CoderBotOrg · previ · Oct 25, 2022 · Aug 21, 2022 · Aug 21, 2022 · Aug 22, 2022
diff --git a/.github/workflows/build_backend.yml b/.github/workflows/build_backend.yml
@@ -20,19 +20,24 @@ jobs:
         #python3 -m unittest test/cnn_test.py 2>&1 | tee test-reports/test_report.txt
         echo "test complete" 
     - run: |
-        export PYTHONPATH=./coderbot:./stub:./test
+        export PYTHONPATH=./stub:./coderbot:./test
         python3 coderbot/main.py > coderbot.log &
         sleep 30
         apt-get install -y python3-venv
         mkdir -p schemathesis
         python3 -m venv schemathesis
         . schemathesis/bin/activate
         pip install schemathesis 
-        st run --endpoint '^(?!(\/api\/v1\/video\/stream|\/api\/v1\/control\/move|\/api\/v1\/video\/rec|\/api\/v1\/video\/stop)$).*$' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+        st run --endpoint 'activities' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+        st run --endpoint 'media' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+        st run --endpoint 'control/speak' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+        st run --endpoint 'control/stop' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+        st run --endpoint 'music' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
+        st run --endpoint 'programs' --hypothesis-max-examples=10 --request-timeout=20 http://localhost:5000/api/v1/openapi.json
         echo "openapi test complete"
 
   release-backend:
-    #needs: [test]
+    needs: [test]
     runs-on: ubuntu-latest
     steps:
     - name: Docker meta

diff --git a/coderbot/activity.py b/coderbot/activity.py
@@ -1,14 +1,12 @@
 from tinydb import TinyDB, Query
-from tinydb.operations import delete
-import json
 
 # Programs and Activities databases
 class Activities():
     _instance = None
-        
+
     @classmethod
     def get_instance(cls):
-        if cls._instance == None:
+        if cls._instance is None:
             cls._instance = Activities()
         return cls._instance
 
@@ -22,15 +20,14 @@ def load(self, name, default):
             if len(activities) > 0:
                 return activities[0]
         elif default is not None:
-            default_Activities = self.activities.search(self.query.default == True)
             if len(self.activities.search(self.query.default == True)) > 0:
                 return self.activities.search(self.query.default == True)[0]
-            else:
-                return None
+            return None
+        return None
 
     def save(self, name, activity):
         # if saved activity is "default", reset existing default activity to "non-default"
-        if activity.get("default", False) == True:
+        if activity.get("default", False) is True:
             self.activities.update({'default': False})
         if self.activities.search(self.query.name == name) == []:
             self.activities.insert(activity)
@@ -41,10 +38,9 @@ def delete(self, name):
         activities = self.activities.search(self.query.name == name)
         if len(activities) > 0:
             activity = activities[0]
-            if activity.get("default", False) == True:
+            if activity.get("default", False) is True:
                 self.activities.update({'default': True}, self.query.stock == True)
             self.activities.remove(self.query.name == activity["name"])
 
     def list(self):
         return self.activities.all()
-
diff --git a/coderbot/api.py b/coderbot/api.py
@@ -28,6 +28,7 @@
 from audio import Audio
 from event import EventManager
 from coderbotTestUnit import run_test as runCoderbotTestUnit
+from balena import Balena
 
 BUTTON_PIN = 16
 
@@ -95,7 +96,7 @@ def get_info():
     backend_commit = "undefined"
     coderbot_version = "undefined"
     update_status = "ok"
-    kernel = 'undefined'
+    device = {}
     motors = 'undefined'
 
     try:
@@ -107,11 +108,6 @@ def get_info():
     except Exception:
         pass
 
-    try:
-        kernel = subprocess.check_output(["uname", "-r"]).decode('utf-8').replace('\n', '')
-    except Exception:
-        pass
-
     try:
         encoder = bool(Config.read().get('encoder'))
         if(encoder):
@@ -123,12 +119,16 @@ def get_info():
 
     serial = get_serial()
 
