cherry pick: fix coderbot init, program load (#203)

* fix init coderbot
* fix program load
* bump connexion to 3.0.x
* add wifi stub

coderbot/api.py

@@ -27,16 +27,7 @@
 
 BUTTON_PIN = 16
 
-config = Config.read()
-bot = CoderBot.get_instance(motor_trim_factor=float(config.get('move_motor_trim', 1.0)),
- motor_max_power=int(config.get('motor_max_power', 100)),
- motor_min_power=int(config.get('motor_min_power', 0)),
- hw_version=config.get('hardware_version'),
- pid_params=(float(config.get('pid_kp', 1.0)),
- float(config.get('pid_kd', 0.1)),
- float(config.get('pid_ki', 0.01)),
- float(config.get('pid_max_speed', 200)),
- float(config.get('pid_sample_time', 0.01))))
+bot = CoderBot.get_instance()
 audio_device = Audio.get_instance()
 cam = Camera.get_instance()
 

coderbot/audio.py

@@ -26,7 +26,7 @@
 import pyaudio
 import alsaaudio
 
-from six.moves import queue
+import queue
 # [END import_libraries]
 
 # Audio recording parameters

coderbot/coderbot.py

@@ -157,8 +157,10 @@ def exit(self):
  s.cancel()
 
  @classmethod
- def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01)):
+ def get_instance(cls, motor_trim_factor=1.0, motor_max_power=100, motor_min_power=0, hw_version="5", pid_params=(0.8, 0.1, 0.01, 200, 0.01), from_defaults=True):
  if not cls.the_bot:
+ if from_defaults:
+ raise ValueError("incorrect CoderBot initialisation")
  cls.the_bot = CoderBot(motor_trim_factor=motor_trim_factor, motor_max_power= motor_max_power, motor_min_power=motor_min_power, hw_version=hw_version, pid_params=pid_params)
  return cls.the_bot
 
@@ -272,5 +274,4 @@ def _cb_button(self, gpio, level, tick):
  elif tick - self._cb_last_tick[gpio] > elapse:
  self._cb_last_tick[gpio] = tick
  logging.info("pushed: %d, %d", level, tick)
- cb()
-
+ cb()

coderbot/main.py

@@ -8,7 +8,9 @@
 import picamera
 import connexion
 
-from flask_cors import CORS
+from connexion.options import SwaggerUIOptions
+from connexion.middleware import MiddlewarePosition
+from starlette.middleware.cors import CORSMiddleware
 
 from camera import Camera
 from motion import Motion
@@ -22,29 +24,27 @@
 # Logging configuration
 logger = logging.getLogger()
 logger.setLevel(os.environ.get("LOGLEVEL", "INFO"))
-# sh = logging.StreamHandler()
-# formatter = logging.Formatter('%(message)s')
-# sh.setFormatter(formatter)
-# logger.addHandler(sh)
 
 ## (Connexion) Flask app configuration
 
 # Serve a custom version of the swagger ui (Jinja2 templates) based on the default one
 # from the folder 'swagger-ui'. Clone the 'swagger-ui' repository inside the backend folder
-options = {"swagger_ui": False}
-connexionApp = connexion.App(__name__, options=options)
-
-# Connexion wraps FlaskApp, so app becomes connexionApp.app
-app = connexionApp.app
-# Access-Control-Allow-Origin
-CORS(app)
-app.debug = False
+swagger_ui_options = SwaggerUIOptions(swagger_ui=True)
+app = connexion.App(__name__, swagger_ui_options=swagger_ui_options)
+app.add_middleware(
+ CORSMiddleware,
+ position=MiddlewarePosition.BEFORE_EXCEPTION,
+ allow_origins=["*"],
+ allow_credentials=True,
+ allow_methods=["*"],
+ allow_headers=["*"],
+)
 app.prog_engine = ProgramEngine.get_instance()
 
 ## New API and web application
 
 # API v1 is defined in v1.yml and its methods are in api.py
-connexionApp.add_api('v1.yml')
+app.add_api('v1.yml')
 
 def button_pushed():
  if app.bot_config.get('button_func') == "startstop":
@@ -67,8 +67,16 @@ def run_server():
  try:
  try:
  app.bot_config = Config.read()
-
- bot = CoderBot.get_instance()
+ bot = CoderBot.get_instance(motor_trim_factor=float(app.bot_config.get('move_motor_trim', 1.0)),
+ motor_max_power=int(app.bot_config.get('motor_max_power', 100)),
+ motor_min_power=int(app.bot_config.get('motor_min_power', 0)),
+ hw_version=app.bot_config.get('hardware_version'),
+ pid_params=(float(app.bot_config.get('pid_kp', 1.0)),
+ float(app.bot_config.get('pid_kd', 0.1)),
+ float(app.bot_config.get('pid_ki', 0.01)),
+ float(app.bot_config.get('pid_max_speed', 200)),
+ float(app.bot_config.get('pid_sample_time', 0.01))),
+ from_defaults=False)
 
  try:
  audio_device = Audio.get_instance()
@@ -78,6 +86,7 @@ def run_server():
  logging.warning("Audio not present")
 
  try:
+ logging.info("starting camera")
  cam = Camera.get_instance()
  Motion.get_instance()
  except picamera.exc.PiCameraError:
@@ -97,12 +106,12 @@ def run_server():
 
  remove_doreset_file()
 
