Refactor server.
This commit is contained in:
parent
85ed0af7e4
commit
6ade8fb818
|
|
@ -0,0 +1,82 @@
|
||||||
|
#
|
||||||
|
# Copyright 2025 James Pace
|
||||||
|
#
|
||||||
|
# This Source Code Form is subject to the terms of the Mozilla Public
|
||||||
|
# License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||||
|
# file, You can obtain one at https://mozilla.org/MPL/2.0/.
|
||||||
|
#
|
||||||
|
# This Source Code Form is "Incompatible With Secondary Licenses", as
|
||||||
|
# defined by the Mozilla Public License, v. 2.0.
|
||||||
|
#
|
||||||
|
from aiohttp import web
|
||||||
|
import asyncio
|
||||||
|
from ament_index_python import get_package_share_directory
|
||||||
|
import rclpy
|
||||||
|
|
||||||
|
class Api:
|
||||||
|
def __init__(self, facts):
|
||||||
|
self._facts = facts
|
||||||
|
|
||||||
|
async def run(self):
|
||||||
|
ui_share_directory = get_package_share_directory("am_i_up_ui")
|
||||||
|
ui_static_directory = ui_share_directory + "/dist/assets"
|
||||||
|
|
||||||
|
app = web.Application()
|
||||||
|
app.add_routes([
|
||||||
|
web.get('/api/ping', self.ping),
|
||||||
|
web.get('/api/uptime', self.uptime),
|
||||||
|
web.get('/api/build_info', self.build_info),
|
||||||
|
web.get('/api/env', self.env),
|
||||||
|
web.get('/api/status', self.status),
|
||||||
|
web.static("/assets", ui_static_directory),
|
||||||
|
# we're not actually using key anywhere, but doing this allows react router
|
||||||
|
# to work correctly.
|
||||||
|
web.get("/{key:.*}", self.index)
|
||||||
|
])
|
||||||
|
|
||||||
|
url = "0.0.0.0"
|
||||||
|
port = 8888
|
||||||
|
print("Listening on {}:{}".format(url, port))
|
||||||
|
|
||||||
|
runner = web.AppRunner(app)
|
||||||
|
await runner.setup()
|
||||||
|
site = web.TCPSite(runner, url, port)
|
||||||
|
await site.start()
|
||||||
|
|
||||||
|
while rclpy.ok():
|
||||||
|
await asyncio.sleep(3600)
|
||||||
|
await runner.cleanup()
|
||||||
|
|
||||||
|
async def index(self, request):
|
||||||
|
ui_share_directory = get_package_share_directory("am_i_up_ui")
|
||||||
|
ui_index_path = ui_share_directory + "/dist/index.html"
|
||||||
|
return web.FileResponse(ui_index_path)
|
||||||
|
|
||||||
|
async def ping(self, request):
|
||||||
|
request_dict = await request.json()
|
||||||
|
result = self._facts.do_ping(request_dict['address'])
|
||||||
|
resp = {"message": result}
|
||||||
|
return web.json_response(resp)
|
||||||
|
|
||||||
|
async def uptime(self, request):
|
||||||
|
resp = {"uptime": self._facts.get_uptime()}
|
||||||
|
return web.json_response(resp)
|
||||||
|
|
||||||
|
async def build_info(self, request):
|
||||||
|
project_state = self._facts.get_buildinfo()
|
||||||
|
if not project_state:
|
||||||
|
resp = {"status": False, "message": "project_state not found."}
|
||||||
|
return web.json_response(resp)
|
||||||
|
project_state["status"] = True
|
||||||
|
return web.json_response(project_state)
|
||||||
|
|
||||||
|
async def env(self, request):
|
||||||
|
env = self._facts.get_env()
|
||||||
|
return web.json_response(env)
|
||||||
|
|
||||||
|
async def status(self, request):
|
||||||
|
status = self._facts.get_status()
|
||||||
|
if not status:
|
||||||
|
status = "Nothing received!"
|
||||||
|
resp = {"message": status}
|
||||||
|
return web.json_response(resp)
