diff --git a/coderbot/api.py b/coderbot/api.py
index 88052aff..be2e9c78 100644
--- a/coderbot/api.py
+++ b/coderbot/api.py
@@ -27,16 +27,7 @@
BUTTON_PIN = 16
-config = Config.read()
-bot = CoderBot.get_instance(motor_trim_factor=float(config.get('move_motor_trim', 1.0)),
- motor_max_power=int(config.get('motor_max_power', 100)),
- motor_min_power=int(config.get('motor_min_power', 0)),
- hw_version=config.get('hardware_version'),
- pid_params=(float(config.get('pid_kp', 1.0)),
- float(config.get('pid_kd', 0.1)),
- float(config.get('pid_ki', 0.01)),
- float(config.get('pid_max_speed', 200)),
- float(config.get('pid_sample_time', 0.01))))
+bot = CoderBot.get_instance()
audio_device = Audio.get_instance()
cam = Camera.get_instance()
diff --git a/coderbot/audio.py b/coderbot/audio.py
index ed1a469e..42a4eeca 100644
--- a/coderbot/audio.py
+++ b/coderbot/audio.py
@@ -26,7 +26,7 @@
import pyaudio
import alsaaudio
-from six.moves import queue
+import queue
# [END import_libraries]
# Audio recording parameters
diff --git a/coderbot/coderbot.py b/coderbot/coderbot.py
index 37877506..89c0de1c 100644
--- a/coderbot/coderbot.py
+++ b/coderbot/coderbot.py
@@ -157,8 +157,10 @@ def exit(self):
s.cancel()
@classmethod
- def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
+ def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01), from_defaults=True):
if not cls.the_bot:
+ if from_defaults:
+ raise ValueError("incorrect CoderBot initialisation")
cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, motor_max_power= motor_max_power, motor_min_power=motor_min_power, hw_version=hw_version, pid_params=pid_params)
return cls.the_bot
@@ -272,5 +274,4 @@ def _cb_button(self, gpio, level, tick):
elif tick - self._cb_last_tick[gpio] > elapse:
self._cb_last_tick[gpio] = tick
logging.info("pushed: %d, %d", level, tick)
- cb()
-
+ cb()
\ No newline at end of file
diff --git a/coderbot/main.py b/coderbot/main.py
index edcb53d6..36383240 100644
--- a/coderbot/main.py
+++ b/coderbot/main.py
@@ -8,7 +8,9 @@
import picamera
import connexion
-from flask_cors import CORS
+from connexion.options import SwaggerUIOptions
+from connexion.middleware import MiddlewarePosition
+from starlette.middleware.cors import CORSMiddleware
from camera import Camera
from motion import Motion
@@ -22,29 +24,27 @@
# Logging configuration
logger = logging.getLogger()
logger.setLevel(os.environ.get("LOGLEVEL", "INFO"))
-# sh = logging.StreamHandler()
-# formatter = logging.Formatter('%(message)s')
-# sh.setFormatter(formatter)
-# logger.addHandler(sh)
## (Connexion) Flask app configuration
# Serve a custom version of the swagger ui (Jinja2 templates) based on the default one
# from the folder 'swagger-ui'. Clone the 'swagger-ui' repository inside the backend folder
-options = {"swagger_ui": False}
-connexionApp = connexion.App(__name__, options=options)
-
-# Connexion wraps FlaskApp, so app becomes connexionApp.app
-app = connexionApp.app
-# Access-Control-Allow-Origin
-CORS(app)
-app.debug = False
+swagger_ui_options = SwaggerUIOptions(swagger_ui=True)
+app = connexion.App(__name__, swagger_ui_options=swagger_ui_options)
+app.add_middleware(
+ CORSMiddleware,
+ position=MiddlewarePosition.BEFORE_EXCEPTION,
+ allow_origins=["*"],
+ allow_credentials=True,
+ allow_methods=["*"],
+ allow_headers=["*"],
+)
app.prog_engine = ProgramEngine.get_instance()
## New API and web application
# API v1 is defined in v1.yml and its methods are in api.py
-connexionApp.add_api('v1.yml')
+app.add_api('v1.yml')
def button_pushed():
if app.bot_config.get('button_func') == "startstop":
@@ -67,8 +67,16 @@ def run_server():
try:
try:
app.bot_config = Config.read()
-
- bot = CoderBot.get_instance()
+ bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
+ motor_max_power=int(app.bot_config.get('motor_max_power', 100)),
+ motor_min_power=int(app.bot_config.get('motor_min_power', 0)),
+ hw_version=app.bot_config.get('hardware_version'),
+ pid_params=(float(app.bot_config.get('pid_kp', 1.0)),
+ float(app.bot_config.get('pid_kd', 0.1)),
