Merge branch 'master' into cesium_draping

__init__.py

@@ -3,7 +3,6 @@
 Samuel Dudley
 Jan 2016
 '''
-
 import os, json, time, sys, uuid, urllib2
 
 from MAVProxy.modules.lib import mp_module
@@ -13,18 +12,28 @@
 import threading, Queue
 
 from autobahn.twisted.websocket import WebSocketServerProtocol, WebSocketServerFactory
-from twisted.python import log
+from autobahn.twisted.resource import WebSocketResource, WSGIRootResource
+from twisted.web.server import Site
+from twisted.web.wsgi import WSGIResource
 from twisted.internet import reactor
 
+from twisted.python import log
+
+from app import cesium_web_server # the Flask webapp
+
 import webbrowser # open url's in browser window
 
+from app.config import SERVER_INTERFACE, SERVER_PORT, MODULE_DEBUG, APP_DEBUG
+
 class ServerProtocol(WebSocketServerProtocol):
 
     def onConnect(self, request):
-        print("Client connecting: {0}".format(request.peer))
+        if APP_DEBUG:
+            print("Client connecting: {0}".format(request.peer))
 
     def onOpen(self):
-        print("WebSocket connection open")
+        if APP_DEBUG:
+            print("WebSocket connection open")
         self.id = uuid.uuid4()
         self.factory.data[self.id]=self
         payload = {'new_connection':self.id}
@@ -40,8 +49,12 @@ def onMessage(self, payload, isBinary):
             self.factory.message_queue.put(payload)
 
     def onClose(self, wasClean, code, reason):
-        print("WebSocket connection closed: {0}".format(reason))
-        del self.factory.data[self.id]
+        if APP_DEBUG:
+            print("WebSocket connection closed: {0}".format(reason))
+        try:
+            del self.factory.data[self.id]
+        except Exception as e:
+            print("An error occurred when attempting to close a websocket: {}".format(e))
 
 
 class CesiumModule(mp_module.MPModule):
@@ -62,63 +75,59 @@ def __init__(self, mpstate):
         self.flightmode = None
 
         self.cesium_settings = mp_settings.MPSettings(
-            [ ('localwebserver', bool, True),
-              ('openbrowser', bool, True),
-              ('debug', bool, False)])
+            [ ('openbrowser', bool, False),
+              ('debug', bool, MODULE_DEBUG)])
 
         self.aircraft = {'lat':None, 'lon':None, 'alt_wgs84':None,
                          'roll':None, 'pitch':None, 'yaw':None}
         self.pos_target = {'lat':None, 'lon':None, 'alt_wgs84':None}
         self.fence = {}
         self.mission = {}
 
-        self.web_server_thread = None
-        self.socket_server_thread = None
+        self.server_thread = None
 
-        self.run_web_server()
-        self.run_socket_server()
+        self.run_server()
 
         if self.cesium_settings.openbrowser:
             self.open_display_in_browser()
 
 
-    def run_socket_server(self):
-        # log.startLogging(sys.stdout)
-        self.factory = WebSocketServerFactory(u"ws://0.0.0.0:9000")
+    def run_server(self):
+#         log.startLogging(sys.stdout)
+
+        # create a Twisted Web resource for our WebSocket server
+        self.factory = WebSocketServerFactory(u"ws://"+SERVER_INTERFACE+":"+SERVER_PORT)
         self.factory.protocol = ServerProtocol
         self.factory.setProtocolOptions(maxConnections=100)
         self.factory.data = {}
         self.factory.message_queue = Queue.Queue()
+        wsResource = WebSocketResource(self.factory)
 
-        reactor.listenTCP(9000, self.factory)
-        self.socket_server_thread = threading.Thread(target=reactor.run, args=(False,))
-        self.socket_server_thread.daemon = True
-        self.socket_server_thread.start()
+        # create a Twisted Web WSGI resource for our Flask server
+        wsgiResource = WSGIResource(reactor, reactor.getThreadPool(), cesium_web_server.app)
 
-    def stop_socket_server(self):
-        if self.socket_server_thread is not None:
-            reactor.callFromThread(reactor.stop) # Kill the socket server talking to the browser
-            while self.socket_server_thread.isAlive():
-                time.sleep(0.01) #TODO: handle this better...
+        # create a root resource serving everything via WSGI/Flask, but
+        # the path "/ws" served by our WebSocket stuff
+        rootResource = WSGIRootResource(wsgiResource, {b'ws': wsResource})
+
+        # create a Twisted Web Site and run everything
+        site = Site(rootResource)
+        reactor.listenTCP(int(SERVER_PORT), site, interface=SERVER_INTERFACE)
+        self.server_thread = threading.Thread(target=reactor.run, args=(False,))
+        self.server_thread.daemon = True
+        self.server_thread.start()
+
+        self.mpstate.console.writeln('MAVCesium display loaded at http://'+SERVER_INTERFACE+":"+SERVER_PORT+'/', fg='white', bg='blue')
 
