Skip to content

Latest commit

 

History

History
22 lines (17 loc) · 1.05 KB

backend.md

File metadata and controls

22 lines (17 loc) · 1.05 KB
Raw

DriveBoardApp Backend

DriveboardApp consists of three pieces of software. The backend sits in between the firmware and the frontend. Its main purpose is to connect to the hardware over serial and provide functionality to the graphical user interface. This functionality is provided primarily by two modules: driveboard.py and web.py, also know as the low-level API and high-level API.

Threading

The backend's python code relys heavily on threading to simultaneously stream data to the hardware, fullfill web requests from the user interface and process jobs.

  • app.py runs web.start()
  • web.start() runs driveboard.connect() and S.start()
  • driveboard.connect() runs statserver.start() and SerialLoop.start()
  • statserver.start() spawns:
    • THREAD1: serverthread
    • THREAD2: messagethread
  • SerialLoop.start() spawns:
    • THREAD3: serial thread
  • S.start() spawns:
    • THREAD4: web server thread
  • main thread enters a loop listening to keyboard interrupts (Ctrl-C)