aiohttp_server.py

#!/usr/bin/env python
'''
    This is an example server application, using the aiohttp handlers,
    that you can use to connect your HTML/Javascript dashboard code to
    your robot via NetworkTables.

    Run this application with python, then you can open your browser to
    http://localhost:8888/ to view the index.html page.
'''

from os.path import abspath, dirname, exists, join
from optparse import OptionParser

import asyncio
from aiohttp import web

from networktables import NetworkTable
from pynetworktables2js import nt2js_static_resources, networktables_websocket

import logging
logger = logging.getLogger('dashboard')

log_datefmt = "%H:%M:%S"
log_format = "%(asctime)s:%(msecs)03d %(levelname)-8s: %(name)-20s: %(message)s"

def init_networktables(options):

    if options.dashboard:
        logger.info("Connecting to networktables in Dashboard mode")
        NetworkTable.setDashboardMode()
    else:
        logger.info("Connecting to networktables at %s", options.robot)
        NetworkTable.setIPAddress(options.robot)
        NetworkTable.setClientMode()
    
    NetworkTable.initialize()
    logger.info("Networktables Initialized")

@asyncio.coroutine
def forward_request(request):
    return web.HTTPFound("/index.html")

if __name__ == '__main__':

    # Setup options here
    parser = OptionParser()

    parser.add_option('-p', '--port', default=8888,
                      help='Port to run web server on')

    parser.add_option('-v', '--verbose', default=False, action='store_true',
                      help='Enable verbose logging')

    parser.add_option('--robot', default='127.0.0.1',
                      help="Robot's IP address")

    parser.add_option('--dashboard', default=False, action='store_true',
                      help='Use this instead of --robot to receive the IP from the driver station. WARNING: It will not work if you are not on the same host as the DS!')
        
    options, args = parser.parse_args()
    
    # Setup logging
    logging.basicConfig(datefmt=log_datefmt,
                        format=log_format,
                        level=logging.DEBUG if options.verbose else logging.INFO)
    
    if options.dashboard and options.robot != '127.0.0.1':
        parser.error("Cannot specify --robot and --dashboard")
    
    # Setup NetworkTables
    init_networktables(options)

    # setup aiohttp
    app = web.Application()

    # Add nt2js handlers
    app.router.add_route("GET", "/networktables/ws", networktables_websocket)
    app.router.add_static("/networktables", nt2js_static_resources())

    # Add static route for dashboard files
    app.router.add_route("GET", "/", forward_request)
    static_dir = abspath(join(dirname(__file__), 'src'))
    if not exists(static_dir):
        logger.error("Directory '%s' does not exist!", static_dir)
        exit(1)
    app.router.add_static("/", static_dir)

    # Initialize server
    loop = asyncio.get_event_loop()
    f = loop.create_server(app.make_handler(), '0.0.0.0', options.port)
    srv = loop.run_until_complete(f)
    print("Dashboard server listening on", srv.sockets[0].getsockname())
    try:
        loop.run_forever()
    except KeyboardInterrupt:
        pass