Add IR sensor support.

listen.py

@@ -10,24 +10,42 @@ if len(sys.argv) != 2:
     sys.exit(1)
 
 class Handler(SimpleHTTPServer.SimpleHTTPRequestHandler):
+    def respond(self, reply):
+        self.send_response(200)
+        self.send_header('Content-Type', 'text/plain')
+        self.end_headers()
+        self.wfile.write(reply)
+        self.wfile.close()
+
+    def find_sensor(self, driver_name):
+        for s in range(0, 4):
+            dir = '/sys/class/lego-sensor/sensor%d' % s
+            f = open('%s/driver_name' % dir, 'r')
+            if f.readline().strip() == driver_name:
+                return dir
+
+        return None            
+
     def do_GET(self): 
         parts = self.path[1:].split('/')
         print parts
         if len(parts) == 4 and parts[0] == 'motor':
             print 'Run %s to %s at speed %s' % (parts[1], parts[2], parts[3])
             d = MediumMotor(parts[1])
-	    d.run_position_limited(int(parts[2]), int(parts[3]), absolute=False)
+            d.run_position_limited(int(parts[2]), int(parts[3]), absolute=False)
+            self.respond('OK')
         elif len(parts) == 2 and parts[0] == 'say':
             phrase = parts[1]
             phrase = phrase.replace('%20', ' ')
             print 'Say %s' % phrase
             os.system('espeak -a 200 -s 130 -v en-sc --stdout "%s" | aplay' % phrase)
-
-        self.send_response(200)
-        self.send_header('Content-Type', 'text/html')
-        self.end_headers()
-        self.wfile.write('OK')
-        self.wfile.close()
+            self.respond('OK')
+        elif len(parts) == 2 and parts[0] == 'ir-sensor' and parts[1] == 'proximity':
+            dir = self.find_sensor('lego-ev3-ir')
+            f = open('%s/value0' % dir, 'r')
+            v = f.readline().strip()
+            f.close()
+            self.respond(v)
 
 class TCPServer(SocketServer.TCPServer):
     def server_bind(self):

snap-ev3.py

@@ -25,11 +25,14 @@ class Handler(SimpleHTTPServer.SimpleHTTPRequestHandler):
             self.copyfile(f, self.wfile)
             f.close()
         else:
-            urllib2.urlopen("http://10.42.0.51:%d%s" % (EV3_PORT, self.path), timeout=5).read()
+            response = urllib2.urlopen("http://10.42.0.51:%d%s" % (EV3_PORT, self.path), timeout=5).read()
+            print '%s -> %s' % (self.path, response)
             self.send_response(200)
-            self.send_header('Content-Type', 'text/html')
+            self.send_header('Content-Type', 'application/octet-stream')
+            self.send_header('Content-Length', str(len(response)))
+            self.send_header('Access-Control-Allow-Origin', '*')
             self.end_headers()
-            self.wfile.write('OK')
+            self.wfile.write(response)
             self.wfile.close()
 
 class TCPServer(SocketServer.TCPServer):

snap-ev3.xml

@@ -47,4 +47,15 @@
     </block>
   </script>
   </block-definition>
+  <block-definition category="sensing" s="IR sensor proximity" type="reporter">
+    <inputs></inputs>
+    <script>
+      <block s="doReport">
+        <block s="reportURL">
+          <l>localhost:1330/ir-sensor/proximity</l>
+        </block>
+      </block>
+    </script>
+    <watcher s="IR sensor proximity" style="normal"/>
+  </block-definition>
 </blocks>