-    def run_web_server(self):
-        '''optionally launch the webserver on the local machine'''
-        if self.cesium_settings.localwebserver:
-            from app import cesium_web_server
-            self.web_server_thread = threading.Thread(target=cesium_web_server.start_server, kwargs={'debug':self.cesium_settings.debug})
-            self.web_server_thread.daemon = True
-            self.web_server_thread.start()
-            self.mpstate.console.writeln('MAVCesium display loaded at http://127.0.0.1:5000/', fg='white', bg='blue')
-
-    def stop_web_server(self):
-        if self.web_server_thread is not None:
-            urllib2.urlopen('http://127.0.0.1:5000/exit') # Kill the web server
-            while self.web_server_thread.isAlive():
+    def stop_server(self):
+        if self.server_thread is not None:
+            reactor.callFromThread(reactor.stop) # Kill the server talking to the browser
+            while self.server_thread.isAlive():
                 time.sleep(0.01) #TODO: handle this better...
 
     def open_display_in_browser(self):
         if self.web_server_thread.isAlive():
-            url = 'http://127.0.0.1:5000/'
+            url = 'http://'+SERVER_INTERFACE+":"+SERVER_PORT+'/'
             try:
                 browser_controller = webbrowser.get('google-chrome')
                 browser_controller.open_new_tab(url)
@@ -278,8 +287,7 @@ def idle_task(self):
 
     def unload(self):
         '''unload module'''
-        self.stop_socket_server()
-        self.stop_web_server()
+        self.stop_server()
 
 
 def init(mpstate):

app/cesium_web_server.py

@@ -4,7 +4,9 @@
 Samuel Dudley
 Jan 2016
 '''
-
+
+from config import SERVER_INTERFACE, SERVER_PORT, FLASK_SECRET_KEY, WEBSOCKET, BING_API_KEY
+
 import os, sys, json, uuid
 
 from flask import (
@@ -24,14 +26,12 @@
     APP_TEMPLATES = os.path.join(APP_ROOT, 'templates')
 
 app = Flask(__name__, root_path=APP_ROOT, template_folder=APP_TEMPLATES, static_folder=APP_STATIC)
-app.secret_key = str(uuid.uuid4())
+app.secret_key = FLASK_SECRET_KEY
 
-with open(os.path.join(APP_ROOT, 'api_keys.txt', )) as fid:    
-    api_keys = json.load(fid)
 
 @app.route('/')
 def index():
-    return render_template('index.html', bing_api_key=api_keys['bing'])
+    return render_template('index.html', bing_api_key=BING_API_KEY, websocket=WEBSOCKET)
 
 @app.route('/context/', methods=['POST'])
 def get_current_context():
@@ -40,25 +40,16 @@ def get_current_context():
         markers = False
     return render_template('context_menu.html', markers=markers)
 
-@app.route('/exit', methods=["GET"])
-def exit():
-    shutdown_server()
-    return "web server shutting down..."
-
-def shutdown_server():
-    shutdown_func = request.environ.get('werkzeug.server.shutdown')
-    shutdown_func()
-
 def start_server(debug = False):
-    
+
     if not debug:
         import logging
         log = logging.getLogger('werkzeug')
         log.setLevel(logging.ERROR)
-
-    app.run(host='0.0.0.0',port=5000)
-
+     
+    app.run(host=SERVER_INTERFACE ,port=SERVER_PORT)
+     
 if __name__ == '__main__':
     start_server()
-
+     
 

app/config.py

@@ -0,0 +1,63 @@
+""" configuration variables """
+
+import configparser
+import os
+import uuid
+
+def parse_bool(OPTION):
+    if OPTION == '0':
+        OPTION = False
+    else:
+        OPTION = True
+    return OPTION
+
+
+_conf = configparser.ConfigParser()
+_conf_file_paths = []
+
+if 'HOME' in os.environ:
+    _conf_file_path = os.path.join(os.environ['HOME'], ".mavcesium.ini")
+    _conf_file_paths.append(_conf_file_path)
+if 'LOCALAPPDATA' in os.environ:
+    _conf_file_path = os.path.join(os.environ['LOCALAPPDATA'], "MAVProxy", "mavcesium.ini")
+    _conf_file_paths.append(_conf_file_path)
+
+try: # try to use pkg_resources to allow for zipped python eggs
+    import pkg_resources
+    _cur_dir = pkg_resources.resource_filename('MAVProxy.modules.mavproxy_cesium','app')
+except: # otherwise fall back to the standard file system
+    _cur_dir = os.path.dirname(os.path.abspath(__file__))
+
+_conf_file_paths.append(os.path.join(_cur_dir, 'mavcesium_default.ini'))
+
+for _conf_file_path in _conf_file_paths:
+    if os.path.exists(_conf_file_path):
+        try:
+            # load the config
+            _conf.read_file(open(_conf_file_path))
+
+            SERVER_INTERFACE = _conf.get('general', 'server_interface')
+            SERVER_PORT = _conf.get('general', 'server_port')
+            WEBSOCKET = "ws://"+SERVER_INTERFACE+":"+SERVER_PORT+"/ws"
+
+            BING_API_KEY = _conf.get('api_keys', 'bing')
+
+            FLASK_SECRET_KEY = _conf.get('general', 'flask_secret_key')
+            if FLASK_SECRET_KEY == '':
+                FLASK_SECRET_KEY = str(uuid.uuid4())
+
+            APP_DEBUG = parse_bool(_conf.get('debug', 'app_debug'))
+            MODULE_DEBUG = parse_bool(_conf.get('debug', 'module_debug'))
+
+
+            if MODULE_DEBUG:
+                print ('Using config file at {}'.format( _conf_file_path ))
+            break # use first working config
+
+        except Exception as e:
+            print ('Failed to use config file at {} : {}'.format( _conf_file_path, e ))
+
+
+
+# TODO: check for pass / fail and action
+

app/mavcesium_default.ini

@@ -0,0 +1,12 @@
+[general]
+# web site url = eg. 'http://' + domain_name
+server_interface = 0.0.0.0
+server_port = 5000
+flask_secret_key = ''
+
+[api_keys]
+bing = Auw42O7s-dxnXl0f0HdmOoIAD3bvbPjFOVKDN9nNKrf1uroCCBxetdPowaQF4XaG
+
+[debug]
+app_debug = 1
+module_debug = 1

app/static/DST/js/websocket.js

@@ -17,14 +17,14 @@ function check_websocket(){
 };
 
 function open_websocket() {
-	socket = new WebSocket("ws://127.0.0.1:9000");
+	socket = new WebSocket(websocket);
 	socket.binaryType = "arraybuffer";
 	socket.onopen = function() {
 		console.log("WebSocket connected!");
 		isopen = true;
 	}
 	socket.onerror = function(e) {
-		console.log("WebSocket connection error.");
+		console.log("WebSocket connection error:", e);
 		socket = null;
         isopen = false;
 	}

app/templates/index.html

@@ -19,6 +19,7 @@
     <script src="/static/Build/Cesium/Cesium.js"></script>
     <script>
         var bing_api_key = '{{ bing_api_key }}';
+        var websocket = '{{ websocket }}';
     </script>
     <style>
       @import url(/static/Build/Cesium/Widgets/widgets.css);
@@ -70,13 +71,13 @@
     <script src="/static/DST/js/third_party/bootstrap.min.js"></script>
     <script src="/static/DST/js/third_party/jquery-ui.min.js"></script>
     <script src="/static/DST/js/third_party/lobipanel.js"></script>
-	<script src="/static/DST/js/cesium_setup.js"></script>
-	<script src="/static/DST/js/core.js"></script>
-	<script src="/static/DST/js/draping.js"></script>
-	<script src="/static/DST/js/wp.js"></script>
-	<script src="/static/DST/js/context_menu.js"></script>
-	<script src="/static/DST/js/settings.js"></script>
-	<script src="/static/DST/js/hud.js"></script>
-	<script src="/static/DST/js/websocket.js"></script>
+    <script src="/static/DST/js/cesium_setup.js"></script>
+    <script src="/static/DST/js/core.js"></script>
+    <script src="/static/DST/js/draping.js"></script>
+    <script src="/static/DST/js/wp.js"></script>
+    <script src="/static/DST/js/context_menu.js"></script>
+    <script src="/static/DST/js/settings.js"></script>
+    <script src="/static/DST/js/hud.js"></script>
+    <script src="/static/DST/js/websocket.js"></script>
 	</body>
 </html>

requirements.txt

@@ -1,2 +1,3 @@
 Flask>=0.11.1
 autobahn[twisted]
+configparser