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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)
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