├── .gitignore ├── LICENSE ├── MANIFEST.in ├── PiPilot ├── __init__.py ├── app.py ├── config.py ├── controller.py ├── default.conf ├── sbus.py ├── utils.py ├── webservice.py └── websocket.py ├── README.rst ├── assets ├── interface.png └── inverter.png ├── pipilot ├── requirements-dev.txt ├── setup.cfg ├── setup.py ├── tests └── __init__.py ├── tox.ini └── ui ├── package.json ├── public ├── favicon.png ├── index.html └── manifest.json └── src ├── actions └── backend.js ├── components ├── AircraftController.js ├── BackendStatus.js └── PiPilotApp.js ├── index.css ├── index.js ├── reducers └── backend.js ├── registerServiceWorker.js └── utils ├── Backend.js ├── backendActions.js └── helpers.js /.gitignore: -------------------------------------------------------------------------------- 1 | ui/node_modules 2 | ui/coverage 3 | ui/build 4 | .DS_Store 5 | .env.local 6 | .env.development.local 7 | .env.test.local 8 | .env.production.local 9 | 10 | npm-debug.log* 11 | yarn-debug.log* 12 | yarn-error.log* 13 | 14 | .pytest_cache 15 | \#*\# 16 | .\#* 17 | *~ 18 | 19 | package-lock.json 20 | .tox 21 | *.egg-info 22 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /MANIFEST.in: -------------------------------------------------------------------------------- 1 | include LICENSE 2 | include requirements-dev.txt 3 | include ui/package.json 4 | recursive-include ui/public *.png *.html *.json 5 | recursive-include ui/src *.css *.js *.svg *.png 6 | -------------------------------------------------------------------------------- /PiPilot/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | __version__ = '0.0.1' 3 | -------------------------------------------------------------------------------- /PiPilot/app.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | import logging 22 | import os 23 | 24 | from twisted.application.internet import TCPServer 25 | from twisted.application.service import MultiService, IServiceMaker 26 | from twisted.python import log, usage 27 | from zope.interface import implementer 28 | from twisted.web import server 29 | 30 | from .controller import Controller 31 | from .config import Config 32 | from .utils import exc_repr 33 | from .webservice import WebApp 34 | 35 | 36 | #------------------------------------------------------------------------------- 37 | class PiPilotOptions(usage.Options): 38 | optParameters = [ 39 | ['config', 'c', '~/scrapy-do/config', 'A configuration file to load'], 40 | ] 41 | 42 | 43 | #------------------------------------------------------------------------------- 44 | @implementer(IServiceMaker) 45 | class PiPilotServiceMaker(): 46 | 47 | tapname = 'pipilot' 48 | description = 'A software aircraft controller for RaspberryPi' 49 | options = PiPilotOptions 50 | 51 | #--------------------------------------------------------------------------- 52 | def makeService(self, options): 53 | top_service = MultiService() 54 | config_file = os.path.expanduser(options['config']) 55 | config = Config([config_file]) 56 | 57 | #----------------------------------------------------------------------- 58 | # Set up the controller 59 | #----------------------------------------------------------------------- 60 | try: 61 | controller = Controller(config) 62 | controller.setServiceParent(top_service) 63 | except Exception as e: 64 | log.msg(format="Unable to set up the controller: %(reason)s", 65 | reason=exc_repr(e), logLevel=logging.ERROR) 66 | return top_service 67 | 68 | #----------------------------------------------------------------------- 69 | # Set up the web server 70 | #----------------------------------------------------------------------- 71 | try: 72 | web_app = WebApp(config, controller) 73 | site = server.Site(web_app) 74 | interface = config.get_string('web', 'interface') 75 | port = config.get_int('web', 'port') 76 | web_server = TCPServer(port, site, interface=interface) 77 | web_server.setServiceParent(top_service) 78 | 79 | if ':' in interface: 80 | interface = '[{}]'.format(interface) 81 | log.msg(format="PiPilot web interface is available at " 82 | "http://%(interface)s:%(port)s/", 83 | interface=interface, port=port) 84 | 85 | except Exception as e: 86 | log.msg(format="Scrapy-Do web interface could not have been " 87 | "configured: %(reason)s", 88 | reason=exc_repr(e), logLevel=logging.ERROR) 89 | return top_service 90 | 91 | return top_service 92 | -------------------------------------------------------------------------------- /PiPilot/config.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 25.11.2017 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | from configparser import ConfigParser, NoSectionError, NoOptionError 22 | from pkgutil import get_data 23 | 24 | 25 | #------------------------------------------------------------------------------- 26 | class Config: 27 | """ 28 | A configuration dictionary with defaults. It's a wrapper around the 29 | :py:class:`configparser.ConfigParser`. 30 | """ 31 | 32 | #--------------------------------------------------------------------------- 33 | def __init__(self, config_files=[], package=__package__): 34 | """ 35 | Load the default configuration from the specified package 36 | 37 | :param config_file: A list of paths to configuration files 38 | :param package: Name of the package in which to search for a default 39 | config file; the current package is assumed if `None` 40 | """ 41 | self.conf = ConfigParser() 42 | default_config = get_data(package, 'default.conf').decode('utf-8') 43 | self.conf.read_string(default_config) 44 | for config_file in config_files: 45 | self.conf.read(config_file) 46 | 47 | #--------------------------------------------------------------------------- 48 | def __get_with_type(self, getter, section, option, default): 49 | """ 50 | Get a an option of a specific type. 51 | """ 52 | try: 53 | return getter(section, option) 54 | except (NoSectionError, NoOptionError, ValueError): 55 | if default is not None: 56 | return default 57 | raise 58 | 59 | #--------------------------------------------------------------------------- 60 | def get_bool(self, section, option, default=None): 61 | """ 62 | Get option value and coerce to boolean. 63 | 64 | :raises ValueError: value can not be coerced and no default is given 65 | :raises NoOptionError: option is missing and no default is given 66 | :raises NoSectionError: section is missing and no default is given 67 | """ 68 | return self.__get_with_type(self.conf.getboolean, section, option, 69 | default) 70 | 71 | #--------------------------------------------------------------------------- 72 | def get_int(self, section, option, default=None): 73 | """ 74 | Get option value and coerce to integer. For details see 75 | :meth:`get_bool `. 76 | """ 77 | return self.__get_with_type(self.conf.getint, section, option, default) 78 | 79 | #--------------------------------------------------------------------------- 80 | def get_float(self, section, option, default=None): 81 | """ 82 | Get option value and coerce to float. For details see 83 | :meth:`get_bool `. 84 | """ 85 | return self.__get_with_type(self.conf.getfloat, section, option, 86 | default) 87 | 88 | #--------------------------------------------------------------------------- 89 | def get_string(self, section, option, default=None): 90 | """ 91 | Get option value as string. 92 | 93 | :raises NoOptionError: option is missing and no default is given 94 | :raises NoSectionError: section is missing and no default is given 95 | """ 96 | return self.