- app.run(host="0.0.0.0", port=5000, debug=False, use_reloader=False, threaded=True)
+ app.run(host="0.0.0.0", port=5000)
  finally:
  if cam:
  cam.exit()
  if bot:
  bot.exit()
 
 if __name__ == "__main__":
- run_server()
+ run_server()

coderbot/program.py

@@ -87,12 +87,13 @@ def __init__(self):
  for filename in filenames:
  if PROGRAM_PREFIX in filename:
  program_name = filename[len(PROGRAM_PREFIX):-len(PROGRAM_SUFFIX)]
- logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
- with open(os.path.join(dirname, filename), "r") as f:
- program_dict = json.load(f)
- program_dict["default"] = "default" in dirname
- program = Program.from_dict(program_dict)
- self.save(program)
+ if self._programs.search(query.name == program_name) == []:
+ logging.info("adding program %s in path %s as default %r", program_name, dirname, ("default" in dirname))
+ with open(os.path.join(dirname, filename), "r") as f:
+ program_dict = json.load(f)
+ program_dict["default"] = "default" in dirname
+ program = Program.from_dict(program_dict)
+ self.save(program)
 
  @classmethod
  def get_instance(cls):

coderbot/v1.yml

@@ -170,6 +170,10 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
+
  tags:
  - Program management
  responses:
@@ -184,6 +188,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  responses:
  200:
  description: "ok"
@@ -200,6 +207,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  requestBody:
  description: Program object
  required: true
@@ -225,6 +235,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  requestBody:
  description: Program object
  required: true
@@ -248,6 +261,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  responses:
  200:
  description: "ok"
@@ -264,6 +280,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  responses:
  200:
  description: "ok"
@@ -304,6 +323,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  - name: default
  in: query
  schema:
@@ -323,6 +345,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  requestBody:
  description: Update Activity
  required: true
@@ -346,6 +371,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  responses:
  200:
  description: "ok"
@@ -386,6 +414,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  tags:
  - Music extensions
  responses:
@@ -502,12 +533,13 @@ paths:
  type: string
  minLength: 1
  maxLength: 256
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  description: text to be "spoken"
  locale:
  type: string
  minLength: 1
  maxLength: 2
- pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
+ pattern: '^[a-zA-Z]+$'
  description: locale of text to be "spoken"
  required:
  - text
@@ -586,6 +618,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  tags:
  - CNN Models
  responses:
@@ -600,6 +635,9 @@ paths:
  required: true
  schema:
  type: string
+ minLength: 1
+ maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  tags:
  - CNN Models
  responses:
@@ -679,16 +717,17 @@ components:
  properties:
  name:
  type: string
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  tag:
  type: string
  Program:
  type: object
  properties:
  name:
  type: string
- pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  minLength: 1
  maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  code:
  type: string
  minLength: 1
@@ -709,6 +748,7 @@ components:
  type: string
  minLength: 1
  maxLength: 128
+ pattern: '^[a-zA-ZA-zÀ-ú0-9-_ ]+$'
  description:
  type: string
  minLength: 0
@@ -722,4 +762,4 @@ components:
  - description
  - default
  - stock
-
+

docker/stub/requirements.txt

@@ -1,9 +1,6 @@
 # API framework
-connexion==2.14.2
-Flask==2.2.5
-Flask-Cors==3.0.10
+connexion[uvicorn,flask,swagger-ui]==3.0.5
 tinydb==4.8.0
-Werkzeug==2.2.3
 
 # Misc utils
 setuptools==69.2.0

docker/stub/start.sh

@@ -2,4 +2,4 @@
 
 export PYTHONPATH=./stub:./test:./coderbot
 cd /coderbot
-python3 coderbot/main.py
+python3 coderbot/main.py & python3 stub/wifi/main.py

requirements.txt

@@ -1,9 +1,6 @@
 # API framework
-connexion==2.14.2
-Flask==2.2.5
-Flask-Cors==3.0.10
+connexion[uvicorn,flask,swagger-ui]==3.0.5
 tinydb==4.8.0
-Werkzeug==2.2.3
 
 # Misc utils
 setuptools==69.2.0

stub/wifi/api.py

@@ -0,0 +1,19 @@
+import logging
+
+def list_access_points():
+ return {"ssids": [{"ssid": "my_wifi"}]}
+
+def connection_status():
+ return {"wifi": "true", "internet": "true"}
+
+def connect():
+ return "ok"
+
+def forget():
+ return "ok"
+
+def sset_hotspot_ssid():
+ return "ok"
+
+def set_hotspot_password():
+ return "ok"