1 files changed, 142 insertions, 0 deletions
diff --git a/webserver.py b/webserver.py
new file mode 100644
index 0000000..81c8475
--- /dev/null
+++ b/webserver.py
@@ -0,0 +1,142 @@
+import curses, threading, queue, time
+from microscope import microscope_fsm, microscope_init, Operation, microscope_cleanup, COMMANDS
+import http.server
+import socketserver
+import threading
+import json
+import sys
+import urllib.parse
+
+def dprint(msg):
+    print(f"[DEBUG:webserver] {msg}")
+
+class MyRequestHandler(http.server.BaseHTTPRequestHandler):
+    def do_GET(self):
+        parsed_path = urllib.parse.urlparse(self.path)
+        path = parsed_path.path
+        query_params = urllib.parse.parse_qs(parsed_path.query)
+
+        self.send_response(200)
+        self.send_header('Content-type', 'application/json')
+        self.send_header('Access-Control-Allow-Origin', '*')
+        self.send_header('Access-Control-Allow-Methods', '*')
+        self.end_headers()
+
+        response_data = {}
+        if path == '/state':
+            response_data = {
+                "operation": self.server.stage.operation.name,
+                "x": {
+                    "pos": self.server.stage.x.pos,
+                    "home": self.server.stage.x.home,
+                    "upper": self.server.stage.x.upper,
+                    "lower": self.server.stage.x.lower,
+                    "limit": self.server.stage.x.upper_limit.state(),
+                },
+                "y": {
+                    "pos": self.server.stage.y.pos,
+                    "home": self.server.stage.y.home,
+                    "upper": self.server.stage.y.upper,
+                    "lower": self.server.stage.y.lower,
+                    "limit": self.server.stage.y.upper_limit.state(),
+                },
+                "image": {
+                    "pos": self.server.stage.image.pos,
+                },
+                "time_remaining": self.server.stage.time_remaining,
+            }
+        else:
+            self.send_response(404)
+            self.end_headers()
+            self.wfile.write(json.dumps({'error': 'Not Found'}).encode())
+            return
+
+        self.wfile.write(json.dumps(response_data).encode())
+
+    def do_PUT(self):
+        parsed_path = urllib.parse.urlparse(self.path)
+        path = parsed_path.path
+        query_params = urllib.parse.parse_qs(parsed_path.query)
+        dprint(query_params)
+
+        self.send_response(200)
+        self.send_header('Content-type', 'application/json')
+        self.send_header('Access-Control-Allow-Origin', '*')
+        self.send_header('Access-Control-Allow-Methods', '*')
+        self.end_headers()
+
+        if path == '/cancel':
+            self.server.cmd_queue.put((COMMANDS["cancel"],))
+        elif path == '/home':
+            self.server.cmd_queue.put((COMMANDS["home"],))
+        elif path == '/center':
+            self.server.cmd_queue.put((COMMANDS["center"],))
+        elif path == '/toggle_halfstep':
+            self.server.cmd_queue.put((COMMANDS["toggle_halfstep"],))
+        elif path == '/toggle_debugtiming':
+            self.server.cmd_queue.put((COMMANDS["toggle_debugtiming"],))
+        elif path == '/target':
+            self.server.cmd_queue.put((
+                COMMANDS["target"], 
+                int(query_params["x"][0]),
+                int(query_params["y"][0])
+            ))
+        elif path == '/set_signal':
+            signal = query_params.get('signal', [''])[0]
+            signal_value = query_params.get('value', [''])[0]
+            dprint(f"set_signal {signal} {bool(int(signal_value))}")
+            if signal == "xInc": self.server.stage.signal_x_inc._state = bool(int(signal_value))
+            if signal == "xDec": self.server.stage.signal_x_dec._state = bool(int(signal_value))
+            if signal == "yInc": self.server.stage.signal_y_inc._state = bool(int(signal_value))
+            if signal == "yDec": self.server.stage.signal_y_dec._state = bool(int(signal_value))
+        else:
+            self.send_response(404)
+            self.end_headers()
+            self.wfile.write(json.dumps({'error': 'Not Found'}).encode())
+            return
+
+    def do_OPTIONS(self):
+        parsed_path = urllib.parse.urlparse(self.path)
+        path = parsed_path.path
+        query_params = urllib.parse.parse_qs(parsed_path.query)
+
+        self.send_response(200)
+        self.send_header('Access-Control-Allow-Origin', '*')
+        self.send_header('Access-Control-Allow-Methods', '*')
+        self.end_headers()
+
+def run_server(stage, cmd_queue):
+    PORT = 8000
+    httpd = socketserver.TCPServer(("", PORT), MyRequestHandler)
+    dprint(f"Serving at port {PORT}")
+    httpd.daemon_threads = True
+    httpd.stage = stage
+    httpd.cmd_queue = cmd_queue
+    return httpd
+
+if __name__ == "__main__":
+    stage = microscope_init()
+    cmd_queue = queue.Queue()
+
+    fsm = threading.Thread(target=microscope_fsm, args=(cmd_queue, stage))
+    fsm.daemon = True
+    fsm.start()
+
+    web_server = run_server(stage, cmd_queue)
+    try:
+        web_server.serve_forever()
+    except KeyboardInterrupt:
+        dprint("Keyboard Interrupt received, shutting down server gracefully...")
+    finally:
+        dprint("Shutting down webserver")
+        web_server.shutdown()
+        dprint("Closing webserver")
+        web_server.server_close()
+        dprint("Closing FSM")
+        cmd_queue.put((COMMANDS['quit'],))
+        dprint("Wait for FSM to exit")
+        fsm.join()
+        dprint("Cleanup GPIO")
+        microscope_cleanup(stage)
+        dprint("Exit")
+        sys.exit(0)