__get_with_type(self.conf.get, section, option, default) 97 | 98 | #--------------------------------------------------------------------------- 99 | def get_options(self, section): 100 | """ 101 | Get all options in a given section 102 | """ 103 | return self.conf.items(section) 104 | -------------------------------------------------------------------------------- /PiPilot/controller.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | import serial 22 | 23 | from twisted.application.service import Service 24 | from twisted.internet.task import LoopingCall 25 | from twisted.logger import Logger 26 | from .sbus import SBUSEncoder 27 | 28 | #------------------------------------------------------------------------------- 29 | class Controller(Service): 30 | log = Logger() 31 | 32 | #--------------------------------------------------------------------------- 33 | def __init__(self, config): 34 | #----------------------------------------------------------------------- 35 | # Configuration 36 | #----------------------------------------------------------------------- 37 | self.log.info('Creating controller') 38 | self.config = config 39 | tty_file = config.get_string('pipilot', 'sbus-uart-tty') 40 | 41 | #----------------------------------------------------------------------- 42 | # Set up the SBUS encoder and open the serial port 43 | #----------------------------------------------------------------------- 44 | self.encoder = SBUSEncoder() 45 | self.port = serial.Serial(tty_file, baudrate=100000, 46 | parity=serial.PARITY_EVEN, 47 | stopbits=serial.STOPBITS_TWO) 48 | 49 | #----------------------------------------------------------------------- 50 | # Set up the service 51 | #----------------------------------------------------------------------- 52 | self.setName('Controller') 53 | self.sbus_loop = LoopingCall(self.send_sbus_msg) 54 | 55 | #--------------------------------------------------------------------------- 56 | def startService(self): 57 | self.log.info('Starting controller') 58 | self.sbus_loop.start(0.07) 59 | 60 | #--------------------------------------------------------------------------- 61 | def stopService(self): 62 | self.log.info('Stopping controller') 63 | self.sbus_loop.stop() 64 | 65 | #--------------------------------------------------------------------------- 66 | def send_sbus_msg(self): 67 | self.port.write(self.encoder.get_data()) 68 | 69 | #--------------------------------------------------------------------------- 70 | def update_channel(self, channel, value): 71 | scale = value + 100. 72 | scale /= 200 73 | self.encoder.set_channel(channel, int(scale * 2047)) 74 | -------------------------------------------------------------------------------- /PiPilot/default.conf: -------------------------------------------------------------------------------- 1 | [pipilot] 2 | sbus-uart-tty = /dev/ttyAMA0 3 | 4 | [web] 5 | interface = 0.0.0.0 6 | port = 5005 7 | -------------------------------------------------------------------------------- /PiPilot/sbus.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | import readline 22 | import serial 23 | import ctypes 24 | import time 25 | 26 | 27 | #------------------------------------------------------------------------------- 28 | def bit_not(n, numbits=8): 29 | return (1 << numbits) - 1 - n 30 | 31 | 32 | #------------------------------------------------------------------------------- 33 | class SBUSEncoder: 34 | #--------------------------------------------------------------------------- 35 | def __init__(self): 36 | self.channels = [1024] * 16 37 | 38 | #--------------------------------------------------------------------------- 39 | def set_channel(self, channel, data): 40 | self.channels[channel] = data & 0x07ff 41 | 42 | #--------------------------------------------------------------------------- 43 | def get_data(self): 44 | #----------------------------------------------------------------------- 45 | # Create the header 46 | #----------------------------------------------------------------------- 47 | data = bytearray(25) 48 | data[0] = 0x0f # start byte 49 | 50 | #----------------------------------------------------------------------- 51 | # Encode channels 52 | #----------------------------------------------------------------------- 53 | current_byte = 1 54 | available_bits = 8 55 | for ch in self.channels: 56 | ch &= 0x7ff 57 | remaining_bits = 11 58 | while remaining_bits: 59 | mask = bit_not(0xffff >> available_bits << available_bits, 16) 60 | enc = (ch & mask) << (8 - available_bits) 61 | data[current_byte] |= enc 62 | 63 | encoded_bits = 0 64 | if remaining_bits < available_bits: 65 | encoded_bits = remaining_bits 66 | else: 67 | encoded_bits = available_bits 68 | 69 | remaining_bits -= encoded_bits 70 | available_bits -= encoded_bits 71 | ch >>= encoded_bits 72 | 73 | if available_bits == 0: 74 | current_byte += 1 75 | available_bits = 8 76 | 77 | #----------------------------------------------------------------------- 78 | # Ignore the flags and end byte 79 | #----------------------------------------------------------------------- 80 | data[23] = 0 81 | data[24] = 0 82 | 83 | return data 84 | -------------------------------------------------------------------------------- /PiPilot/utils.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | 22 | #------------------------------------------------------------------------------- 23 | def exc_repr(e): 24 | """ 25 | Return a string representation of an exception together with the excepion 26 | name. 27 | """ 28 | return "{}: {}".format(type(e).__name__, str(e)) 29 | -------------------------------------------------------------------------------- /PiPilot/webservice.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | import mimetypes 22 | import json 23 | 24 | from autobahn.twisted.resource import WebSocketResource 25 | from twisted.web import resource 26 | from .websocket import WSFactory, WSProtocol 27 | from pkgutil import get_data 28 | 29 | 30 | #------------------------------------------------------------------------------- 31 | class WebApp(resource.Resource): 32 | #--------------------------------------------------------------------------- 33 | def __init__(self, config, controller): 34 | super(WebApp, self).__init__() 35 | self.config = config 36 | self.controller = controller 37 | self.children = {} 38 | 39 | #----------------------------------------------------------------------- 40 | # Set up the websocket 41 | #----------------------------------------------------------------------- 42 | ws_factory = WSFactory(controller=self.controller) 43 | ws_factory.protocol = WSProtocol 44 | ws_resource = WebSocketResource(ws_factory) 45 | self.putChild(b'ws', ws_resource) 46 | 47 | #----------------------------------------------------------------------- 48 | # Register UI modules 49 | #----------------------------------------------------------------------- 50 | assets = None 51 | try: 52 | assets = get_data(__package__, 'ui/asset-manifest.json') 53 | assets = assets.decode('utf-8') 54 | except FileNotFoundError: 55 | self.index = self 56 | 57 | if assets is not None: 58 | self.index = UIResource('ui/index.html') 59 | self.putChild(b'', self.index) 60 | 61 | children = [ 62 | '/favicon.png', 63 | '/manifest.json', 64 | ] 65 | for child in children: 66 | self.register_child(child, UIResource('ui' + child)) 67 | 68 | assets = json.loads(assets) 69 | for _, asset in assets.items(): 70 | self.register_child('/' + asset, UIResource('ui/' + asset)) 71 | 72 | #--------------------------------------------------------------------------- 73 | def register_child(self, key, resource): 74 | key = key.encode('utf-8') 75 | self.children[key] = resource 76 | 77 | #--------------------------------------------------------------------------- 78 | def getChild(self, name, request): 79 | if request.uri in self.children: 80 | return self.children[request.uri] 81 | return self.index 82 | 83 | #--------------------------------------------------------------------------- 84 | def render_GET(self, request): 85 | data = b'The UI files have not been built.' 