feat: initial commit - Carinha Control Panel v1.0 com UI glassmorphism, watch-bar, emojis, braco robotico e conversa IA

servos.py

@@ -0,0 +1,145 @@
+"""Testes individuais do PCA9685. Inicialização sem movimento; pulso com prazo."""
+import json
+import os
+from pathlib import Path
+import threading
+import time
+
+def integer(value, lo, hi):
+    if type(value) is not int or not lo <= value <= hi:
+        raise ValueError(f'Esperava inteiro entre {lo} e {hi}')
+    return value
+
+class PCA:
+    def __init__(self, bus):
+        import fcntl
+        self.fd = os.open(bus, os.O_RDWR)
+        fcntl.ioctl(self.fd, 0x0703, 0x40)
+        self.ready = False
+    def write(self, reg, values):
+        os.write(self.fd, bytes([reg, *values]))
+    def read(self, reg):
+        os.write(self.fd, bytes([reg]))
+        return os.read(self.fd, 1)[0]
+    def init(self):
+        # All outputs off before changing global frequency; no position at startup.
+        self.write(0xFD, [0x10])
+        for channel in range(16): self.off(channel)
+        old = self.read(0)
+        self.write(0, [(old & 0x7F) | 0x10])
+        self.write(0xFE, [121])  # 25 MHz / (4096 * (121+1)) ≈ 50 Hz
+        self.write(0, [(old & ~0x10) | 0x20])
+        time.sleep(.005)
+        self.write(0, [(old & ~0x10) | 0xA0])
+        self.ready = True
+    def pulse(self, channel, us):
+        if not self.ready: self.init()
+        ticks = round(us * 25 / 122)
+        self.write(6 + 4 * channel, [0, 0, ticks & 255, ticks >> 8])
+    def off(self, channel):
+        self.write(9 + 4 * channel, [0x10])
+
+class ControleServos:
+    def __init__(self, arquivo, hardware=None):
+        self.path = Path(arquivo)
+        self.lock = threading.RLock()
+        self.hw = hardware
+        self.error = ''
+        self.active = {}
+        self.closed = threading.Event()
+        self.config = [dict(nome=f'Servo {i+1}', canal=i, minimo=1400, maximo=1600, centro=1500) for i in range(6)]
+        try:
+            self.config = self.validate(json.loads(self.path.read_text(encoding='utf-8')))
+        except (OSError, ValueError): pass
+        if self.hw is None and os.name == 'posix':
+            bus = os.environ.get('CARINHA_I2C')
+            if bus:
+                try: self.hw = PCA(bus)
+                except OSError as e: self.error = str(e)
+        self.worker = threading.Thread(target=self.watch, daemon=True)
+        self.worker.start()
+    def validate(self, rows):
+        if not isinstance(rows, list) or not 1 <= len(rows) <= 16:
+            raise ValueError('Use entre 1 e 16 servos')
+        result, channels = [], set()
+        for row in rows:
+            if not isinstance(row, dict): raise ValueError('Servo inválido')
+            channel = integer(row.get('canal'), 0, 15)
+            if channel in channels: raise ValueError('Canais repetidos')
+            channels.add(channel)
+            name = row.get('nome')
+            if not isinstance(name, str) or not 1 <= len(name.strip()) <= 40: raise ValueError('Nome inválido')
+            lo = integer(row.get('minimo'), 1000, 2000)
+            hi = integer(row.get('maximo'), 1000, 2000)
+            center = integer(row.get('centro'), lo, hi)
+            if lo >= hi: raise ValueError('Mínimo deve ser menor que máximo')
+            result.append(dict(nome=name.strip(), canal=channel, minimo=lo, maximo=hi, centro=center))
+        return result
+    def status(self):
+        with self.lock:
+            return dict(disponivel=self.hw is not None, erro=self.error,
+                        servos=[dict(row) for row in self.config], ativos=list(self.active), prazo=2)
+    def save(self, rows):
+        rows = self.validate(rows)
+        with self.lock:
+            if self.active: raise ValueError('Desligue os sinais antes de salvar')
+            tmp = self.path.with_suffix('.tmp')
+            tmp.write_text(json.dumps(rows, ensure_ascii=False, indent=2), encoding='utf-8')
+            tmp.replace(self.path)
+            self.config = rows
+        return self.status()
+    def move(self, index, pulse):
+        with self.lock:
+            index = integer(index, 0, len(self.config)-1)
+            row = self.config[index]
+            pulse = integer(pulse, row['minimo'], row['maximo'])
+            if self.hw is None: raise OSError('PCA9685 indisponível neste servidor')
+            self.hw.pulse(row['canal'], pulse)
+            self.active[row['canal']] = time.monotonic() + 2
+        return self.status()
+    def expire(self, now):
+        with self.lock:
+            for channel, deadline in list(self.active.items()):
+                if now >= deadline:
+                    self.hw.off(channel)
+                    del self.active[channel]
+    def stop(self):
+        with self.lock:
+            if self.hw:
+                for channel in range(16): self.hw.off(channel)
+            self.active.clear()
+        return self.status()
+    def watch(self):
+        while not self.closed.wait(.1):
+            try: self.expire(time.monotonic())
+            except OSError as e: self.error = str(e)
+    def close(self):
+        self.closed.set()
+        self.worker.join(timeout=1)
+    def rotas(self, h, method):
+        route = h.path.split('?', 1)[0]
+        if route not in ('/servos/status', '/servos/config', '/servos/mover', '/servos/parar'): return False
+        try:
+            if method == 'GET' and route == '/servos/status': result = self.status()
+            elif method == 'POST':
+                origin = h.headers.get('Origin')
+                if origin and origin not in ('http://' + h.headers.get('Host', ''), 'https://' + h.headers.get('Host', '')):
+                    raise ValueError('Origem não permitida')
+                if h.headers.get('Content-Type', '').split(';')[0] != 'application/json': raise ValueError('Use JSON')
+                size = int(h.headers.get('Content-Length', '0'))
+                if not 0 < size <= 8192: raise ValueError('Corpo inválido')
+                data = json.loads(h.rfile.read(size))
+                if not isinstance(data, dict): raise ValueError('Objeto JSON obrigatório')
+                if route == '/servos/config': result = self.save(data.get('servos'))
+                elif route == '/servos/mover': result = self.move(data.get('indice'), data.get('pulso'))
+                elif route == '/servos/parar': result = self.stop()
+                else: raise ValueError('Rota inválida')
+            else:
+                h.enviar(json.dumps({'erro':'Método não permitido'}), codigo=405)
+                return True
+            h.enviar(json.dumps(result, ensure_ascii=False))
+        except (ValueError, TypeError) as e:
+            h.enviar(json.dumps({'erro':str(e)}), codigo=400)
+        except OSError as e:
+            h.enviar(json.dumps({'erro':str(e)}), codigo=503)
+        return True