-    return {'backend_commit': backend_commit,
-            'coderbot_version': coderbot_version,
-            'update_status': update_status,
-            'kernel': kernel,
-            'serial': serial,
-            'motors': motors}
+    try:
+        device = Baleba.get_instance().device()
+    except Exception:
+        pass
+    return { 'backend_commit': device.get("commit"),
+             'coderbot_version': coderbot_version,
+             'update_status': device.get("status"),
+             'kernel': device.get("os_version"),
+             'serial': serial,
+             'motors': motors }
 
 prog = None
 prog_engine = ProgramEngine.get_instance()
@@ -161,21 +161,24 @@ def turn(body):
 def takePhoto():
     try:
         cam.photo_take()
-        Audio.say(config.get("sound_shutter"))
+        audio_device.say(config.get("sound_shutter"))
+        return 200
     except Exception as e:
         logging.warning("Error: %s", e)
 
 def recVideo():
     try:
         cam.video_rec()
         audio_device.say(config.get("sound_shutter"))
+        return 200
     except Exception as e:
         logging.warning("Error: %s", e)
 
 def stopVideo():
     try:
         cam.video_stop()
         audio_device.say(config.get("sound_shutter"))
+        return 200
     except Exception as e:
         logging.warning("Error: %s", e)
 
@@ -184,24 +187,24 @@ def speak(body):
     locale = body.get("locale", "")
     logging.debug("say: " + text + " in: " + locale)
     audio_device.say(text, locale)
+    return 200
 
 def reset():
-    logging.debug("reset bot")
-    shutil.rmtree("data/*")
-    bot.restart()
+    Balena.get_instance().purge()
+    return 200
 
 def halt():
-    logging.debug("shutting down")
     audio_device.say(what=config.get("sound_stop"))
-    bot.halt()
+    Balena.get_instance().shutdown()
+    return 200
 
 def restart():
-    logging.debug("restarting bot")
-    bot.restart()
+    Balena.get_instance().restart()
 
 def reboot():
-    logging.debug("rebooting")
-    bot.reboot()
+    audio_device.say(what=config.get("sound_stop"))
+    Balena.get_instance().reboot()
+    return 200
 
 def video_stream(a_cam):
     while True:
@@ -287,13 +290,14 @@ def info():
 
 def restoreSettings():
     Config.restore()
-    restart()
+    return restart()
 
 def loadSettings():
     return Config.get()
 
 def saveSettings(body):
     Config.write(body)
+    return 200
 
 def updateFromPackage():
     os.system('sudo bash /home/pi/clean-update.sh')

diff --git a/coderbot/balena/__init__.py b/coderbot/balena/__init__.py
@@ -0,0 +1,44 @@
+import os
+from urllib.request import urlopen, Request
+import json
+import logging
+
+class Balena():
+    _instance = None
+
+    @classmethod
+    def get_instance(cls):
+        if cls._instance is None:
+            cls._instance = Balena()
+        return cls._instance
+
+    def __init__(self):
+        self.supervisor_address = os.environ["BALENA_SUPERVISOR_ADDRESS"]
+        self.supervisor_key = os.environ["BALENA_SUPERVISOR_API_KEY"]
+        self.app_id_data = json.dumps({ "appId": os.environ["BALENA_APP_ID"] }).encode("utf-8")
+        self.headers = { 'Content-Type': 'application/json' }
+
+    def purge(self):
+        logging.debug("reset bot")
+        req = Request(f'{self.supervisor_address}/v1/purge?apikey={self.supervisor_key}', data=self.app_id_data, headers=self.headers, method='POST')
+        return urlopen(req).read()
+
+    def shutdown(self):
+        logging.debug("shutdown bot")
+        req = Request(f'{self.supervisor_address}/v1/shutdown?apikey={self.supervisor_key}', headers=self.headers, method='POST')
+        return urlopen(req).read()
+
+    def restart(self):
+        logging.debug("restarting bot")
+        req = Request(f'{self.supervisor_address}/v1/restart?apikey={self.supervisor_key}', data=self.app_id_data, headers=self.headers, method='POST')
+        return urlopen(req).read()
+
+    def reboot(self):
+        logging.debug("reboot bot")
+        req = Request(f'{self.supervisor_address}/v1/reboot?apikey={self.supervisor_key}', headers=self.headers, method='POST')
+        return urlopen(req).read()
+
+    def device(self):
+        logging.debug("reboot bot", f'{self.supervisor_address}get?apikey={self.supervisor_key}')
+        req = Request(f'{self.supervisor_address}/device?apikey={self.supervisor_key}', headers=self.headers, method='GET')
+        return json.load(urlopen(req))
diff --git a/coderbot/coderbot.py b/coderbot/coderbot.py
@@ -23,7 +23,7 @@
 import logging
 import pigpio
 import sonar
-import hw.mpu
+from hw import mpu
 from rotary_encoder.wheelsaxel import WheelsAxel
 