86 | request.setHeader('Content-Type', 'text/plain') 87 | request.setHeader('Content-Length', len(data)) 88 | return data 89 | 90 | 91 | #------------------------------------------------------------------------------- 92 | class UIResource(resource.Resource): 93 | 94 | isLeaf = True 95 | 96 | #--------------------------------------------------------------------------- 97 | def __init__(self, name): 98 | super(UIResource, self).__init__() 99 | self.name = name 100 | self.data = get_data(__package__, name) 101 | mimetype = mimetypes.guess_type(self.name)[0] 102 | self.mimetype = mimetype if mimetype else 'text/plain' 103 | 104 | #--------------------------------------------------------------------------- 105 | def render_GET(self, request): 106 | request.setHeader('Content-Type', self.mimetype) 107 | request.setHeader('Content-Length', len(self.data)) 108 | return self.data 109 | -------------------------------------------------------------------------------- /PiPilot/websocket.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | import json 22 | 23 | from autobahn.twisted.websocket import WebSocketServerProtocol 24 | from autobahn.twisted.websocket import WebSocketServerFactory 25 | from twisted.logger import Logger 26 | 27 | 28 | #------------------------------------------------------------------------------- 29 | class WSFactory(WebSocketServerFactory): 30 | """ 31 | Server factory producing configured WSProtocol objects. 32 | """ 33 | 34 | #--------------------------------------------------------------------------- 35 | def __init__(self, *args, **kwargs): 36 | self.controller = kwargs.pop('controller') 37 | super(WSFactory, self).__init__(*args, **kwargs) 38 | 39 | #--------------------------------------------------------------------------- 40 | def buildProtocol(self, addr): 41 | protocol = super(WSFactory, self).buildProtocol(addr) 42 | protocol.controller = self.controller 43 | return protocol 44 | 45 | 46 | #------------------------------------------------------------------------------- 47 | class WSProtocol(WebSocketServerProtocol): 48 | 49 | wslog = Logger() 50 | 51 | #--------------------------------------------------------------------------- 52 | def __init__(self, *args, **kwargs): 53 | super(WSProtocol, self).__init__(*args, **kwargs) 54 | self.actionHandlers = {} 55 | self.actionHandlers['STEERING_UPDATE'] = self.steering_update 56 | 57 | #--------------------------------------------------------------------------- 58 | def onOpen(self): 59 | pass 60 | 61 | #--------------------------------------------------------------------------- 62 | def onMessage(self, payload, isBinary): 63 | #----------------------------------------------------------------------- 64 | # Check the message validity 65 | #----------------------------------------------------------------------- 66 | if isBinary: 67 | return 68 | 69 | #----------------------------------------------------------------------- 70 | # Decode the message 71 | #----------------------------------------------------------------------- 72 | try: 73 | payload = payload.decode('utf-8') 74 | data = json.loads(payload) 75 | except Exception as e: 76 | self.wslog.debug('Unable to parse message: {}.'.format(str(e))) 77 | return 78 | 79 | for header in ['type', 'action']: 80 | if header not in data: 81 | msg = 'Header "{}" is missing.'.format(header) 82 | self.wslog.debug(msg) 83 | return 84 | 85 | if data['type'] != 'ACTION_NO_RESP': 86 | msg = 'Rejecting non-action message: {}.'.format(data['type']) 87 | self.wslog.debug(msg) 88 | self.send_error_response(data['id'], msg) 89 | return 90 | 91 | if data['action'] not in self.actionHandlers: 92 | msg = 'Unknown action: {}.'.format(data['action']) 93 | self.wslog.debug(msg) 94 | self.send_error_response(data['id'], msg) 95 | return 96 | 97 | #----------------------------------------------------------------------- 98 | # Execute the action 99 | #----------------------------------------------------------------------- 100 | self.actionHandlers[data['action']](data) 101 | 102 | #--------------------------------------------------------------------------- 103 | def onClose(self, wasClean, code, reason): 104 | pass 105 | 106 | #--------------------------------------------------------------------------- 107 | def has_fields(self, data, fields): 108 | for field in ['channel', 'value']: 109 | if field not in data: 110 | msg = 'Message for action {}: field "{}" not specified.' \ 111 | .format(data['action'], field) 112 | self.wslog.debug(msg) 113 | return False 114 | return True 115 | 116 | #--------------------------------------------------------------------------- 117 | def steering_update(self, data): 118 | if not self.has_fields(data, ['channel', 'value']): 119 | return 120 | 121 | try: 122 | self.controller.update_channel(data['channel'], data['value']) 123 | except Exception as e: 124 | pass 125 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | 2 | ======= 3 | PiPilot 4 | ======= 5 | 6 | .. image:: https://img.shields.io/pypi/v/PiPilot.svg 7 | :target: https://pypi.python.org/pypi/PiPilot 8 | :alt: PyPI Version 9 | 10 | PiPilot lets you control a drone from a web browser. It's been designed to work 11 | with Raspberry Pi, hence its name. However, you can likely make it work with 12 | anything that has UART. It should be able to interface with any autopilot board 13 | capable of understanding the SBUS protocol. 14 | 15 | The purpose of the project is to let the autopilot control the fundamental 16 | behavior of a drone, i.e., attitude using gyros and accelerometers, and 17 | provide functionality controlling velocity, altitude hold, and basic navigation 18 | using more sophisticated sensors. We're not there yet. 19 | 20 | .. figure:: https://github.com/ljanyst/pipilot/raw/master/assets/interface.png 21 | :scale: 50 % 22 | :alt: Interface 23 | 24 | Inverter 25 | -------- 26 | 27 | Since SBUS, in reality, is inverted UART, you cannot connect the wires directly. 28 | You will need to build yourself an inverter. 29 | 30 | .. figure:: https://github.com/ljanyst/pipilot/raw/master/assets/inverter.png 31 | :scale: 50 % 32 | :alt: Inverter 33 | 34 | Installation 35 | ------------ 36 | 37 | .. code-block:: console 38 | 39 | $ pip install PiPilot 40 | $ pipilot -n pipilot 41 | 42 | Test 43 | ---- 44 | 45 | .. figure:: https://img.youtube.com/vi/EUDdmXHwLbQ/0.jpg 46 | :scale: 50 % 47 | :alt: Test 48 | :target: https://www.youtube.com/watch?v=EUDdmXHwLbQ 49 | -------------------------------------------------------------------------------- /assets/interface.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ljanyst/pipilot/cf9733984c600a3de62f2f9efb3a97c08be30543/assets/interface.png -------------------------------------------------------------------------------- /assets/inverter.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ljanyst/pipilot/cf9733984c600a3de62f2f9efb3a97c08be30543/assets/inverter.png -------------------------------------------------------------------------------- /pipilot: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | #------------------------------------------------------------------------------- 3 | # Author: Lukasz Janyst 4 | # Date: 06.03.2018 5 | #------------------------------------------------------------------------------- 6 | # This file is part of PiPilot. 