@ def delete(self, name):
activities = self.activities.search(self.query.name == name)
if len(activities) > 0:
activity = activities[0]
- if activity.get("default", False) == True:
+ if activity.get("default", False) is True:
self.activities.update({'default': True}, self.query.stock == True)
self.activities.remove(self.query.name == activity["name"])
def list(self):
return self.activities.all()
-
diff --git a/coderbot/api.py b/coderbot/api.py
index 35c3827b..114fdaff 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -28,6 +28,7 @@
from audio import Audio
from event import EventManager
from coderbotTestUnit import run_test as runCoderbotTestUnit
+from balena import Balena
BUTTON_PIN = 16
@@ -95,7 +96,7 @@ def get_info():
backend_commit = "undefined"
coderbot_version = "undefined"
update_status = "ok"
- kernel = 'undefined'
+ device = {}
motors = 'undefined'
try:
@@ -107,11 +108,6 @@ def get_info():
except Exception:
pass
- try:
- kernel = subprocess.check_output(["uname", "-r"]).decode('utf-8').replace('\n', '')
- except Exception:
- pass
-
try:
encoder = bool(Config.read().get('encoder'))
if(encoder):
@@ -123,12 +119,16 @@ def get_info():
serial = get_serial()
- return {'backend_commit': backend_commit,
- 'coderbot_version': coderbot_version,
- 'update_status': update_status,
- 'kernel': kernel,
- 'serial': serial,
- 'motors': motors}
+ try:
+ device = Baleba.get_instance().device()
+ except Exception:
+ pass
+ return { 'backend_commit': device.get("commit"),
+ 'coderbot_version': coderbot_version,
+ 'update_status': device.get("status"),
+ 'kernel': device.get("os_version"),
+ 'serial': serial,
+ 'motors': motors }
prog = None
prog_engine = ProgramEngine.get_instance()
@@ -161,7 +161,8 @@ def turn(body):
def takePhoto():
try:
cam.photo_take()
- Audio.say(config.get("sound_shutter"))
+ audio_device.say(config.get("sound_shutter"))
+ return 200
except Exception as e:
logging.warning("Error: %s", e)
@@ -169,6 +170,7 @@ def recVideo():
try:
cam.video_rec()
audio_device.say(config.get("sound_shutter"))
+ return 200
except Exception as e:
logging.warning("Error: %s", e)
@@ -176,6 +178,7 @@ def stopVideo():
try:
cam.video_stop()
audio_device.say(config.get("sound_shutter"))
+ return 200
except Exception as e:
logging.warning("Error: %s", e)
@@ -184,24 +187,24 @@ def speak(body):
locale = body.get("locale", "")
logging.debug("say: " + text + " in: " + locale)
audio_device.say(text, locale)
+ return 200
def reset():
- logging.debug("reset bot")
- shutil.rmtree("data/*")
- bot.restart()
+ Balena.get_instance().purge()
+ return 200
def halt():
- logging.debug("shutting down")
audio_device.say(what=config.get("sound_stop"))
- bot.halt()
+ Balena.get_instance().shutdown()
+ return 200
def restart():
- logging.debug("restarting bot")
- bot.restart()
+ Balena.get_instance().restart()
def reboot():
- logging.debug("rebooting")
- bot.reboot()
+ audio_device.say(what=config.get("sound_stop"))
+ Balena.get_instance().reboot()
+ return 200
def video_stream(a_cam):
while True:
@@ -287,13 +290,14 @@ def info():
def restoreSettings():
Config.restore()
- restart()
+ return restart()
def loadSettings():
return Config.get()
def saveSettings(body):
Config.write(body)
+ return 200
def updateFromPackage():
os.system('sudo bash /home/pi/clean-update.sh')
diff --git a/coderbot/balena/__init__.py b/coderbot/balena/__init__.py
new file mode 100644
index 00000000..5b5c9f9f
--- /dev/null
+++ b/coderbot/balena/__init__.py
@@ -0,0 +1,44 @@
+import os
+from urllib.request import urlopen, Request
+import json
+import logging
+
+class Balena():
+ _instance = None
+
+ @classmethod
+ def get_instance(cls):
+ if cls._instance is None:
+ cls._instance = Balena()
+ return cls._instance
+
+ def __init__(self):
+ self.supervisor_address = os.environ["BALENA_SUPERVISOR_ADDRESS"]
+ self.supervisor_key = os.environ["BALENA_SUPERVISOR_API_KEY"]
+ self.app_id_data = json.dumps({ "appId": os.environ["BALENA_APP_ID"] }).encode("utf-8")
+ self.headers = { 'Content-Type': 'application/json' }
+
+ def purge(self):
+ logging.debug("reset bot")
+ req = Request(f'{self.supervisor_address}/v1/purge?apikey={self.supervisor_key}', data=self.app_id_data, headers=self.headers, method='POST')
+ return urlopen(req).read()
+
+ def shutdown(self):
+ logging.debug("shutdown bot")
