Verison 1.0.3 Release
Based on Buildbotics 0.4.14
This commit is contained in:
OneFinityCNC
595
src/py/bbctrl/Web.py
Normal file
595
src/py/bbctrl/Web.py
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@@ -0,0 +1,595 @@
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################################################################################
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# #
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# This file is part of the Buildbotics firmware. #
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# #
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# Copyright (c) 2015 - 2018, Buildbotics LLC #
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# All rights reserved. #
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# #
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# This file ("the software") is free software: you can redistribute it #
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# and/or modify it under the terms of the GNU General Public License, #
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# version 2 as published by the Free Software Foundation. You should #
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# have received a copy of the GNU General Public License, version 2 #
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# along with the software. If not, see <http://www.gnu.org/licenses/>. #
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# #
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# The software is distributed in the hope that it will be useful, but #
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# WITHOUT ANY WARRANTY; without even the implied warranty of #
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU #
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# Lesser General Public License for more details. #
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# #
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# You should have received a copy of the GNU Lesser General Public #
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# License along with the software. If not, see #
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# <http://www.gnu.org/licenses/>. #
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# #
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# For information regarding this software email: #
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# "Joseph Coffland" <joseph@buildbotics.com> #
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# #
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################################################################################
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import os
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import sys
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import json
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import tornado
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import sockjs.tornado
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import datetime
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import shutil
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import tarfile
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import subprocess
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import socket
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import time
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from tornado.web import HTTPError
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from tornado import web, gen
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import bbctrl
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def call_get_output(cmd):
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p = subprocess.Popen(cmd, stdout = subprocess.PIPE)
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s = p.communicate()[0].decode('utf-8')
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if p.returncode: raise HTTPError(400, 'Command failed')
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return s
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def get_username():
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return call_get_output(['getent', 'passwd', '1001']).split(':')[0]
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def set_username(username):
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if subprocess.call(['usermod', '-l', username, get_username()]):
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raise HTTPError(400, 'Failed to set username to "%s"' % username)
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def check_password(password):
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# Get current password
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s = call_get_output(['getent', 'shadow', get_username()])
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current = s.split(':')[1].split('$')
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# Check password type
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if len(current) < 2 or current[1] != '1':
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raise HTTPError(401, "Password invalid")
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# Check current password
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cmd = ['openssl', 'passwd', '-salt', current[2], '-1', password]
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s = call_get_output(cmd).strip()
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if s.split('$') != current: raise HTTPError(401, 'Wrong password')
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class RebootHandler(bbctrl.APIHandler):
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def put_ok(self):
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self.get_ctrl().lcd.goodbye('Rebooting...')
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subprocess.Popen('reboot')
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class LogHandler(bbctrl.RequestHandler):
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def get(self):
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with open(self.get_ctrl().log.get_path(), 'r') as f:
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self.write(f.read())
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def set_default_headers(self):
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fmt = socket.gethostname() + '-%Y%m%d.log'
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filename = datetime.date.today().strftime(fmt)
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self.set_header('Content-Disposition', 'filename="%s"' % filename)
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self.set_header('Content-Type', 'text/plain')
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class MessageAckHandler(bbctrl.APIHandler):
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def put_ok(self, id):
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self.get_ctrl().state.ack_message(int(id))
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class BugReportHandler(bbctrl.RequestHandler):
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def get(self):
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import tarfile, io
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buf = io.BytesIO()
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tar = tarfile.open(mode = 'w:bz2', fileobj = buf)
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def check_add(path, arcname = None):
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if os.path.isfile(path):
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if arcname is None: arcname = path
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tar.add(path, self.basename + '/' + arcname)
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def check_add_basename(path):
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check_add(path, os.path.basename(path))
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ctrl = self.get_ctrl()
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path = ctrl.log.get_path()
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check_add_basename(path)
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for i in range(1, 8):
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check_add_basename('%s.%d' % (path, i))
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check_add_basename('/var/log/syslog')
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check_add('config.json')
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check_add(ctrl.get_upload(ctrl.state.get('selected', '')))
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tar.close()
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self.write(buf.getvalue())
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def set_default_headers(self):
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fmt = socket.gethostname() + '-%Y%m%d-%H%M%S'
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self.basename = datetime.datetime.now().strftime(fmt)
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filename = self.basename + '.tar.bz2'
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self.set_header('Content-Disposition', 'filename="%s"' % filename)
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self.set_header('Content-Type', 'application/x-bzip2')
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class HostnameHandler(bbctrl.APIHandler):
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def get(self): self.write_json(socket.gethostname())
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def put(self):
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if self.get_ctrl().args.demo:
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raise HTTPError(400, 'Cannot set hostname in demo mode')
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if 'hostname' in self.json:
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if subprocess.call(['/usr/local/bin/sethostname',
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self.json['hostname'].strip()]) == 0:
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self.write_json('ok')
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return
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raise HTTPError(400, 'Failed to set hostname')
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class WifiHandler(bbctrl.APIHandler):
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def get(self):
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data = {'ssid': '', 'channel': 0}
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try:
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data = json.loads(call_get_output(['config-wifi', '-j']))
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except: pass
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self.write_json(data)
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def put(self):
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if self.get_ctrl().args.demo:
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raise HTTPError(400, 'Cannot configure WiFi in demo mode')
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if 'mode' in self.json:
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cmd = ['config-wifi', '-r']