7 | # 8 | # PiPilot is free software: you can redistribute it and/or modify 9 | # it under the terms of the GNU General Public License as published by 10 | # the Free Software Foundation, either version 3 of the License, or 11 | # (at your option) any later version. 12 | # 13 | # PiPilot is distributed in the hope that it will be useful, 14 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 15 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 16 | # GNU General Public License for more details. 17 | # 18 | # You should have received a copy of the GNU General Public License 19 | # along with PiPilot. If not, see . 20 | #------------------------------------------------------------------------------- 21 | 22 | from twisted.scripts.twistd import _SomeApplicationRunner, ServerOptions 23 | from twisted.application import app 24 | from PiPilot.app import PiPilotServiceMaker 25 | 26 | 27 | class PiPilotRunnerOptions(ServerOptions): 28 | @property 29 | def subCommands(self): 30 | sm = PiPilotServiceMaker() 31 | self.loadedPlugins = {sm.tapname: sm} 32 | yield (sm.tapname, None, sm.options, sm.description) 33 | 34 | def run_app(config): 35 | _SomeApplicationRunner(config).run() 36 | 37 | app.run(run_app, PiPilotRunnerOptions) 38 | -------------------------------------------------------------------------------- /requirements-dev.txt: -------------------------------------------------------------------------------- 1 | pytest-cov 2 | pytest-flake8 3 | pytest 4 | -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | [bdist_wheel] 2 | universal = 0 3 | 4 | [flake8] 5 | ignore = E265 6 | max-line-length = 80 7 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | #------------------------------------------------------------------------------- 2 | # Author: Lukasz Janyst 3 | # Date: 06.03.2018 4 | #------------------------------------------------------------------------------- 5 | # This file is part of PiPilot. 6 | # 7 | # PiPilot is free software: you can redistribute it and/or modify 8 | # it under the terms of the GNU General Public License as published by 9 | # the Free Software Foundation, either version 3 of the License, or 10 | # (at your option) any later version. 11 | # 12 | # PiPilot is distributed in the hope that it will be useful, 13 | # but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | # GNU General Public License for more details. 16 | # 17 | # You should have received a copy of the GNU General Public License 18 | # along with PiPilot. If not, see . 19 | #------------------------------------------------------------------------------- 20 | 21 | import json 22 | import sys 23 | import os 24 | 25 | from setuptools.command.build_py import build_py 26 | from distutils.spawn import find_executable 27 | from setuptools import setup 28 | from subprocess import Popen 29 | from PiPilot import __version__ 30 | from shutil import copyfile, rmtree 31 | 32 | #------------------------------------------------------------------------------- 33 | # Package description 34 | #------------------------------------------------------------------------------- 35 | with open('README.rst') as readme: 36 | long_description = readme.read() 37 | 38 | 39 | #------------------------------------------------------------------------------- 40 | # Run command 41 | #------------------------------------------------------------------------------- 42 | def run_command(args, cwd): 43 | p = Popen(args, cwd=cwd) 44 | p.wait() 45 | return p.returncode 46 | 47 | 48 | #------------------------------------------------------------------------------- 49 | # Build the React web app 50 | #------------------------------------------------------------------------------- 51 | class build_ui(build_py): 52 | def run(self): 53 | if not self.dry_run: 54 | 55 | #------------------------------------------------------------------- 56 | # Check and set the environment up 57 | #------------------------------------------------------------------- 58 | target_dir = os.path.join(self.build_lib, 'PiPilot', 'ui') 59 | 60 | if os.path.exists(target_dir): 61 | rmtree(target_dir) 62 | 63 | ui_path = os.path.join(os.getcwd(), 'ui') 64 | if not os.path.exists(ui_path): 65 | print('[!] The ui directory does not exist') 66 | sys.exit(1) 67 | 68 | npm = find_executable('npm') 69 | if npm is None: 70 | print('[!] You need to have node installed to build this app') 71 | sys.exit(1) 72 | 73 | #------------------------------------------------------------------- 74 | # Build the JavaScript code 75 | #------------------------------------------------------------------- 76 | ret = run_command([npm, 'install'], ui_path) 77 | if ret != 0: 78 | print('[!] Installation of JavaScript dependencies failed') 79 | sys.exit(1) 80 | 81 | ret = run_command([npm, 'run-script', 'build'], ui_path) 82 | if ret != 0: 83 | print('[!] Build of JavaScript artefacts failed') 84 | sys.exit(1) 85 | 86 | #------------------------------------------------------------------- 87 | # Create a list of artefacts 88 | #------------------------------------------------------------------- 89 | artefacts = [ 90 | 'asset-manifest.json', 91 | 'favicon.png', 92 | 'index.html', 93 | 'manifest.json', 94 | 'service-worker.js' 95 | ] 96 | 97 | build_dir = 'ui/build' 98 | asset_manifest = os.path.join(build_dir, artefacts[0]) 99 | if not os.path.exists(asset_manifest): 100 | print('[!] Asset manifest does not exist.') 101 | sys.exit(1) 102 | 103 | assets = json.loads(open(asset_manifest, 'r').read()) 104 | for _, asset in assets.items(): 105 | artefacts.append(asset) 106 | 107 | #------------------------------------------------------------------- 108 | # Copy the artefacts to the dist root 109 | #------------------------------------------------------------------- 110 | print('Copying JavaScript artefacts to', target_dir) 111 | for artefact in artefacts: 112 | source_file = os.path.join(build_dir, artefact) 113 | target_file = os.path.join(target_dir, artefact) 114 | target_prefix = os.path.dirname(target_file) 115 | if not os.path.exists(target_prefix): 116 | os.makedirs(target_prefix) 117 | copyfile(source_file, target_file) 118 | 119 | build_py.run(self) 120 | 121 | #------------------------------------------------------------------------------- 122 | # Setup 123 | #------------------------------------------------------------------------------- 124 | setup( 125 | name = 'PiPilot', 126 | version = __version__, 127 | author = 'Lukasz Janyst', 128 | author_email = 'xyz@jany.st', 129 | url = 'https://github.com/ljanyst/pipilot', 130 | description = 'A software aircraft controller for RaspberryPi', 131 | long_description = long_description, 132 | license = 'GPL3 license', 133 | packages = ['PiPilot'], 134 | include_package_data = True, 135 | cmdclass={ 136 | 'build_py': build_ui 137 | }, 138 | package_data={ 139 | '': ['*.conf'], 140 | }, 141 | scripts=['pipilot'], 142 | classifiers = [ 143 | 'Development Status :: 2 - Pre-Alpha', 144 | 'License :: OSI Approved :: GNU General Public License v3 (GPLv3)', 145 | 'Operating System :: Unix', 146 | 'Topic :: Scientific/Engineering :: Human Machine Interfaces', 147 | 'Intended Audience :: Developers', 148 | 'Intended Audience :: Science/Research', 149 | 'Operating System :: OS Independent', 150 | 'Programming Language :: Python :: 3', 151 | 'Programming Language :: Python :: 3.6', 152 | 'Environment :: Console', 153 | 'Environment :: No Input/Output (Daemon)', 154 | 'Environment :: Web Environment' 155 | ], 156 | install_requires = [ 157 | 'twisted', 'pyserial', 'autobahn' 158 | ] 159 | ) 160 | -------------------------------------------------------------------------------- /tests/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ljanyst/pipilot/cf9733984c600a3de62f2f9efb3a97c08be30543/tests/__init__.py -------------------------------------------------------------------------------- /tox.ini: -------------------------------------------------------------------------------- 1 | [tox] 2 | envlist = py35 3 | 4 | [tox:travis] 5 | 3.5 = py35 6 | 7 | [testenv] 8 | deps = -rrequirements-dev.txt 9 | commands = 10 | py.test tests --flake8 PiPilot -v 11 | -------------------------------------------------------------------------------- /ui/package.