main.py

import serial
import socket                                         
import _thread
import time
import os
import subprocess

import yaml
config_settings = yaml.load(open('./config.yml').read(), Loader=yaml.FullLoader)

from gnss_device.ublox import UBlox
ublox = UBlox(config_settings['gnss_port'], baudrate=config_settings['gnss_port_baud'], timeout=0.01)

def save_config():
    with open('./config.yml', 'w') as file:
        documents = yaml.dump(config_settings, file)

dev = not socket.gethostname()=='raspberrypi'
if not dev:
    import psutil
from oled import Oled
oled = Oled(dev= dev)

def get_ip():
    global dev
    if dev:
        ip = list(map(int, socket.gethostbyname(socket.gethostname()).split("."))) 
    else:
        ip = list(map(int, subprocess.check_output("hostname -I", shell = True ).decode("utf-8").split("."))) 

    return ip

# create a socket object
serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 

# get local machine name
host = "0.0.0.0"                           

port = 1688                                           

# bind to the port
serversocket.bind((host, port))                                  

# queue up to 5 requests
serversocket.listen(5)                                           

def gnss_proxy_thread():
    while True:
        if ublox.proxy:
            try:
                data = ublox.proxy.recv(1024)
            except Exception as e:
                ublox.proxy = None

            if data:
                ublox.write(data)
        else:
            # establish a connection
            clientsocket,addr = serversocket.accept()      
            print("Got a connection from %s" % str(addr))
            ublox.proxy = clientsocket

_thread.start_new_thread(gnss_proxy_thread, ())

def oled_thread():
    while True:
        if not dev:
            cpu_usage = int(psutil.cpu_percent())
            mem = psutil.virtual_memory()
            memory_usage = int((mem.used / mem.total) * 100)
            oled.refresh(ublox.gnss_count, get_ip(), ublox.survey_in_acc, ublox.is_survey_in_success, cpu_usage, memory_usage)

        time.sleep(1)

_thread.start_new_thread(oled_thread, ())
_thread.start_new_thread(ublox.loop, ())

from flask import Flask, request, jsonify, render_template, redirect, url_for
app = Flask(__name__)
app.config['TEMPLATES_AUTO_RELOAD'] = True

GNSS_BAUDRATES = [1200, 2400, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600]

@app.route('/')
def index():
    return render_template('index.html')

@app.route('/settings', methods=['GET', 'POST'])
def settings():
    if request.method == "GET":
        message = None
    elif request.method == "POST": 
        try:
            gnss_baud = request.form.get("gnss_baud")
            if gnss_baud:
                config_settings['gnss_port_baud'] = int(gnss_baud)
                save_config()
                ublox.reload(baudrate=config_settings['gnss_port_baud'])
                message = {"type": "alert-success", "content": "Change GNSS Port Baud Success!"}
        except Exception as e:
            message = {"type": "alert-danger", "content": "Something Wrong!"}

    return render_template('settings.html', GNSS_BAUDRATES=GNSS_BAUDRATES, gnss_port_baud=config_settings['gnss_port_baud'], message=message)

@app.route('/gnss')
def gnss():
    return jsonify(ublox.status)

app.run(host="0.0.0.0", port="3000")