 # GPIO
@@ -268,13 +268,3 @@ def _cb_button(self, gpio, level, tick):
                 logging.info("pushed: %d, %d", level, tick)
                 cb()
 
-    def halt(self):
-        logging.info("halt requested")
-        pass
-
-    def restart(self):
-        sys.exit()
-
-    def reboot(self):
-        logging.info("reboot requested")
-
diff --git a/coderbot/hw/__init__.py b/coderbot/hw/__init__.py
diff --git a/coderbot/hw/mpu.py b/coderbot/hw/mpu.py
@@ -1,4 +1,4 @@
-from hw import lsm9ds1
+from . import lsm9ds1
 import time
 
 class AccelGyroMag:

diff --git a/coderbot/main.py b/coderbot/main.py
@@ -5,22 +5,19 @@
 import os
 import logging
 import logging.handlers
-import subprocess
 import picamera
 import connexion
 
-from flask import (send_from_directory, redirect)
-
 from flask_cors import CORS
 
-from coderbot import CoderBot
 from camera import Camera
 from motion import Motion
 from audio import Audio
-from program import ProgramEngine, Program
+from program import ProgramEngine
 from config import Config
 from cnn.cnn_manager import CNNManager
 from event import EventManager
+from coderbot import CoderBot
 
 # Logging configuration
 logger = logging.getLogger()

diff --git a/coderbot/program.py b/coderbot/program.py
@@ -34,7 +34,7 @@
 import event
 import music
 import musicPackages
-import hw.atmega328p 
+from hw.atmega328p import ATMega328 
 
 PROGRAM_PATH = "./data/"
 PROGRAM_PREFIX = "program_"
@@ -66,7 +66,7 @@ def get_music():
     return music.Music.get_instance(musicPackageManager)
 
 def get_atmega():
-    return atmega328p.ATMega328.get_instance()
+    return ATMega328.get_instance()
 
 class ProgramEngine:
 

diff --git a/defaults/config.json b/defaults/config.json
@@ -38,7 +38,7 @@
   "hw_version":"5",
   "audio_volume_level":"100",
   "wifi_mode":"ap",
-  "wifi_ssid":"coderbot_CHANGEMEATFIRSTRUN",
+  "wifi_ssid":"coderbot",
   "wifi_psk":"coderbot",
   "packages_installed":"",
   "admin_password":"",

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -64,4 +64,4 @@ ADD docker/scripts/*.sh /tmp/.
 RUN /tmp/install_generic_cnn_models.sh
 RUN /tmp/install_lib_firmware.sh
 
-ENTRYPOINT cd /coderbot && python3 coderbot/main.py
+ENTRYPOINT cd /coderbot && modprobe i2c-dev && python3 coderbot/main.py
diff --git a/stub/balena/__init__.py b/stub/balena/__init__.py
@@ -0,0 +1,26 @@
+class Balena():
+    _instance = None
+
+    @classmethod
+    def get_instance(cls):
+        if cls._instance is None:
+            cls._instance = Balena()
+        return cls._instance
+
+    def __init__(self):
+        pass
+
+    def purge(self):
+        return ""
+
+    def shutdown(self):
+        return ""
+
+    def restart(self):
+        return ""
+
+    def reboot(self):
+        return ""
+
+    def device(self):
+        return {}