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "ui", 3 | "version": "0.1.0", 4 | "private": true, 5 | "dependencies": { 6 | "bootstrap": "^3.3.7", 7 | "rc-slider": "^8.6.1", 8 | "rc-tooltip": "^3.7.0", 9 | "react": "^16.2.0", 10 | "react-bootstrap": "^0.32.1", 11 | "react-dom": "^16.2.0", 12 | "react-redux": "^5.0.7", 13 | "react-scripts": "1.1.1", 14 | "redux": "^3.7.2" 15 | }, 16 | "scripts": { 17 | "start": "react-scripts start", 18 | "build": "react-scripts build", 19 | "test": "react-scripts test --env=jsdom", 20 | "eject": "react-scripts eject" 21 | } 22 | } 23 | -------------------------------------------------------------------------------- /ui/public/favicon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/ljanyst/pipilot/cf9733984c600a3de62f2f9efb3a97c08be30543/ui/public/favicon.png -------------------------------------------------------------------------------- /ui/public/index.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 11 | 12 | 13 | 22 | PiPilot 23 | 24 | 25 | 28 |
29 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /ui/public/manifest.json: -------------------------------------------------------------------------------- 1 | { 2 | "short_name": "PiPilot", 3 | "name": "PiPilot", 4 | "icons": [ 5 | { 6 | "src": "favicon.png", 7 | "sizes": "32x32", 8 | "type": "image/png" 9 | } 10 | ], 11 | "start_url": "./index.html", 12 | "display": "standalone", 13 | "theme_color": "#000000", 14 | "background_color": "#ffffff" 15 | } 16 | -------------------------------------------------------------------------------- /ui/src/actions/backend.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 06.02.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | export const BACKEND_STATUS_SET = 'BACKEND_STATUS_SET'; 22 | export const BACKEND_COUNTDOWN_SET = 'BACKEND_COUNTDOWN_SET'; 23 | 24 | export const BACKEND_CONNECTING = 'BACKEND_CONNECTING'; 25 | export const BACKEND_OPENED = 'BACKEND_OPENED'; 26 | export const BACKEND_CLOSED = 'BACKEND_CLOSED'; 27 | 28 | export function backendStatusSet(status) { 29 | return { 30 | type: BACKEND_STATUS_SET, 31 | status 32 | }; 33 | } 34 | export function backendCountdownSet(countdown) { 35 | return { 36 | type: BACKEND_COUNTDOWN_SET, 37 | countdown 38 | }; 39 | } 40 | -------------------------------------------------------------------------------- /ui/src/components/AircraftController.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 06.03.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import 'rc-tooltip/assets/bootstrap.css'; 22 | import 'rc-slider/assets/index.css'; 23 | 24 | import React, { Component } from 'react'; 25 | import { connect } from 'react-redux'; 26 | 27 | import Slider from 'rc-slider'; 28 | import Tooltip from 'rc-tooltip'; 29 | 30 | import { BACKEND_OPENED } from '../actions/backend'; 31 | import { 32 | updateThrottle, updateYaw, updateRoll, updatePitch, 33 | updateAcc0, updateAcc1, updateAcc2, updateAcc3 34 | } from '../utils/backendActions'; 35 | 36 | //------------------------------------------------------------------------------ 37 | // Tooltip Top 38 | //------------------------------------------------------------------------------ 39 | const HandleTooltipTop = (props) => { 40 | const { value, dragging, index, ...restProps } = props; 41 | return ( 42 | 49 | 50 | 51 | ); 52 | }; 53 | 54 | //------------------------------------------------------------------------------ 55 | // Tooltip Left 56 | //------------------------------------------------------------------------------ 57 | const HandleTooltipLeft = (props) => { 58 | const { value, dragging, index, ...restProps } = props; 59 | return ( 60 | 67 | 68 | 69 | ); 70 | }; 71 | 72 | //------------------------------------------------------------------------------ 73 | // Aircraft Controller 74 | //------------------------------------------------------------------------------ 75 | class AircraftController extends Component { 76 | //---------------------------------------------------------------------------- 77 | // Render 78 | //---------------------------------------------------------------------------- 79 | render() { 80 | return ( 81 |
82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 108 | 118 | 128 | 143 | 144 | 145 |
ThrottleYawRollPitch
94 |
95 |
96 | 105 |
106 |
107 | 		109 | 117 | 119 | 127 | 129 |
130 |
131 | 140 |
141 |
142 |
146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 168 | 178 | 188 | 198 | 199 | 200 |
Accessory 0Accessory 1Accessory 2Accessory 3
159 | 167 | 169 | 177 | 179 | 187 | 189 | 197 |
201 |
202 | ); 203 | } 204 | } 205 | //------------------------------------------------------------------------------ 206 | // The redux connection 207 | //------------------------------------------------------------------------------ 208 | function mapStateToProps(state, ownProps) { 209 | return { 210 | connected: state.backend.status === BACKEND_OPENED 211 | }; 212 | } 213 | 214 | function mapDispatchToProps(dispatch) { 215 | return {}; 216 | } 217 | 218 | export default connect(mapStateToProps, mapDispatchToProps)(AircraftController); 219 | -------------------------------------------------------------------------------- /ui/src/components/BackendStatus.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 03.02.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import React, { Component } from 'react'; 22 | import { connect } from 'react-redux'; 23 | import { Alert } from 'react-bootstrap'; 24 | 25 | import { backend } from '../utils/Backend'; 26 | import { BACKEND_CONNECTING, BACKEND_OPENED } from '../actions/backend'; 27 | 28 | //------------------------------------------------------------------------------ 29 | // Backend status 30 | //------------------------------------------------------------------------------ 31 | class BackendStatus extends Component { 32 | //---------------------------------------------------------------------------- 33 | // Render 34 | //---------------------------------------------------------------------------- 35 | render() { 36 | //-------------------------------------------------------------------------- 37 | // We're okay 38 | //-------------------------------------------------------------------------- 39 | if(this.props.status === BACKEND_OPENED) 40 | return (
); 41 | 42 | //-------------------------------------------------------------------------- 43 | // Retrying 44 | //-------------------------------------------------------------------------- 45 | if(this.props.status === BACKEND_CONNECTING) 46 | return ( 47 |
48 | 49 |
50 | Connecting... 51 |
52 | 53 |
