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- from wifi import Wifi
- from config import Config
- from toy import Toy
-
- max_laser_power = 0.25
-
- html = """<!DOCTYPE html>
- <html>
- <head>
- <title>Cat Toy</title>
- </head>
- <body>
- <h1>Cat Toy</h1>
- %s
- <h2>Laser Pointer</h2>
- <form action="/laser" method="get">
- Turn power:
- <input type="range" name="s" min="0" max="100" step="1" value="%d">
- <input type="submit" value="Set"><br>
- </form>
- <form action="/laser" method="get">
- Or just turn it:
- <input type="submit" name="s" value="Off">
- </form>
- <h2>Pan and Tilt Servos</h2>
- <form action="/servos" method="get">
- Pan: <input type="text" name="s1"><br>
- Tilt: <input type="text" name="s2"><br>
- <input type="submit" value="Move">
- </form>
- %s
- </body>
- </html>
- """
-
- t = Toy()
-
- def rootCallback(request):
- return html % (
- '<p>Welcome to the Cat Toy interface by <a href="https://www.xythobuz.de">xythobuz</a>.</p>',
- round(max_laser_power * 100.0),
- ''
- )
-
- def servoCallback(request):
- q = request.find("/servos?")
- p1 = request.find("s1=")
- p2 = request.find("s2=")
- if (q < 0) or (p1 < 0) or (p2 < 0):
- return html % (
- '<p>Error: no servo arguments found in URL query string.</p>',
- round(max_laser_power * 100.0),
- '<p><a href="/">Back to main page</a></p>'
- )
-
- servos = [p1, p2]
- result = []
- for p in servos:
- pe = request.find("&s", p)
- if (pe < 0) or (p + 3 >= pe) or (pe - (p + 3) > 3):
- pe = request.find(" HTTP", p)
- if (pe < 0) or (p + 3 >= pe) or (pe - (p + 3) > 3):
- return html % (
- '<p>Error parsing query string.</p>',
- round(max_laser_power * 100.0),
- '<p><a href="/">Back to main page</a></p>'
- )
- r = request[p + 3 : pe]
- s = int(r)
- result.append(s)
-
- if result[0] < t.pan_min:
- result[0] = t.pan_min
- if result[0] > t.pan_max:
- result[0] = t.pan_max
- t.angle(t.pan, result[0])
-
- if result[1] < t.tilt_min:
- result[1] = t.tilt_min
- if result[1] > t.tilt_max:
- result[1] = t.tilt_max
- t.angle(t.tilt, result[1])
-
- return html % (
- '<p>Servos move to s1=' + str(result[0]) + ' s2=' + str(result[1]) + '.</p>',
- round(max_laser_power * 100.0),
- '<p><a href="/">Back to main page</a></p>'
- )
-
- def laserCallback(request):
- value = 0.0
- text = "off"
-
- if request.find("?s=") == 10:
- pe = request.find(" HTTP", 10)
- r = request[13 : pe]
- if r != "Off":
- value = int(r)
- text = "to " + str(r) + '%'
-
- t.laser(value / 100.0)
- return html % (
- '<p>Laser turned ' + text + '!</p>',
- round(max_laser_power * 100.0),
- '<p><a href="/">Back to main page</a></p>'
- )
-
- w = Wifi(Config.ssid, Config.password)
- w.add_handler("/", rootCallback)
- w.add_handler("/servos", servoCallback)
- w.add_handler("/laser", laserCallback)
- w.listen()
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