Mes canvis

rasp/server.py

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+from flask import Flask, request, jsonify
+import sys
+import os
+
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), 'Rasp'))
+
+import time
+import pigpio
+import motion
+from motion import (
+    motion_setup, motion_setup_steppers, motion_setup_sensors, motion_cleanup,
+    enable_wheels, enable_arms, enable_syringe,
+    arms_home, syringe_home,
+    distance_to_object,
+    ON, OFF, CW, CCW,
+)
+
+def _pi_connect():
+    pi = pigpio.pi()
+    if not pi.connected:
+        print("ERROR: pigpiod no està en marxa. Executa: sudo pigpiod -s 1")
+        sys.exit(1)
+    return pi
+
+def _setup_motors():
+    """Setup mínim per a tests de motors (sense sensors I2C)."""
+    pi = _pi_connect()
+    motion_setup_steppers(pi)
+    return pi
+
+def _setup_sensors():
+    """Setup mínim per a tests de sensors I2C (sense steppers)."""
+    pi = _pi_connect()
+    motion_setup_sensors(pi)
+    return pi
+
+def _teardown_motors(pi):
+    motion_cleanup()
+    pi.stop()
+
+def _teardown_sensors(pi):
+    pi.stop()
+
+def test_arms_pair():
+    pi = _setup_motors()
+    enable_arms(ON); time.sleep(0.1)
+    motion.arm_R.move(+200); motion.arm_L.move(+200)
+    time.sleep(1.5)
+    motion.arm_R.move(-200); motion.arm_L.move(-200)
+    time.sleep(0.5)
+    enable_arms(OFF)
+
+app = Flask(__name__)
+
+@app.route("/")
+def home():
+    return jsonify({
+        "message": "Flask API is running"
+    })
+
+@app.route("/greet", methods=["GET"])
+def greet():
+    test_arms_pair()
+    return jsonify({
+        "message": "Hello, world!"
+    })
+
+
+# Simple error handlers
+@app.errorhandler(404)
+def not_found(e):
+    return jsonify({"error": "Route not found"}), 404
+
+
+@app.errorhandler(500)
+def server_error(e):
+    return jsonify({"error": "Internal server error"}), 500
+
+
+if __name__ == "__main__":
+    app.run(debug=True, host="0.0.0.0", port=8000)