servo.py

import aioactioncable
import asyncio
import json
import ssl

state = {
  "dial_6": 0,
  "dial_7": 0,
  "toggle_6": 0
}

experiment_id = '6'

steppers = ["dial_6", "dial_7"]

power = 0

def update():
    for stepper in steppers:
			newmotorPos = state[stepper]
			if newmotorPos != stepperPositions[stepper]:
				print("stepperID: {}, stepperPos: {}".format(stepper, newmotorPos))
				stepperPositions[stepper] = newmotorPos
				if stepper == "dial_6":
					stepper_id = 1
				else:
					stepper_id = 2
				inputString = "M{0}:{1}\n".format(stepper_id, newmotorPos)
				print(inputString)
				ser.write(inputString.encode('utf-8'))
				time.sleep(1)
		if power != state["toggle_6"]:
			if state["toggle_6"] == 1:
				GPIO.output(power, GPIO.HIGH)
				power = state["toggle_6"]
			else:
				time.sleep(5)
				GPIO.output(power, GPIO.LOW)
				power = state["toggle_6"]
			print("status:", state["toggle_6"])

def process(msg):
  msg_json = json.loads(msg)
  print(f'Processing {msg_json}')
  state[msg['control']] = msg['value']
  update()

async def ac_recv(uri, identifier):
  async with aioactioncable.connect(uri) as acconnect:
    subscription = await acconnect.subscribe(identifier)
    async for msg in subscription:
      if json.loads(msg)['location'] == 'pi':
        process(msg)
        await subscription.send({**json.loads(msg), 'location': 'controls'})

update()
asyncio.run(ac_recv('ws://127.0.0.1:3000/cable', {'channel': 'ExperimentChannel', 'experiment': experiment_id, "location": 'pi'}))