|
||||||
|
|
@ -0,0 +1,84 @@
|
||||||
|
#
|
||||||
|
# Copyright 2025 James Pace
|
||||||
|
#
|
||||||
|
# This Source Code Form is subject to the terms of the Mozilla Public
|
||||||
|
# License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||||
|
# file, You can obtain one at https://mozilla.org/MPL/2.0/.
|
||||||
|
#
|
||||||
|
# This Source Code Form is "Incompatible With Secondary Licenses", as
|
||||||
|
# defined by the Mozilla Public License, v. 2.0.
|
||||||
|
#
|
||||||
|
import time
|
||||||
|
import ipaddress
|
||||||
|
import subprocess
|
||||||
|
import os
|
||||||
|
import yaml
|
||||||
|
from ament_index_python import get_package_share_directory
|
||||||
|
|
||||||
|
class Facts:
|
||||||
|
def __init__(self):
|
||||||
|
self._start_time = time.monotonic()
|
||||||
|
self._status_string = None
|
||||||
|
|
||||||
|
def set_status_string(self, status):
|
||||||
|
self._status_string = status
|
||||||
|
|
||||||
|
def get_status(self):
|
||||||
|
return self._status_string
|
||||||
|
|
||||||
|
def get_uptime(self):
|
||||||
|
return time.monotonic() - self._start_time
|
||||||
|
|
||||||
|
def do_ping(self, address):
|
||||||
|
# Make sure address is a ip address.
|
||||||
|
if not is_valid_ip(address):
|
||||||
|
return "Provied address ({}) is not valid.".format(address)
|
||||||
|
|
||||||
|
# Build command.
|
||||||
|
command = ["ping", "-W", "1", "-c", "1", address]
|
||||||
|
process = subprocess.run(command)
|
||||||
|
if process.returncode == 0:
|
||||||
|
return "{} responded to ping.".format(address)
|
||||||
|
return "{} did not respond to ping.".format(address)
|
||||||
|
|
||||||
|
def get_env(self):
|
||||||
|
env = {}
|
||||||
|
# We're not going to return the whole environment because
|
||||||
|
# of security.
|
||||||
|
# Let's pick the ones we want.
|
||||||
|
env['ROS_AUTOMATIC_DISCOVERY_RANGE'] = os.environ.get('ROS_AUTOMATIC_DISCOVERY_RANGE', None)
|
||||||
|
env['AMENT_PREFIX_PATH'] = os.environ.get('AMENT_PREFIX_PATH', None)
|
||||||
|
env['ROS_DISTRO'] = os.environ.get('ROS_DISTRO', None)
|
||||||
|
env['RMW_IMPLEMENTATION'] = os.environ.get('RMW_IMPLEMENTATION', None)
|
||||||
|
env['ROS_NAMESPACE'] = os.environ.get('ROS_NAMESPACE', None)
|
||||||
|
env['CYCLONEDDS_URI'] = os.environ.get('CYCLONEDDS_URI', None)
|
||||||
|
|
||||||
|
return env
|
||||||
|
|
||||||
|
def get_buildinfo(self):
|
||||||
|
# Find the share directory for 'build_info_getter'.
|
||||||
|
build_info_getter_directory = None
|
||||||
|
try:
|
||||||
|
build_info_getter_directory = get_package_share_directory('build_info_getter')
|
||||||
|
except Exception as e:
|
||||||
|
print("Can't find build info.\n{}".format(e))
|
||||||
|
return None
|
||||||
|
# Find and read the project_state.repos file in it.
|
||||||
|
project_state_file = build_info_getter_directory + "/project_state.repos"
|
||||||
|
project_state_content = None
|
||||||
|
try:
|
||||||
|
with open(project_state_file, 'r') as file_obj:
|
||||||
|
project_state_content = yaml.safe_load(file_obj)
|
||||||
|
except Exception as e:
|
||||||
|
# We either didn't load the file or couldn't read it
|
||||||
|
# as json.
|
||||||
|
print("Can't find build info.\n{}".format(e))
|
||||||
|
return project_state_content
|
||||||
|
|
||||||
|
|
||||||
|
def is_valid_ip(address):
|
||||||
|
try:
|
||||||
|
ipaddress.ip_address(address)
|
||||||
|
return True
|
||||||
|
except ValueError:
