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import RPi.GPIO as GPIO
import tornado.ioloop
import tornado.web
import tornado.httpserver
import tornado.websocket
import time
import os
 
PIN_OUT_1 = 29
PIN_OUT_2 = 31
PIN_RECHTS = 28
PIN_LINKS = 30
 
GPIO.setmode(GPIO.BCM)
GPIO.setup(PIN_OUT_1, GPIO.OUT)
GPIO.setup(PIN_OUT_2, GPIO.OUT)
GPIO.setup(PIN_RECHTS, GPIO.OUT)
GPIO.setup(PIN_LINKS, GPIO.OUT)

class WSHandler(tornado.websocket.WebSocketHandler):

  if drive == 1:
       print 'servo start'
       Servo.start(50)

  def check_origin(self, origin):
    return True

  def open(self):
    print 'New connection was opened'
    self.write_message("Welcome to my websocket!")
 
  def on_message(self, message):
    print 'Incoming message:', message
    self.write_message("You said: " + message)
   
    if  message == "fahren":
        GPIO.output(PIN_OUT_2, False)
        Servo = GPIO.PWM(PIN_OUT_1, 50)
        drive = 1

    if message == "halten":
        print 'Eingabe erkannt', message
        GPIO.output(PIN_OUT_2, False)
        Servo = GPIO.PWM(PIN_OUT_1, 50)
        drive = 2
        
  def on_close(self):
    print 'Connection was closed...'
    GPIO.cleanup()
 
application = tornado.web.Application([
  (r'/ws', WSHandler), ])
 
if __name__ == "__main__":
  http_server = tornado.httpserver.HTTPServer(application)
  http_server.listen(8888)
  tornado.ioloop.IOLoop.instance().start()