+ float(app.bot_config.get('pid_ki', 0.01)),
+ float(app.bot_config.get('pid_max_speed', 200)),
+ float(app.bot_config.get('pid_sample_time', 0.01))),
+ from_defaults=False)
try:
audio_device = Audio.get_instance()
@@ -78,6 +86,7 @@ def run_server():
logging.warning("Audio not present")
try:
+ logging.info("starting camera")
cam = Camera.get_instance()
Motion.get_instance()
except picamera.exc.PiCameraError:
@@ -97,7 +106,7 @@ def run_server():
remove_doreset_file()
- app.run(host="0.0.0.0", port=5000, debug=False, use_reloader=False, threaded=True)
+ app.run(host="0.0.0.0", port=5000)
finally:
if cam:
cam.exit()
@@ -105,4 +114,4 @@ def run_server():
bot.exit()
if __name__ == "__main__":
- run_server()
+ run_server()
\ No newline at end of file
diff --git a/coderbot/program.py b/coderbot/program.py
index d76395fd..bc66fc3e 100644
--- a/coderbot/program.py
+++ b/coderbot/program.py
@@ -87,12 +87,13 @@ def __init__(self):
for filename in filenames:
if PROGRAM_PREFIX in filename:
program_name = filename[len(PROGRAM_PREFIX):-len(PROGRAM_SUFFIX)]
- logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
- with open(os.path.join(dirname, filename), "r") as f:
- program_dict = json.load(f)
- program_dict["default"] = "default" in dirname
- program = Program.from_dict(program_dict)
- self.save(program)
+ if self._programs.search(query.name == program_name) == []:
+ logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
+ with open(os.path.join(dirname, filename), "r") as f:
+ program_dict = json.load(f)
+ program_dict["default"] = "default" in dirname
+ program = Program.from_dict(program_dict)
+ self.save(program)
@classmethod
def get_instance(cls):
diff --git a/coderbot/v1.yml b/coderbot/v1.yml
index a3c8872f..37142724 100644
--- a/coderbot/v1.yml
+++ b/coderbot/v1.yml
@@ -170,6 +170,10 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
+
tags:
- Program management
responses:
@@ -184,6 +188,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
responses:
200:
description: "ok"
@@ -200,6 +207,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
requestBody:
description: Program object
required: true
@@ -225,6 +235,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
requestBody:
description: Program object
required: true
@@ -248,6 +261,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
responses:
200:
description: "ok"
@@ -264,6 +280,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
responses:
200:
description: "ok"
@@ -304,6 +323,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
- name: default
in: query
schema:
@@ -323,6 +345,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
requestBody:
description: Update Activity
required: true
@@ -346,6 +371,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
responses:
200:
description: "ok"
@@ -386,6 +414,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
tags:
- Music extensions
responses:
@@ -502,12 +533,13 @@ paths:
type: string
minLength: 1
maxLength: 256
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
description: text to be "spoken"
locale:
type: string
minLength: 1
maxLength: 2
- pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
+ pattern: '^[a-zA-Z]+$'
description: locale of text to be "spoken"
required:
- text
@@ -586,6 +618,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
tags:
- CNN Models
responses:
@@ -600,6 +635,9 @@ paths:
required: true
schema:
type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
tags:
- CNN Models
responses:
@@ -679,6 +717,7 @@ components:
properties:
name:
type: string
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
tag:
type: string
Program:
@@ -686,9 +725,9 @@ components:
properties:
name:
type: string
- pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
minLength: 1
maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
code:
type: string
minLength: 1
@@ -709,6 +748,7 @@ components:
type: string
minLength: 1
maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
description:
type: string
minLength: 0