|
||||||
|
return False
|
||||||
|
|
@ -0,0 +1,30 @@
|
||||||
|
#
|
||||||
|
# Copyright 2025 James Pace
|
||||||
|
#
|
||||||
|
# This Source Code Form is subject to the terms of the Mozilla Public
|
||||||
|
# License, v. 2.0. If a copy of the MPL was not distributed with this
|
||||||
|
# file, You can obtain one at https://mozilla.org/MPL/2.0/.
|
||||||
|
#
|
||||||
|
# This Source Code Form is "Incompatible With Secondary Licenses", as
|
||||||
|
# defined by the Mozilla Public License, v. 2.0.
|
||||||
|
#
|
||||||
|
import rclpy
|
||||||
|
from std_msgs.msg import String
|
||||||
|
import asyncio
|
||||||
|
|
||||||
|
class Ros:
|
||||||
|
def __init__(self, facts):
|
||||||
|
rclpy.init()
|
||||||
|
self._facts = facts
|
||||||
|
self._node = rclpy.create_node('am_i_up')
|
||||||
|
|
||||||
|
self._node.create_subscription(String, "status", self.status_sub, 1)
|
||||||
|
|
||||||
|
def status_sub(self, msg):
|
||||||
|
self._facts.set_status_string(msg.data)
|
||||||
|
|
||||||
|
async def run(self):
|
||||||
|
while rclpy.ok():
|
||||||
|
rclpy.spin_once(self._node, timeout_sec=0)
|
||||||
|
await asyncio.sleep(1e-4)
|
||||||
|
|
||||||
|
|
@ -8,18 +8,11 @@
|
||||||
# This Source Code Form is "Incompatible With Secondary Licenses", as
|
# This Source Code Form is "Incompatible With Secondary Licenses", as
|
||||||
# defined by the Mozilla Public License, v. 2.0.
|
# defined by the Mozilla Public License, v. 2.0.
|
||||||
#
|
#
|
||||||
|
from am_i_up.Api import Api
|
||||||
|
from am_i_up.Facts import Facts
|
||||||
|
from am_i_up.Ros import Ros
|
||||||
|
|
||||||
import asyncio
|
import asyncio
|
||||||
from aiohttp import web
|
|
||||||
from ament_index_python import get_package_share_directory
|
|
||||||
import time
|
|
||||||
import yaml
|
|
||||||
import ipaddress
|
|
||||||
import subprocess
|
|
||||||
import os
|
|
||||||
|
|
||||||
import rclpy
|
|
||||||
from std_msgs.msg import String
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
def main():
|
||||||
facts = Facts()
|
facts = Facts()
|
||||||
|
|
@ -28,157 +21,3 @@ def main():
|
||||||
|
|
||||||
future = asyncio.gather(api.run(), ros.run())
|
future = asyncio.gather(api.run(), ros.run())
|
||||||
asyncio.get_event_loop().run_until_complete(future)
|
asyncio.get_event_loop().run_until_complete(future)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class Ros:
|
|
||||||
def __init__(self, facts):
|
|
||||||
rclpy.init()
|
|
||||||
self._facts = facts
|
|
||||||
self._node = rclpy.create_node('am_i_up')
|
|
||||||
|
|
||||||
self._node.create_subscription(String, "status", self.status_sub, 1)
|
|
||||||
|
|
||||||
def status_sub(self, msg):
|
|
||||||
self._facts.set_status_string(msg.data)
|
|
||||||
|
|
||||||
async def run(self):
|
|
||||||
while rclpy.ok():
|
|
||||||
rclpy.spin_once(self._node, timeout_sec=0)
|
|
||||||
await asyncio.sleep(1e-4)
|
|
||||||
|
|
||||||
|
|
||||||
class Facts:
|
|
||||||
def __init__(self):
|
|
||||||
self._start_time = time.monotonic()
|
|
||||||
self._status_string = None
|
|
||||||
|
|
||||||
def set_status_string(self, status):
|
|
||||||
self._status_string = status
|
|
||||||
|
|
||||||
def get_status(self):
|
|
||||||
return self._status_string
|
|
||||||
|
|
||||||
def get_uptime(self):
|
|
||||||
return time.monotonic() - self._start_time
|
|
||||||
|
|
||||||
def do_ping(self, address):
|
|
||||||
# Make sure address is a ip address.
|
|
||||||
if not is_valid_ip(address):
|
|
||||||
return "Provied address ({}) is not valid.".format(address)
|
|
||||||
|
|
||||||
# Build command.
|
|
||||||
command = ["ping", "-W", "1", "-c", "1", address]
|
|
||||||
process = subprocess.run(command)
|
|
||||||
if process.returncode == 0:
|
|
||||||
return "{} responded to ping.".format(address)
|
|
||||||
return "{} did not respond to ping.".format(address)
|
|
||||||
|
|
||||||
def get_env(self):
|
|
||||||
env = {}
|
|
||||||
# We're not going to return the whole environment because
|
|
||||||
# of security.
|
|
||||||
# Let's pick the ones we want.
|
|
||||||
env['ROS_AUTOMATIC_DISCOVERY_RANGE'] = os.environ.get('ROS_AUTOMATIC_DISCOVERY_RANGE', None)
|
|
||||||
env['AMENT_PREFIX_PATH'] = os.environ.get('AMENT_PREFIX_PATH', None)
|
|
||||||
env['ROS_DISTRO'] = os.environ.get('ROS_DISTRO', None)
|
|
||||||
env['RMW_IMPLEMENTATION'] = os.environ.get('RMW_IMPLEMENTATION', None)
|
|
||||||
env['ROS_NAMESPACE'] = os.environ.get('ROS_NAMESPACE', None)
|
|
||||||
env['CYCLONEDDS_URI'] = os.environ.get('CYCLONEDDS_URI', None)
|
|
||||||
|
|
||||||
return env
|
|
||||||
|
|
||||||
def get_buildinfo(self):
