Refactor server.

CMakeLists.txt

@@ -6,15 +6,16 @@ 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
+  DESTINATION lib/${PROJECT_NAME}/
   USE_SOURCE_PERMISSIONS
 )
 
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 ament_package()

am_i_up/Api.py

@@ -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)

am_i_up/Facts.py

@@ -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

am_i_up/Ros.py

@@ -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)
+

am_i_up/client.py

@@ -42,26 +42,26 @@ async def call_ping(options):
     print("Calling ping with request: {}", json.dumps(request))
 
     async with aiohttp.ClientSession() as session:
-        async with session.get('http://localhost:8080/ping', json=request) as resp:
+        async with session.get('http://localhost:8888/api/ping', json=request) as resp:
             print(await resp.text())
 
 async def call_uptime():
     print("Calling uptime.")
 
     async with aiohttp.ClientSession() as session:
-        async with session.get('http://localhost:8080/uptime') as resp:
+        async with session.get('http://localhost:8888/api/uptime') as resp:
             print(await resp.text())
 
 async def call_build_info():
     print("Calling build_info.")
 
     async with aiohttp.ClientSession() as session:
-        async with session.get('http://localhost:8080/build_info') as resp:
+        async with session.get('http://localhost:8888/api/build_info') as resp:
             print(await resp.text())
 
 async def call_env():
     print("Calling env.")
 
     async with aiohttp.ClientSession() as session:
-        async with session.get('http://localhost:8080/env') as resp:
+        async with session.get('http://localhost:8888/api/env') as resp:
             print(await resp.text())

am_i_up/server.py

@@ -8,137 +8,16 @@
 # This Source Code Form is "Incompatible With Secondary Licenses", as
 # defined by the Mozilla Public License, v. 2.0.
 #
-from aiohttp import web
-import time
-from ament_index_python import get_package_share_directory
-import yaml
-import ipaddress
-import subprocess
-import os
-from jinja2 import Environment, FileSystemLoader, select_autoescape
+from am_i_up.Api import Api
+from am_i_up.Facts import Facts
+from am_i_up.Ros import Ros
 
+import asyncio
 
 def main():
     facts = Facts()
-    view = View()
-    routes = Routes(facts, view)
+    api = Api(facts)
+    ros = Ros(facts)
 
-    app = web.Application()
-    app.add_routes([
-        web.get('/', routes.root),
-        web.get('/ping', routes.ping),
-        web.get('/uptime', routes.uptime),
-        web.get('/build_info', routes.build_info),
-        web.get('/env', routes.env)
-    ])
-    web.run_app(app)
-
-class View:
-    def __init__(self):
-        # TODO: Make global for the script directory.
-        self._env = Environment(
-            loader=FileSystemLoader(self._find_template_dirs()),
-            autoescape=select_autoescape()
-        )
-
-    def render_root(self):
-        return self._env.get_template('base.html').render()
-
-    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]
-
-class Facts:
-    def __init__(self):
-        self._start_time = time.monotonic()
-
-    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 Routes:
-    def __init__(self, facts, view):
-        self._facts = facts
-        self._view = view
-
-    async def root(self, request):
-        text = self._view.render_root()
-        return web.Response(text=text, content_type='text/html')
-
-    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)
-
-
-def is_valid_ip(address):
-    try:
-        ipaddress.ip_address(address)
-        return True
-    except ValueError:
-        return False
+    future = asyncio.gather(api.run(), ros.run())
+    asyncio.get_event_loop().run_until_complete(future)

front_end/templates/base.html

@@ -1,32 +0,0 @@
-<!doctype html>
-<html lang="en">
-  <head>
-    <!-- Required meta tags -->
-    <meta charset="utf-8">
-    <meta name="viewport" content="width=device-width, initial-scale=1">
-
-    <!-- Bootstrap CSS -->
-    <link href="https://cdn.jsdelivr.net/npm/bootstrap@5.0.2/dist/css/bootstrap.min.css" rel="stylesheet" integrity="sha384-EVSTQN3/azprG1Anm3QDgpJLIm9Nao0Yz1ztcQTwFspd3yD65VohhpuuCOmLASjC" crossorigin="anonymous">
-
-    <title>{% block title %}Robot Status UI{% endblock %}</title>
-  </head>
-  <body>
-    <!-- NavBar -->
-
-    <!-- Content -->
-    <div class="container">
-
-        {% block content %}
-
-        <div>Hello World!</div>
-
-        {% endblock %}
-
-    </div>
-
-    <!-- Load JS -->
-    <script src="https://cdn.jsdelivr.net/npm/bootstrap@5.0.2/dist/js/bootstrap.bundle.min.js" integrity="sha384-MrcW6ZMFYlzcLA8Nl+NtUVF0sA7MsXsP1UyJoMp4YLEuNSfAP+JcXn/tWtIaxVXM" crossorigin="anonymous"></script>
-    <script src="https://cdn.jsdelivr.net/npm/htmx.org@2.0.8/dist/htmx.min.js"></script>
-    {% block js %}{% endblock %}
-  </body>
-</html>

launch/am_i_up.launch.xml

@@ -0,0 +1,3 @@
+<launch>
+  <node pkg="am_i_up" exec="server" name="am_i_up"/>
+</launch>