+ req = Request(f'{self.supervisor_address}/v1/shutdown?apikey={self.supervisor_key}', headers=self.headers, method='POST')
+ return urlopen(req).read()
+
+ def restart(self):
+ logging.debug("restarting bot")
+ req = Request(f'{self.supervisor_address}/v1/restart?apikey={self.supervisor_key}', data=self.app_id_data, headers=self.headers, method='POST')
+ return urlopen(req).read()
+
+ def reboot(self):
+ logging.debug("reboot bot")
+ req = Request(f'{self.supervisor_address}/v1/reboot?apikey={self.supervisor_key}', headers=self.headers, method='POST')
+ return urlopen(req).read()
+
+ def device(self):
+ logging.debug("reboot bot", f'{self.supervisor_address}get?apikey={self.supervisor_key}')
+ req = Request(f'{self.supervisor_address}/device?apikey={self.supervisor_key}', headers=self.headers, method='GET')
+ return json.load(urlopen(req))
diff --git a/coderbot/coderbot.py b/coderbot/coderbot.py
index b28a1894..79547704 100644
--- a/coderbot/coderbot.py
+++ b/coderbot/coderbot.py
@@ -23,7 +23,7 @@
import logging
import pigpio
import sonar
-import hw.mpu
+from hw import mpu
from rotary_encoder.wheelsaxel import WheelsAxel
# GPIO
@@ -268,13 +268,3 @@ def _cb_button(self, gpio, level, tick):
logging.info("pushed: %d, %d", level, tick)
cb()
- def halt(self):
- logging.info("halt requested")
- pass
-
- def restart(self):
- sys.exit()
-
- def reboot(self):
- logging.info("reboot requested")
-
diff --git a/coderbot/hw/__init__.py b/coderbot/hw/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/coderbot/hw/mpu.py b/coderbot/hw/mpu.py
index 5f266102..702dab45 100644
--- a/coderbot/hw/mpu.py
+++ b/coderbot/hw/mpu.py
@@ -1,4 +1,4 @@
-from hw import lsm9ds1
+from . import lsm9ds1
import time
class AccelGyroMag:
diff --git a/coderbot/main.py b/coderbot/main.py
index 2071940e..45161004 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -5,22 +5,19 @@
import os
import logging
import logging.handlers
-import subprocess
import picamera
import connexion
-from flask import (send_from_directory, redirect)
-
from flask_cors import CORS
-from coderbot import CoderBot
from camera import Camera
from motion import Motion
from audio import Audio
-from program import ProgramEngine, Program
+from program import ProgramEngine
from config import Config
from cnn.cnn_manager import CNNManager
from event import EventManager
+from coderbot import CoderBot
# Logging configuration
logger = logging.getLogger()
diff --git a/coderbot/program.py b/coderbot/program.py
index 81581c4b..19e5c145 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -34,7 +34,7 @@
import event
import music
import musicPackages
-import hw.atmega328p
+from hw.atmega328p import ATMega328
PROGRAM_PATH = "./data/"
PROGRAM_PREFIX = "program_"
@@ -66,7 +66,7 @@ def get_music():
return music.Music.get_instance(musicPackageManager)
def get_atmega():
- return atmega328p.ATMega328.get_instance()
+ return ATMega328.get_instance()
class ProgramEngine:
diff --git a/defaults/config.json b/defaults/config.json
index 92aa1bdc..a93f77f4 100644
--- a/defaults/config.json
+++ b/defaults/config.json
@@ -38,7 +38,7 @@
"hw_version":"5",
"audio_volume_level":"100",
"wifi_mode":"ap",
- "wifi_ssid":"coderbot_CHANGEMEATFIRSTRUN",
+ "wifi_ssid":"coderbot",
"wifi_psk":"coderbot",
"packages_installed":"",
"admin_password":"",
diff --git a/docker/Dockerfile b/docker/Dockerfile
index d2057c54..f2ee6362 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -64,4 +64,4 @@ ADD docker/scripts/*.sh /tmp/.
RUN /tmp/install_generic_cnn_models.sh
RUN /tmp/install_lib_firmware.sh
-ENTRYPOINT cd /coderbot && python3 coderbot/main.py
\ No newline at end of file
+ENTRYPOINT cd /coderbot && modprobe i2c-dev && python3 coderbot/main.py
diff --git a/stub/balena/__init__.py b/stub/balena/__init__.py
new file mode 100644
index 00000000..fe88a02b
--- /dev/null
+++ b/stub/balena/__init__.py
@@ -0,0 +1,26 @@
+class Balena():
+ _instance = None
+
+ @classmethod
+ def get_instance(cls):
+ if cls._instance is None:
+ cls._instance = Balena()
+ return cls._instance
+
+ def __init__(self):
+ pass
+
+ def purge(self):
+ return ""
+
+ def shutdown(self):
+ return ""
+
+ def restart(self):
+ return ""
+
+ def reboot(self):
+ return ""
+
+ def device(self):
+ return {}
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