|
|
||||||
# Find the share directory for 'build_info_getter'.
|
|
||||||
build_info_getter_directory = None
|
|
||||||
try:
|
|
||||||
build_info_getter_directory = get_package_share_directory('build_info_getter')
|
|
||||||
except Exception as e:
|
|
||||||
print("Can't find build info.\n{}".format(e))
|
|
||||||
return None
|
|
||||||
# Find and read the project_state.repos file in it.
|
|
||||||
project_state_file = build_info_getter_directory + "/project_state.repos"
|
|
||||||
project_state_content = None
|
|
||||||
try:
|
|
||||||
with open(project_state_file, 'r') as file_obj:
|
|
||||||
project_state_content = yaml.safe_load(file_obj)
|
|
||||||
except Exception as e:
|
|
||||||
# We either didn't load the file or couldn't read it
|
|
||||||
# as json.
|
|
||||||
print("Can't find build info.\n{}".format(e))
|
|
||||||
return project_state_content
|
|
||||||
|
|
||||||
class Api:
|
|
||||||
def __init__(self, facts):
|
|
||||||
self._facts = facts
|
|
||||||
|
|
||||||
async def run(self):
|
|
||||||
ui_share_directory = get_package_share_directory("am_i_up_ui")
|
|
||||||
ui_static_directory = ui_share_directory + "/dist/assets"
|
|
||||||
|
|
||||||
app = web.Application()
|
|
||||||
app.add_routes([
|
|
||||||
web.get('/api/ping', self.ping),
|
|
||||||
web.get('/api/uptime', self.uptime),
|
|
||||||
web.get('/api/build_info', self.build_info),
|
|
||||||
web.get('/api/env', self.env),
|
|
||||||
web.get('/api/status', self.status),
|
|
||||||
web.static("/assets", ui_static_directory),
|
|
||||||
# we're not actually using key anywhere, but doing this allows react router
|
|
||||||
# to work correctly.
|
|
||||||
web.get("/{key:.*}", self.index)
|
|
||||||
])
|
|
||||||
|
|
||||||
url = "0.0.0.0"
|
|
||||||
port = 8888
|
|
||||||
print("Listening on {}:{}".format(url, port))
|
|
||||||
|
|
||||||
runner = web.AppRunner(app)
|
|
||||||
await runner.setup()
|
|
||||||
site = web.TCPSite(runner, url, port)
|
|
||||||
await site.start()
|
|
||||||
|
|
||||||
while rclpy.ok():
|
|
||||||
await asyncio.sleep(3600)
|
|
||||||
await runner.cleanup()
|
|
||||||
|
|
||||||
async def index(self, request):
|
|
||||||
ui_share_directory = get_package_share_directory("am_i_up_ui")
|
|
||||||
ui_index_path = ui_share_directory + "/dist/index.html"
|
|
||||||
return web.FileResponse(ui_index_path)
|
|
||||||
|
|
||||||
async def ping(self, request):
|
|
||||||
request_dict = await request.json()
|
|
||||||
result = self._facts.do_ping(request_dict['address'])
|
|
||||||
resp = {"message": result}
|
|
||||||
return web.json_response(resp)
|
|
||||||
|
|
||||||
async def uptime(self, request):
|
|
||||||
resp = {"uptime": self._facts.get_uptime()}
|
|
||||||
return web.json_response(resp)
|
|
||||||
|
|
||||||
async def build_info(self, request):
|
|
||||||
project_state = self._facts.get_buildinfo()
|
|
||||||
if not project_state:
|
|
||||||
resp = {"status": False, "message": "project_state not found."}
|
|
||||||
return web.json_response(resp)
|
|
||||||
project_state["status"] = True
|
|
||||||
return web.json_response(project_state)
|
|
||||||
|
|
||||||
async def env(self, request):
|
|
||||||
env = self._facts.get_env()
|
|
||||||
return web.json_response(env)
|
|
||||||
|
|
||||||
async def status(self, request):
|
|
||||||
status = self._facts.get_status()
|
|
||||||
if not status:
|
|
||||||
status = "Nothing received!"
|
|
||||||
resp = {"message": status}
|
|
||||||
return web.json_response(resp)
|
|
||||||
|
|
||||||
def is_valid_ip(address):
|
|
||||||
try:
|
|
||||||
ipaddress.ip_address(address)
|
|
||||||
return True
|
|
||||||
except ValueError:
|
|
||||||
return False
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue