main.py

print("Hi, I'm PYPER, your Python-based 3D-Printed Electric Rover!")
print("For more information about PYPER, visit https://github.com/TimHanewich/PYPER")
print("PYPER is available under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 license")
print("")

import machine
import network
import socket
import json
import time
import request_tools
import settings
import MovementCommand
import DrivingSystem
import json
import ControlCommand

# boot pattern
led = machine.Pin("LED", machine.Pin.OUT)
print("Playing LED boot pattern...")
for x in range(0, 5):
    led.toggle()
    time.sleep(0.25)
led.on()

# connect to wifi network
wifi_connection_attempt:int = 1
wlan = network.WLAN(network.STA_IF)
wlan.active(True)
while wlan.isconnected() == False:

    print("Attemt to connect to wifi network '" + settings.wifi_ssid + "' # " + str(wifi_connection_attempt) + "...")
    wifi_connection_attempt = wifi_connection_attempt + 1

    # blip light
    led.on()
    time.sleep(0.1)
    led.off()
    
    wlan.connect(settings.wifi_ssid, settings.wifi_password)
    time.sleep(3)
print("Connected to wifi!")
my_ip:str = str(wlan.ifconfig()[0])
print("My IP Address: " + my_ip)

# start up the Driving system
print("Initializing DrivingSystem...")
ds:DrivingSystem.DrivingSystem = DrivingSystem.DrivingSystem()
ds.enable_drive()
ds.enable_steer()

# Operate in intended mode
if settings.operation_mode == 0: # HTTP-server based

    print("Entering HTTP server mode!")

    # set up statistics that will be tracked
    stat_calls_received:int = 0
    stat_movement_commands_executed:int = 0

    # start listening
    addr = socket.getaddrinfo("0.0.0.0", 80)[0][-1]
    s = socket.socket()
    s.bind(addr)
    s.listen(1)
    led.on()
    while True:

        print("Awaiting connection @ " + str(time.ticks_ms()) + " ticks...")
        cl, addr = s.accept()
        print("Connection from " + addr[0] + "!")

        stat_calls_received = stat_calls_received + 1
        
        try:

            # collect bytes
            print("Collecting bytes from request...")
            data = request_tools.read_all(cl, 500)
            print(str(len(data)) + " bytes received")

            if len(data) > 0:
            
                # parse
                req = request_tools.request.parse(data.decode())

                # if it was a move command
                if req.method.lower() == "post" and req.path.lower() == "/move":
                    print("Movement command request received!")

                    # parse the movement command from the body
                    mcs:list[MovementCommand.MovementCommand] = []
                    try:
                        mcs = MovementCommand.MovementCommand.parse(req.body)
                    except Exception as e:
                        cl.send("HTTP/1.0 400 BAD REQUEST\r\n\r\nThere was an issue parsing the movement commands provided in the body! Msg: " + str(e))
                        cl.close()
                        continue
                    print(str(len(mcs)) + " movement commands received!")
                    
                    # validate each movement command
                    validations:list[str] = []
                    for mc in mcs:
                        validation:str = mc.validate()
                        if validation != None:
                            validations.append(validation)
                    if len(validations) > 0:
                        print("At least of the movement commands had validation issues!")
                        cl.send("HTTP/1.0 400 BAD REQUEST\r\n\r\nThere were validation issues with one or more of the movement commands provided: " + str(validations))
                        cl.close()
                        continue
                    print("Movement commands validated!")

                    # execute each
                    for mc in mcs:
                        if mc != mcs[len(mcs) - 1]: # if it is not the last one
                            ds.execute(mc, False) # do not stop
                        else: # if it is the last one
                            ds.execute(mc, True) # execute it, and then stop, it is the last one
                        stat_movement_commands_executed = stat_movement_commands_executed + 1
                            

                    # respond with OK
                    cl.send("HTTP/1.0 200 OK\r\n\r\n")
                    cl.close()


                elif req.method.lower() == "get" and req.path.lower() == "/status":

                    print("It is a status request!")

                    # prepare
                    ToReturn = {}
                    ToReturn["uptime"] = time.ticks_ms() / 1000
                    ToReturn["calls"] = stat_calls_received
                    ToReturn["movements"] = stat_movement_commands_executed
                    ToReturnStr = json.dumps(ToReturn)

                    # Return
                    cl.send("HTTP/1.0 200 OK\r\nContent-Type: application/json\r\n\r\n" + json.dumps(ToReturn))
                    cl.close()

                elif req.method.lower() == "get" and req.path.lower() == "/disarm":

                    # disable drive + steer
                    ds.disable_drive()
                    ds.disable_steer()

                    # respond with OK
                    cl.send("HTTP/1.0 200 OK\r\n\r\n")
                    cl.close()

                elif req.method.lower() == "get" and req.path.lower() == "/arm":

                    # enable drive + steer
                    ds.enable_drive()
                    ds.enable_steer()

                    # respond with OK
                    cl.send("HTTP/1.0 200 OK\r\n\r\n")
                    cl.close()



                else:
                    print("It was an invalid request")
                    cl.send("HTTP/1.0 404 NOT FOUND\r\n\r\n")
                    cl.close()

                

            else: # request of 0 bytes (connection?)
                print("Connection with 0 bytes was attempted! Closing...")
                cl.close()  
            
        except Exception as e:
            print("Fatal error! Msg: " + str(e))
            cl.send("HTTP/1.0 500 INTERNAL SERVER ERROR\r\n\r\n")
            cl.close()

elif settings.operation_mode == 1: # UDP-based mode

    print("Entering UDP mode!")

    # start listening
    addr = socket.getaddrinfo("0.0.0.0", 80)[0][-1]
    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    s.bind(("", 12000))
    print("Now listening for incoming UDP messagins on IP '" + my_ip + "' on port 12000")
    led.on()
    while True:

        print("Awaiting UDP message @ " + str(time.ticks_ms()) + " ticks")
        msg,addr = s.recvfrom(1024)
        print("Connection from " + str(addr) + " of length " + str(len(msg)))

        if len(msg) == len(ControlCommand.ControlCommand().encode()): # it is a control command
            print("Control command received!")

            # decode
            cc = ControlCommand.ControlCommand()
            cc.decode(msg)
            print("CC: steer[" + str(cc.steer) + "] drive[" + str(cc.drive) + "]")

            # execute
            ds.steer(cc.steer)
            ds.drive(cc.drive)

else: # the user selected a mode that doesn't exist
    print("Selected operation_mode '" + str(settings.operation_mode) + "' is invalid! Please refer to the documentation at https://github.com/TimHanewich/PYPER for the valid operation modes.")
    while True: # just play a continuous led pattern, indicating no program is running
        led.on()
        time.sleep(0.25)
        led.off()
        time.sleep(0.25)
        led.on()
        time.sleep(0.25)
        led.off()
        time.sleep(0.25)
        led.on()
        time.sleep(0.25)
        led.off()
        time.sleep(0.25)
        led.on()
        time.sleep(0.25)
        led.off()
        time.sleep(3.0)