@@ -722,4 +762,4 @@ components:
- description
- default
- stock
-
+
\ No newline at end of file
diff --git a/docker/stub/requirements.txt b/docker/stub/requirements.txt
index 70ff5c16..d937b268 100644
--- a/docker/stub/requirements.txt
+++ b/docker/stub/requirements.txt
@@ -1,9 +1,6 @@
# API framework
-connexion==2.14.2
-Flask==2.2.5
-Flask-Cors==3.0.10
+connexion[uvicorn,flask,swagger-ui]==3.0.5
tinydb==4.8.0
-Werkzeug==2.2.3
# Misc utils
setuptools==69.2.0
diff --git a/docker/stub/start.sh b/docker/stub/start.sh
index ff2ed337..f28cc766 100755
--- a/docker/stub/start.sh
+++ b/docker/stub/start.sh
@@ -2,4 +2,4 @@
export PYTHONPATH=./stub:./test:./coderbot
cd /coderbot
-python3 coderbot/main.py
\ No newline at end of file
+python3 coderbot/main.py & python3 stub/wifi/main.py
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index 139d980c..d2085ec9 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,9 +1,6 @@
# API framework
-connexion==2.14.2
-Flask==2.2.5
-Flask-Cors==3.0.10
+connexion[uvicorn,flask,swagger-ui]==3.0.5
tinydb==4.8.0
-Werkzeug==2.2.3
# Misc utils
setuptools==69.2.0
diff --git a/stub/wifi/api.py b/stub/wifi/api.py
new file mode 100644
index 00000000..a6a86e9b
--- /dev/null
+++ b/stub/wifi/api.py
@@ -0,0 +1,19 @@
+import logging
+
+def list_access_points():
+ return {"ssids": [{"ssid": "my_wifi"}]}
+
+def connection_status():
+ return {"wifi": "true", "internet": "true"}
+
+def connect():
+ return "ok"
+
+def forget():
+ return "ok"
+
+def sset_hotspot_ssid():
+ return "ok"
+
+def set_hotspot_password():
+ return "ok"
\ No newline at end of file
diff --git a/stub/wifi/main.py b/stub/wifi/main.py
new file mode 100644
index 00000000..d341cb8f
--- /dev/null
+++ b/stub/wifi/main.py
@@ -0,0 +1,35 @@
+#!/usr/bin/python
+
+import os
+import logging
+import logging.handlers
+import connexion
+from connexion.middleware import MiddlewarePosition
+from starlette.middleware.cors import CORSMiddleware
+
+# Logging configuration
+logger = logging.getLogger()
+logger.setLevel(os.environ.get("LOGLEVEL", "INFO"))
+
+## (Connexion) Flask app configuration
+
+# Serve a custom version of the swagger ui (Jinja2 templates) based on the default one
+# from the folder 'swagger-ui'. Clone the 'swagger-ui' repository inside the backend folder
+
+app = connexion.App(__name__)
+app.add_middleware(
+ CORSMiddleware,
+ position=MiddlewarePosition.BEFORE_EXCEPTION,
+ allow_origins=["*"],
+ allow_credentials=True,
+ allow_methods=["*"],
+ allow_headers=["*"],
+)
+
+## New API and web application
+
+# API v1 is defined in v1.yml and its methods are in api.py
+app.add_api('v1.yml')
+
+if __name__ == "__main__":
+ app.run(host="0.0.0.0", port=9090)
\ No newline at end of file
diff --git a/stub/wifi/v1.yml b/stub/wifi/v1.yml
new file mode 100644
index 00000000..352871d9
--- /dev/null
+++ b/stub/wifi/v1.yml
@@ -0,0 +1,64 @@
+openapi: "3.0.0"
+info:
+ version: "1.0"
+ title: OpenAPI 3.0 definition of WiFi API
+
+servers:
+ - url: http://coderbot.local/v1
+
+# Paths supported by the server application
+paths:
+ /list_access_points:
+ get:
+ operationId: "api.list_access_points"
+ summary: "list Access Points"
+ responses:
+ 200:
+ description: "ok"
+ tags:
+ - Wifi
+ /connection_status:
+ get:
+ operationId: "api.connection_status"
+ summary: "connection Status"
+ responses:
+ 200:
+ description: "ok"
+ tags:
+ - Wifi
+ /connect:
+ post:
+ operationId: "api.connect"
+ summary: "connect"
+ responses:
+ 200:
+ description: "ok"
+ tags:
+ - Wifi
+ /forget:
+ post:
+ operationId: "api.forget"
+ summary: "forget"
+ responses:
+ 200:
+ description: "ok"
+ tags:
+ - Wifi
+ /sset_hotspot_ssid:
+ post:
+ operationId: "api.sset_hotspot_ssid"
+ summary: "sset_hotspot_ssid"
+ responses:
+ 200:
+ description: "ok"
+ tags:
+ - Wifi
+ /set_hotspot_password:
+ post:
+ operationId: "api.set_hotspot_password"
+ summary: "set_hotspot_password"
+ responses:
+ 200:
+ description: "ok"
+ tags:
+ - Wifi
\ No newline at end of file
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