forked from darksidelemm/rotctld-web-gui
-
Notifications
You must be signed in to change notification settings - Fork 1
/
rotatorgui.py
270 lines (204 loc) · 7.83 KB
/
rotatorgui.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
#!/usr/bin/env python3
#
# ROTCTLD Basic Web GUI
#
# Copyright (C) 2018 Mark Jessop <vk5qi@rfhead.net>
# Released under GNU GPL v3 or later
#
import json
import flask
from flask_socketio import SocketIO
from flask import request
import time
import socket
import sys
import datetime
# Define Flask Application, and allow automatic reloading of templates for dev
app = flask.Flask(__name__)
app.config['SECRET_KEY'] = 'secret!'
app.config['TEMPLATES_AUTO_RELOAD'] = True
app.jinja_env.auto_reload = True
# SocketIO instance
socketio = SocketIO(app)
current_setpoints = {}
class ROTCTLD(object):
""" rotctld (hamlib) communication class """
# Note: This is a massive hack.
def __init__(self, hostname, port=4533, poll_rate=5, timeout=5, az_180 = False):
""" Open a connection to rotctld, and test it for validity """
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.settimeout(timeout)
self.hostname = hostname
self.port = port
def connect(self):
""" Connect to rotctld instance """
self.sock.connect((self.hostname,self.port))
model = self.get_model()
if model == None:
# Timeout!
self.close()
raise Exception("Timeout!")
else:
return model
def close(self):
self.sock.close()
def send_command(self, command):
""" Send a command to the connected rotctld instance,
and return the return value.
"""
self.sock.sendall((command+'\n').encode())
try:
recv_msg = self.sock.recv(1024).decode()
except:
recv_msg = None
return recv_msg
def get_model(self):
""" Get the rotator model from rotctld """
model = self.send_command('_')
return model
def set_azel(self,azimuth,elevation):
""" Command rotator to a particular azimuth/elevation """
# Sanity check inputs.
if elevation > 90.0:
elevation = 90.0
elif elevation < 0.0:
elevation = 0.0
if azimuth > 360.0:
azimuth = azimuth % 360.0
command = "P %3.1f %2.1f" % (azimuth,elevation)
response = self.send_command(command)
if "RPRT 0" in response:
return True
else:
return False
def get_azel(self):
""" Poll rotctld for azimuth and elevation """
# Send poll command and read in response.
response = self.send_command('p')
# Attempt to split response by \n (az and el are on separate lines)
try:
response_split = response.split('\n')
_current_azimuth = float(response_split[0])
_current_elevation = float(response_split[1])
return (_current_azimuth, _current_elevation)
except:
logging.error("Could not parse position: %s" % response)
return (None,None)
def halt(self):
""" Immediately halt rotator movement, if it support it """
self.send_command('S')
# Rotator map.
rotators = {}
# Map over rotator resolutions.
increments = {}
#
# Flask Routes
#
@app.route("/")
def flask_index():
""" Render main index page """
rotator_names = list(rotators)
return flask.render_template('index.html', chosen_rotor_name=rotator_names[0], rotor_increment=increments[rotator_names[0]], rotator_names=rotator_names)
@app.route("/<rotorname>")
def flask_show_rotor(rotorname):
rotator_names = list(rotators)
if rotorname not in rotator_names:
return flask.render_template('404.html')
rotor_increment = increments[rotorname]
return flask.render_template('index.html', chosen_rotor_name=rotorname, rotor_increment=rotor_increment, rotator_names=rotator_names)
def flask_emit_event(event_name="none", data={}, client_id=None):
""" Emit a socketio event to any clients. """
socketio.emit(event_name, data, namespace='/update_status', room=client_id)
# SocketIO Handlers
@socketio.on('client_connected', namespace='/update_status')
def client_connected(data):
#display current position
read_position(data)
@socketio.on('update_setpoint', namespace='/update_status')
def update_azimuth_setpoint(data):
rotator_key = data['rotator_key']
#current setpoints
set_azimuth = current_setpoints[rotator_key]['azimuth']
set_elevation = current_setpoints[rotator_key]['elevation']
motor = data['motor']
def update_setpoint_value(setpoint):
"""
Update setpoint: if data contains 'delta', update with increment,
otherwise update to an absolute value.
"""
is_increment_update = ('delta' in list(data))
if is_increment_update:
setpoint += data['delta']
else:
setpoint = float(data['val'])
return setpoint
#set new setpoints
if motor == 'azimuth':
set_azimuth = update_setpoint_value(set_azimuth)
elif motor == 'elevation':
set_elevation = update_setpoint_value(set_elevation)
#limit azi and ele to 0-360 and 0-90 for setpoint display purposes,
#though rotctld will take care of this automatically
set_azimuth = set_azimuth % 360
if set_elevation > 90.0:
set_elevation = 90.0
elif set_elevation < 0.0:
set_elevation = 0.0
#set rotctld to current setpoint
rotators[data['rotator_key']].set_azel(set_azimuth, set_elevation)
#update book-keeping
current_setpoints[rotator_key]['azimuth'] = set_azimuth
current_setpoints[rotator_key]['elevation'] = set_elevation
#update client display
flask_emit_event('setpoint_event', current_setpoints[rotator_key], request.sid)
@socketio.on('halt_rotator', namespace='/update_status')
def halt_rotator(data):
name = data['rotator_key']
rotators[name].halt()
#update setpoint to current position
(_az, _el) = rotators[name].get_azel()
current_setpoints[name] = {'azimuth': _az, 'elevation': _el}
flask_emit_event('setpoint_event', current_setpoints[name], request.sid)
@socketio.on('get_position', namespace='/update_status')
def read_position(data):
rotor_key = data['rotator_key']
(_az, _el) = rotators[rotor_key].get_azel()
if (_az == None):
return
else:
current_position = {}
current_position['azimuth'] = _az
current_position['elevation'] = _el
#display current position
flask_emit_event('position_event', current_position, request.sid)
#display current setpoint
flask_emit_event('setpoint_event', current_setpoints[rotor_key], request.sid)
if __name__ == "__main__":
import argparse
from configparser import ConfigParser
parser = argparse.ArgumentParser()
parser.add_argument("-l", "--listen_port",default=5001,help="Port to run Web Server on. (Default: 5001)")
parser.add_argument("--config-file", default='/usr/local/etc/rotors.conf', help="Path to config file specifying rotor ports and names.")
args = parser.parse_args()
# Parse config file.
HOSTNAME = 'localhost'
config = ConfigParser()
config.readfp(open(args.config_file, 'r'))
# Connect to rotctld instances specified in config file.
for rotor in config.sections():
port = int(config.get(rotor, 'rotctld_port'))
name = rotor
#add rotor resolution to rotor increments
DEFAULT_INCREMENT = 1
resolution = float(config.get(rotor, 'resolution', fallback=DEFAULT_INCREMENT))
increments[name] = resolution
#connect to rotctld
rotator = ROTCTLD(hostname=HOSTNAME, port=port)
rotator.connect()
rotators[name] = rotator
current_setpoints[name] = {'azimuth': 0.0, 'elevation': 0.0}
# Run the Flask app, which will block until CTRL-C'd.
socketio.run(app, host='0.0.0.0', port=args.listen_port)
# Close the rotator connection.
for rotator in rotators:
rotator.close()