fhu_auto

FHU door Raspberry Pi controller.

This repository has been fully migrated away from ROS. It is now a small, self-contained Python Flask application that drives the gate relays through the Raspberry Pi GPIO pins, and exposes a web UI plus a simple HTTP/JSON API.

Requirements

• Python 3.5+
• A Raspberry Pi with the two relay channels wired to the GPIO pins configured in app.py (default: GPIO19 for up, GPIO26 for down).

Installation

python3 -m venv venv
source venv/bin/activate
pip install -r requirements.txt

RPi.GPIO is only required (and only installable) on a Raspberry Pi. When running the app on a regular PC (e.g. for development or UI testing) a mock GPIO backend is used automatically and GPIO calls are just printed to the console.

Running

python app.py

By default the server listens on 0.0.0.0:5000. The following environment variables can be used to configure it:

Variable	Default	Description
PORT	5000	TCP port the Flask server listens on.
UP_GPIO	19	BCM GPIO pin driving the "up" relay.
DOWN_GPIO	26	BCM GPIO pin driving the "down" relay.
DOOR_TIME	17	Seconds the relay stays energised for a move.

Web UI

Open http://<pi-address>:5000/ in a browser (desktop or mobile). The page offers three buttons:

• Up – raises the gate.
• Down – lowers the gate.
• Stop – immediately stops any gate movement.

Pressing Up or Down opens a confirmation dialog with a safety warning. The dialog must be confirmed by pressing and holding the confirm button for two seconds (works with mouse and touch) before the command is sent, to avoid accidental activation. Stop is a safety action and is executed immediately without confirmation.

The UI is responsive and usable on both desktop and mobile screens.

HTTP/JSON API

Method	Path	Description
GET	/	Serves the HTML control page.
GET	/api/status	Returns the current status as JSON: {"busy": bool, "direction": "up"|"down"|null, "message": str}.
POST	/api/up	Starts raising the gate. Returns 409 if a move is already in progress.
POST	/api/down	Starts lowering the gate. Returns 409 if a move is already in progress.
POST	/api/stop	Immediately stops any movement and releases both relays. Always returns 200.

All endpoints return a JSON body describing the resulting status, e.g.:

{"busy": true, "direction": "up", "message": "Raising the gate..."}

Running as a service

An example supervisord program definition is provided in config/sv-door-control.conf to run the Flask app as a persistent service on boot.