diff --git a/CMakeLists.txt b/CMakeLists.txt
index 55885f0..0a9c56b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,11 +6,6 @@ find_package(ament_cmake_python REQUIRED)
ament_python_install_package(${PROJECT_NAME})
-install(DIRECTORY
- front_end
- DESTINATION share/${PROJECT_NAME}/
-)
-
install(DIRECTORY
scripts/
DESTINATION lib/${PROJECT_NAME}/lib
diff --git a/am_i_up/server.py b/am_i_up/server.py
index f21822e..f5cba9e 100644
--- a/am_i_up/server.py
+++ b/am_i_up/server.py
@@ -8,66 +8,56 @@
# This Source Code Form is "Incompatible With Secondary Licenses", as
# defined by the Mozilla Public License, v. 2.0.
#
+import asyncio
from aiohttp import web
-import time
from ament_index_python import get_package_share_directory
+import time
import yaml
import ipaddress
import subprocess
import os
-from jinja2 import Environment, FileSystemLoader, select_autoescape
+
+import rclpy
+from std_msgs.msg import String
def main():
facts = Facts()
- view = View(facts)
api = Api(facts)
+ ros = Ros(facts)
- app = web.Application()
- app.add_routes([
- web.get('/', view.root),
- web.get('/ping', view.ping),
- web.get('/api/ping', api.ping),
- web.get('/api/uptime', api.uptime),
- web.get('/api/build_info', api.build_info),
- web.get('/api/env', api.env),
- web.static('/static', view.get_static_dir())
- ])
- web.run_app(app)
+ future = asyncio.gather(api.run(), ros.run())
+ asyncio.get_event_loop().run_until_complete(future)
-class View:
+
+
+class Ros:
def __init__(self, facts):
+ rclpy.init()
self._facts = facts
- self._env = Environment(
- loader=FileSystemLoader(self._find_template_dirs()),
- autoescape=select_autoescape()
- )
+ self._node = rclpy.create_node('am_i_up')
- async def root(self, request):
- text = self._env.get_template('home.html').render()
- return web.Response(text=text, content_type='text/html')
+ self._node.create_subscription(String, "status", self.status_sub, 1)
- async def ping(self, request):
- text = self._env.get_template('ping.html').render()
- return web.Response(text=text, content_type='text/html')
+ def status_sub(self, msg):
+ self._facts.set_status_string(msg.data)
- def _find_template_dirs(self):
- package_dir = get_package_share_directory('am_i_up')
- template_dir = "{}/front_end/templates".format(package_dir)
- if not os.path.exists(template_dir):
- raise RuntimeError("Could not find template_dir: {}".format(template_dir))
- return [template_dir]
+ async def run(self):
+ while rclpy.ok():
+ rclpy.spin_once(self._node, timeout_sec=0)
+ await asyncio.sleep(1e-4)
- def get_static_dir(self):
- package_dir = get_package_share_directory('am_i_up')
- static_dir = "{}/front_end/static".format(package_dir)
- if not os.path.exists(static_dir):
- raise RuntimeError("Could not find static_dir: {}".format(static_dir))
- return static_dir
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
@@ -122,6 +112,25 @@ class Api:
def __init__(self, facts):
self._facts = facts
+ async def run(self):
+ 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)
+ ])
+
+ runner = web.AppRunner(app)
+ await runner.setup()
+ site = web.TCPSite(runner, 'localhost', 8080)
+ await site.start()
+
+ while rclpy.ok():
+ await asyncio.sleep(3600)
+ await runner.cleanup()
+
async def ping(self, request):
request_dict = await request.json()
result = self._facts.do_ping(request_dict['address'])
@@ -144,6 +153,13 @@ class Api:
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)
diff --git a/front_end/static/css/base.css b/front_end/static/css/base.css
deleted file mode 100644
index ffc40df..0000000
--- a/front_end/static/css/base.css
+++ /dev/null
@@ -1,6 +0,0 @@
-.padded {
- padding-left: 10px;
- padding-right: 10px;
- padding-top: 10px;
- padding-bottom: 10px;
-}
diff --git a/front_end/templates/base.html b/front_end/templates/base.html
deleted file mode 100644
index c882a6a..0000000
--- a/front_end/templates/base.html
+++ /dev/null
@@ -1,39 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
- {% block title %}Robot Status UI{% endblock %}
-
-
-
-
-
-
-
-
- {% block content %}
- {% endblock %}
-
-
-
-
-
-
- {% block js %}{% endblock %}
-
-
diff --git a/front_end/templates/home.html b/front_end/templates/home.html
deleted file mode 100644
index 52cdaba..0000000
--- a/front_end/templates/home.html
+++ /dev/null
@@ -1,5 +0,0 @@
-{% extends "base.html" %}
-
-{% block content %}
-Home
-{% endblock %}
diff --git a/front_end/templates/ping.html b/front_end/templates/ping.html
deleted file mode 100644
index 2e9abe1..0000000
--- a/front_end/templates/ping.html
+++ /dev/null
@@ -1,5 +0,0 @@
-{% extends "base.html" %}
-
-{% block content %}
-Ping
-{% endblock %}