54 | ); 55 | 56 | //-------------------------------------------------------------------------- 57 | // Error 58 | //-------------------------------------------------------------------------- 59 | return ( 60 |
61 | 62 |
63 | Disconnected. Connecting in 64 | {this.props.countdown} 65 | {this.props.countdown === 1 ? ' second' : ' seconds'}. 66 | Click { 67 | evt.preventDefault(); 68 | backend.connect(); 69 | }} href='#n'>here to 70 | try now. 71 |
72 | 73 |
74 | ); 75 | } 76 | } 77 | 78 | //------------------------------------------------------------------------------ 79 | // The redux connection 80 | //------------------------------------------------------------------------------ 81 | function mapStateToProps(state, ownProps) { 82 | return { 83 | status: state.backend.status, 84 | countdown: state.backend.countdown 85 | }; 86 | } 87 | 88 | function mapDispatchToProps(dispatch) { 89 | return {}; 90 | } 91 | 92 | export default connect(mapStateToProps, mapDispatchToProps)(BackendStatus); 93 | -------------------------------------------------------------------------------- /ui/src/components/PiPilotApp.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 06.03.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import React, { Component } from 'react'; 22 | 23 | import BackendStatus from './BackendStatus'; 24 | import AircraftController from './AircraftController'; 25 | 26 | class PiPilotApp extends Component { 27 | render() { 28 | return ( 29 |
30 | 31 | 32 |
33 | ); 34 | } 35 | } 36 | 37 | export default PiPilotApp; 38 | -------------------------------------------------------------------------------- /ui/src/index.css: -------------------------------------------------------------------------------- 1 | body { 2 | margin: 0; 3 | padding: 0; 4 | font-family: sans-serif; 5 | } 6 | 7 | .app-wrapper { 8 | padding: 1em; 9 | } 10 | 11 | .alert-content { 12 | text-align: center; 13 | } 14 | 15 | table.ac { 16 | width: 100%; 17 | table-layout: fixed; 18 | } 19 | 20 | td.ac { 21 | border: 1px solid SteelBlue; 22 | width: 25%; 23 | padding: 2em; 24 | } 25 | 26 | .ac-content { 27 | height: 250px; 28 | text-align: center; 29 | } 30 | 31 | .ac-content-box { 32 | margin-left: auto; 33 | margin-right: auto; 34 | height: 100%; 35 | width: 20px; 36 | } 37 | 38 | th.ac { 39 | border: 1px solid SteelBlue; 40 | background: SteelBlue; 41 | color: SandyBrown; 42 | text-align: center; 43 | } 44 | 45 | div.ac { 46 | padding: 2em; 47 | } 48 | -------------------------------------------------------------------------------- /ui/src/index.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 06.03.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import React from 'react'; 22 | import ReactDOM from 'react-dom'; 23 | import 'bootstrap/dist/css/bootstrap.css'; 24 | import 'bootstrap/dist/css/bootstrap-theme.css'; 25 | import './index.css'; 26 | import PiPilotApp from './components/PiPilotApp'; 27 | import registerServiceWorker from './registerServiceWorker'; 28 | import { createStore, combineReducers } from 'redux'; 29 | import { Provider } from 'react-redux'; 30 | 31 | import { backendReducer } from './reducers/backend'; 32 | import { 33 | backendStatusSet, backendCountdownSet, 34 | BACKEND_CONNECTING, BACKEND_OPENED, BACKEND_CLOSED 35 | } from './actions/backend'; 36 | import { backend, Backend } from './utils/Backend'; 37 | 38 | //------------------------------------------------------------------------------ 39 | // Redux store 40 | //------------------------------------------------------------------------------ 41 | export const store = createStore( 42 | combineReducers({ 43 | backend: backendReducer 44 | }), 45 | window.__REDUX_DEVTOOLS_EXTENSION__ && window.__REDUX_DEVTOOLS_EXTENSION__() 46 | ); 47 | 48 | //------------------------------------------------------------------------------ 49 | // Make backend events change the state of the stare 50 | //------------------------------------------------------------------------------ 51 | const backendStoreEvent = (event, data) => { 52 | if(event === Backend.CONNECTING) 53 | store.dispatch(backendStatusSet(BACKEND_CONNECTING)); 54 | else if(event === Backend.OPENED) 55 | store.dispatch(backendStatusSet(BACKEND_OPENED)); 56 | else if(event === Backend.CLOSED) 57 | store.dispatch(backendStatusSet(BACKEND_CLOSED)); 58 | else if(event === Backend.COUNTDOWN) 59 | store.dispatch(backendCountdownSet(data)); 60 | }; 61 | 62 | backend.addEventListener(backendStoreEvent); 63 | 64 | //------------------------------------------------------------------------------ 65 | // The App component 66 | //------------------------------------------------------------------------------ 67 | ReactDOM.render( 68 | 69 | 70 | , 71 | document.getElementById('root')); 72 | 73 | registerServiceWorker(); 74 | -------------------------------------------------------------------------------- /ui/src/reducers/backend.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 06.02.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import { 22 | BACKEND_STATUS_SET, BACKEND_COUNTDOWN_SET, BACKEND_CONNECTING 23 | } from '../actions/backend'; 24 | 25 | const backendState = { 26 | status: BACKEND_CONNECTING, 27 | countdown: 0 28 | }; 29 | 30 | export function backendReducer(state = backendState, action) { 31 | switch(action.type) { 32 | 33 | case BACKEND_STATUS_SET: 34 | return { 35 | ...state, 36 | status: action.status 37 | }; 38 | 39 | case BACKEND_COUNTDOWN_SET: 40 | return { 41 | ...state, 42 | countdown: action.countdown 43 | }; 44 | 45 | default: 46 | return state; 47 | } 48 | } 49 | -------------------------------------------------------------------------------- /ui/src/registerServiceWorker.js: -------------------------------------------------------------------------------- 1 | // In production, we register a service worker to serve assets from local cache. 2 | 3 | // This lets the app load faster on subsequent visits in production, and gives 4 | // it offline capabilities. However, it also means that developers (and users) 5 | // will only see deployed updates on the "N+1" visit to a page, since previously 6 | // cached resources are updated in the background. 7 | 8 | // To learn more about the benefits of this model, read https://goo.gl/KwvDNy. 9 | // This link also includes instructions on opting out of this behavior. 10 | 11 | const isLocalhost = Boolean( 12 | window.location.hostname === 'localhost' || 13 | // [::1] is the IPv6 localhost address. 14 | window.location.hostname === '[::1]' || 15 | // 127.0.0.1/8 is considered localhost for IPv4. 16 | window.location.hostname.match( 17 | /^127(?:\.(?:25[0-5]|2[0-4][0-9]|[01]?[0-9][0-9]?)){3}$/ 18 | ) 19 | ); 20 | 21 | export default function register() { 22 | if (process.env.NODE_ENV === 'production' && 'serviceWorker' in navigator) { 23 | // The URL constructor is available in all browsers that support SW. 24 | const publicUrl = new URL(process.env.PUBLIC_URL, window.location); 25 | if (publicUrl.origin !== window.location.origin) { 26 | // Our service worker won't work if PUBLIC_URL is on a different origin 27 | // from what our page is served on. This might happen if a CDN is used to 28 | // serve assets; see https://github.com/facebookincubator/create-react-app/issues/2374 29 | return; 30 | } 31 | 32 | window.addEventListener('load', () => { 33 | const swUrl = `${process.env.PUBLIC_URL}/service-worker.js`; 34 | 35 | if (isLocalhost) { 36 | // This is running on localhost. Lets check if a service worker still exists or not. 37 | checkValidServiceWorker(swUrl); 38 | 39 | // Add some additional logging to localhost, pointing developers to the 40 | // service worker/PWA documentation. 41 | navigator.serviceWorker.ready.then(() => { 42 | console.log( 43 | 'This web app is being served cache-first by a service ' + 44 | 'worker. To learn more, visit https://goo.gl/SC7cgQ' 45 | ); 46 | }); 47 | } else { 48 | // Is not local host. Just register service worker 49 | registerValidSW(swUrl); 50 | } 51 | }); 52 | } 53 | } 54 | 55 | function registerValidSW(swUrl) { 56 | navigator.serviceWorker 57 | .register(swUrl) 58 | .then(registration => { 59 | registration.onupdatefound = () => { 60 | const installingWorker = registration.installing; 61 | installingWorker.onstatechange = () => { 62 | if (installingWorker.state === 'installed') { 63 | if (navigator.serviceWorker.controller) { 64 | // At this point, the old content will have been purged and 65 | // the fresh content will have been added to the cache. 66 | // It's the perfect time to display a "New content is 67 | // available; please refresh." message in your web app. 68 | console.log('New content is available; please refresh.'); 69 | } else { 70 | // At this point, everything has been precached. 71 | // It's the perfect time to display a 72 | // "Content is cached for offline use." message. 73 | console.log('Content is cached for offline use.'); 74 | } 75 | } 76 | }; 77 | }; 78 | }) 79 | .catch(error => { 80 | console.error('Error during service worker registration:', error); 81 | }); 82 | } 83 | 84 | function checkValidServiceWorker(swUrl) { 85 | // Check if the service worker can be found. If it can't reload the page. 86 | fetch(swUrl) 87 | .then(response => { 88 | // Ensure service worker exists, and that we really are getting a JS file. 89 | if ( 90 | response.status === 404 || 91 | response.headers.get('content-type').indexOf('javascript') === -1 92 | ) { 93 | // No service worker found. Probably a different app. Reload the page. 94 | navigator.serviceWorker.ready.then(registration => { 95 | registration.unregister().then(() => { 96 | window.location.reload(); 97 | }); 98 | }); 99 | } else { 100 | // Service worker found. Proceed as normal. 101 | registerValidSW(swUrl); 102 | } 103 | }) 104 | .catch(() => { 105 | console.log( 106 | 'No internet connection found. App is running in offline mode.' 107 | ); 108 | }); 109 | } 110 | 111 | export function unregister() { 112 | if ('serviceWorker' in navigator) { 113 | navigator.serviceWorker.ready.then(registration => { 114 | registration.unregister(); 115 | }); 116 | } 117 | } 118 | -------------------------------------------------------------------------------- /ui/src/utils/Backend.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 30.01.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import { makeId } from './helpers'; 22 | 23 | //------------------------------------------------------------------------------ 24 | // Backend 25 | //------------------------------------------------------------------------------ 26 | export class Backend { 27 | //---------------------------------------------------------------------------- 28 | // Constants 29 | //---------------------------------------------------------------------------- 30 | static CONNECTING = 0; 31 | static OPENED = 1; 32 | static CLOSED = 2; 33 | static MSG_RECEIVED = 3; 34 | static COUNTDOWN = 4; 35 | 36 | static REMOVE_LISTENER = 0; 37 | 38 | //---------------------------------------------------------------------------- 39 | // Constructor 40 | //---------------------------------------------------------------------------- 41 | constructor() { 42 | const loc = window.location; 43 | const wsProtocol = loc.protocol === 'https:' ? 'wss:' : 'ws:'; 44 | this.wsUrl = 45 | process.env.NODE_ENV === 'production' 46 | ? `${wsProtocol}//${loc.host}/ws` 47 | : 'ws://rpi2-wifi:5005/ws'; 48 | 49 | this.ws = null; 50 | this.countdownTimer = null; 51 | this.countdown = 0; 52 | this.nextTry = 2; 53 | this.eventListeners = new Set(); 54 | this.connect(); 55 | } 56 | 57 | //---------------------------------------------------------------------------- 58 | // Connect 59 | //---------------------------------------------------------------------------- 60 | connect = () => { 61 | //-------------------------------------------------------------------------- 62 | // Check and clear the existing state 63 | //-------------------------------------------------------------------------- 64 | if(this.ws) 65 | throw Error('Socket not closed'); 66 | 67 | if(this.countdownTimer) 68 | clearInterval(this.countdownTimer); 69 | 70 | //-------------------------------------------------------------------------- 71 | // Attempt the connection 72 | //-------------------------------------------------------------------------- 73 | this.dispatchEvent(Backend.CONNECTING, null); 74 | 75 | this.ws = new WebSocket(this.wsUrl); 76 | 77 | //-------------------------------------------------------------------------- 78 | // On open 79 | //-------------------------------------------------------------------------- 80 | this.ws.onopen = () => { 81 | this.dispatchEvent(Backend.OPENED, null); 82 | this.nextTry = 2; 83 | }; 84 | 85 | //-------------------------------------------------------------------------- 86 | // On Message 87 | //-------------------------------------------------------------------------- 88 | this.ws.onmessage = (evt) => { 89 | const message = JSON.parse(evt.data); 90 | this.dispatchEvent(Backend.MSG_RECEIVED, message); 91 | }; 92 | 93 | //-------------------------------------------------------------------------- 94 | // On Close 95 | //-------------------------------------------------------------------------- 96 | this.ws.onclose = () => { 97 | this.dispatchEvent(Backend.CLOSED, null); 98 | 99 | this.ws = null; 100 | this.nextTry *= 2; 101 | if(this.nextTry > 256) 102 | this.nextTry = 256; 103 | this.countdown = this.nextTry - 1; 104 | 105 | this.dispatchEvent(Backend.COUNTDOWN, this.countdown + 1); 106 | 107 | const tick = () => { 108 | this.dispatchEvent(Backend.COUNTDOWN, this.countdown); 109 | if(this.countdown === 0) { 110 | this.connect(); 111 | return; 112 | } 113 | this.countdown -= 1; 114 | }; 115 | this.countdownTimer = setInterval(tick, 1000); 116 | }; 117 | }; 118 | 119 | //---------------------------------------------------------------------------- 120 | // Add event listener 121 | //---------------------------------------------------------------------------- 122 | addEventListener = (listener) => { 123 | this.eventListeners.add(listener); 124 | } 125 | 126 | //---------------------------------------------------------------------------- 127 | // Remove an event listener 128 | //---------------------------------------------------------------------------- 129 | removeEventListener = (listener) => { 130 | this.eventListeners.delete(listener); 131 | } 132 | 133 | //---------------------------------------------------------------------------- 134 | // Dispatch event 135 | //---------------------------------------------------------------------------- 136 | dispatchEvent = (event, data) => { 137 | let toRemove = []; 138 | for(const listener of this.eventListeners) { 139 | let ret = listener(event, data); 140 | if(ret === Backend.REMOVE_LISTENER) 141 | toRemove.push(listener); 142 | } 143 | for(const listener of toRemove) 144 | this.removeEventListener(listener); 145 | } 146 | 147 | //---------------------------------------------------------------------------- 148 | // Send message 149 | //---------------------------------------------------------------------------- 150 | sendMessage = (message, expectResponse = true) => { 151 | //-------------------------------------------------------------------------- 152 | // Only send messages if we're connected 153 | //-------------------------------------------------------------------------- 154 | if(!this.ws || this.ws.readyState !== WebSocket.OPEN) 155 | return Promise.reject(new Error('Backend not connected.')); 156 | 157 | //-------------------------------------------------------------------------- 158 | // Wrap the message 159 | //-------------------------------------------------------------------------- 160 | let newMessage = null; 161 | const id = makeId(32); 162 | if(expectResponse) { 163 | newMessage = Object.assign(message, { 164 | type: 'ACTION', 165 | id 166 | }); 167 | } 168 | else { 169 | newMessage = Object.assign(message, { 170 | type: 'ACTION_NO_RESP' 171 | }); 172 | this.ws.send(JSON.stringify(newMessage)); 173 | return Promise.resolve({}); 174 | } 175 | 176 | return new Promise((resolve, reject) => { 177 | //------------------------------------------------------------------------ 178 | // Listener handling the answer 179 | //------------------------------------------------------------------------ 180 | const listener = (event, data) => { 181 | //---------------------------------------------------------------------- 182 | // Disconnected, the answer will never arrive 183 | //---------------------------------------------------------------------- 184 | if(event === Backend.CLOSED) { 185 | reject(new Error('Backend disconnected')); 186 | return Backend.REMOVE_LISTENER; 187 | } 188 | 189 | //---------------------------------------------------------------------- 190 | // We got the response 191 | //---------------------------------------------------------------------- 192 | if(event === Backend.MSG_RECEIVED && data.type === 'ACTION_EXECUTED' 193 | && data.id === id) { 194 | 195 | if(data.status === 'OK') { 196 | let cleanData = Object.assign(data); 197 | delete cleanData.type; 198 | delete cleanData.id; 199 | delete cleanData.status; 200 | resolve(cleanData); 201 | } 202 | else 203 | reject(new Error(data.message)); 204 | 205 | return Backend.REMOVE_LISTENER; 206 | } 207 | 208 | return null; 209 | }; 210 | 211 | //------------------------------------------------------------------------ 212 | // Register the resposne listener and send the message 213 | //------------------------------------------------------------------------ 214 | this.addEventListener(listener); 215 | this.ws.send(JSON.stringify(newMessage)); 216 | }); 217 | } 218 | }; 219 | 220 | //------------------------------------------------------------------------------ 221 | // The backend 222 | //------------------------------------------------------------------------------ 223 | export let backend = new Backend(); 224 | -------------------------------------------------------------------------------- /ui/src/utils/backendActions.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 06.03.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | import { backend } from './Backend'; 22 | 23 | //------------------------------------------------------------------------------ 24 | // Update throttle 25 | //------------------------------------------------------------------------------ 26 | export function updateThrottle(value) { 27 | return backend.sendMessage({ 28 | action: 'STEERING_UPDATE', 29 | channel: 0, 30 | value 31 | }, false); 32 | } 33 | 34 | //------------------------------------------------------------------------------ 35 | // Update yaw 36 | //------------------------------------------------------------------------------ 37 | export function updateYaw(value) { 38 | return backend.sendMessage({ 39 | action: 'STEERING_UPDATE', 40 | channel: 1, 41 | value 42 | }, false); 43 | } 44 | 45 | //------------------------------------------------------------------------------ 46 | // Update roll 47 | //------------------------------------------------------------------------------ 48 | export function updateRoll(value) { 49 | return backend.sendMessage({ 50 | action: 'STEERING_UPDATE', 51 | channel: 2, 52 | value 53 | }, false); 54 | } 55 | 56 | //------------------------------------------------------------------------------ 57 | // Update pitch 58 | //------------------------------------------------------------------------------ 59 | export function updatePitch(value) { 60 | return backend.sendMessage({ 61 | action: 'STEERING_UPDATE', 62 | channel: 3, 63 | value 64 | }, false); 65 | } 66 | 67 | //------------------------------------------------------------------------------ 68 | // Update accessory 0 69 | //------------------------------------------------------------------------------ 70 | export function updateAcc0(value) { 71 | return backend.sendMessage({ 72 | action: 'STEERING_UPDATE', 73 | channel: 4, 74 | value 75 | }, false); 76 | } 77 | 78 | //------------------------------------------------------------------------------ 79 | // Update accessory 1 80 | //------------------------------------------------------------------------------ 81 | export function updateAcc1(value) { 82 | return backend.sendMessage({ 83 | action: 'STEERING_UPDATE', 84 | channel: 5, 85 | value 86 | }, false); 87 | } 88 | 89 | //------------------------------------------------------------------------------ 90 | // Update accessory 2 91 | //------------------------------------------------------------------------------ 92 | export function updateAcc2(value) { 93 | return backend.sendMessage({ 94 | action: 'STEERING_UPDATE', 95 | channel: 6, 96 | value 97 | }, false); 98 | } 99 | 100 | //------------------------------------------------------------------------------ 101 | // Update accessory 3 102 | //------------------------------------------------------------------------------ 103 | export function updateAcc3(value) { 104 | return backend.sendMessage({ 105 | action: 'STEERING_UPDATE', 106 | channel: 7, 107 | value 108 | }, false); 109 | } 110 | -------------------------------------------------------------------------------- /ui/src/utils/helpers.js: -------------------------------------------------------------------------------- 1 | //------------------------------------------------------------------------------ 2 | // Author: Lukasz Janyst 3 | // Date: 18.02.2018 4 | //------------------------------------------------------------------------------ 5 | // This file is part of PiPilot. 6 | // 7 | // PiPilot is free software: you can redistribute it and/or modify 8 | // it under the terms of the GNU General Public License as published by 9 | // the Free Software Foundation, either version 3 of the License, or 10 | // (at your option) any later version. 11 | // 12 | // PiPilot is distributed in the hope that it will be useful, 13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | // GNU General Public License for more details. 16 | // 17 | // You should have received a copy of the GNU General Public License 18 | // along with PiPilot. If not, see . 19 | //------------------------------------------------------------------------------ 20 | 21 | //------------------------------------------------------------------------------ 22 | // Make id 23 | //------------------------------------------------------------------------------ 24 | export function makeId(length) { 25 | var text = ''; 26 | var possible = 'abcdefghijklmnopqrstuvwxyz0123456789'; 27 | 28 | for(var i = 0; i < length; i++) 29 | text += possible.charAt(Math.floor(Math.random() * possible.length)); 30 | 31 | return text; 32 | } 33 | --------------------------------------------------------------------------------