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mode = self.json['mode']
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if mode == 'disabled': cmd += ['-d']
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elif 'ssid' in self.json:
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cmd += ['-s', self.json['ssid']]
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if mode == 'ap':
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cmd += ['-a']
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if 'channel' in self.json:
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cmd += ['-c', self.json['channel']]
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if 'pass' in self.json:
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cmd += ['-p', self.json['pass']]
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if subprocess.call(cmd) == 0:
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self.write_json('ok')
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return
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raise HTTPError(400, 'Failed to configure wifi')
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class UsernameHandler(bbctrl.APIHandler):
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def get(self): self.write_json(get_username())
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def put_ok(self):
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if self.get_ctrl().args.demo:
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raise HTTPError(400, 'Cannot set username in demo mode')
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if 'username' in self.json: set_username(self.json['username'])
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else: raise HTTPError(400, 'Missing "username"')
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class PasswordHandler(bbctrl.APIHandler):
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def put(self):
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if self.get_ctrl().args.demo:
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raise HTTPError(400, 'Cannot set password in demo mode')
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if 'current' in self.json and 'password' in self.json:
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check_password(self.json['current'])
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# Set password
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s = '%s:%s' % (get_username(), self.json['password'])
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s = s.encode('utf-8')
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p = subprocess.Popen(['chpasswd', '-c', 'MD5'],
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stdin = subprocess.PIPE)
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p.communicate(input = s)
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if p.returncode == 0:
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self.write_json('ok')
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return
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raise HTTPError(401, 'Failed to set password')
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class ConfigLoadHandler(bbctrl.APIHandler):
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def get(self): self.write_json(self.get_ctrl().config.load())
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class ConfigDownloadHandler(bbctrl.APIHandler):
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def set_default_headers(self):
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fmt = socket.gethostname() + '-%Y%m%d.json'
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filename = datetime.date.today().strftime(fmt)
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self.set_header('Content-Type', 'application/octet-stream')
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self.set_header('Content-Disposition',
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'attachment; filename="%s"' % filename)
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def get(self):
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self.write_json(self.get_ctrl().config.load(), pretty = True)
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class ConfigSaveHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().config.save(self.json)
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class ConfigResetHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().config.reset()
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class FirmwareUpdateHandler(bbctrl.APIHandler):
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def prepare(self): pass
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def put_ok(self):
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if not 'password' in self.request.arguments:
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raise HTTPError(401, 'Missing "password"')
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if not 'firmware' in self.request.files:
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raise HTTPError(401, 'Missing "firmware"')
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check_password(self.request.arguments['password'][0])
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firmware = self.request.files['firmware'][0]
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if not os.path.exists('firmware'): os.mkdir('firmware')
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with open('firmware/update.tar.bz2', 'wb') as f:
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f.write(firmware['body'])
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self.get_ctrl().lcd.goodbye('Upgrading firmware')
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subprocess.Popen(['/usr/local/bin/update-bbctrl'])
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class UpgradeHandler(bbctrl.APIHandler):
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def put_ok(self):
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check_password(self.json['password'])
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self.get_ctrl().lcd.goodbye('Upgrading firmware')
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subprocess.Popen(['/usr/local/bin/upgrade-bbctrl'])
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class PathHandler(bbctrl.APIHandler):
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@gen.coroutine
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def get(self, filename, dataType, *args):
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if not os.path.exists(self.get_upload(filename)):
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raise HTTPError(404, 'File not found')
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preplanner = self.get_ctrl().preplanner
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future = preplanner.get_plan(filename)
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try:
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delta = datetime.timedelta(seconds = 1)
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data = yield gen.with_timeout(delta, future)
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except gen.TimeoutError:
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progress = preplanner.get_plan_progress(filename)
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self.write_json(dict(progress = progress))
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return
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try:
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if data is None: return
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meta, positions, speeds = data
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if dataType == '/positions': data = positions
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elif dataType == '/speeds': data = speeds
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else:
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self.get_ctrl().state.set_bounds(meta['bounds'])
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self.write_json(meta)
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return
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filename = filename + '-' + dataType[1:] + '.gz'
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self.set_header('Content-Disposition', 'filename="%s"' % filename)
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self.set_header('Content-Type', 'application/octet-stream')
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self.set_header('Content-Encoding', 'gzip')
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self.set_header('Content-Length', str(len(data)))
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# Respond with chunks to avoid long delays
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SIZE = 102400
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chunks = [data[i:i + SIZE] for i in range(0, len(data), SIZE)]
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for chunk in chunks:
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self.write(chunk)
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yield self.flush()
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except tornado.iostream.StreamClosedError as e: pass
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class HomeHandler(bbctrl.APIHandler):
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def put_ok(self, axis, action, *args):
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if axis is not None: axis = ord(axis[1:2].lower())
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if action == '/set':
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if not 'position' in self.json:
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raise HTTPError(400, 'Missing "position"')
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self.get_ctrl().mach.home(axis, self.json['position'])
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elif action == '/clear': self.get_ctrl().mach.unhome(axis)
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else: self.get_ctrl().mach.home(axis)
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||||
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class StartHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.start()
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class EStopHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.estop()
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class ClearHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.clear()
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||||
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class StopHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.stop()
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||||
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||||
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class PauseHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.pause()
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||||
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class UnpauseHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.unpause()
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||||
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||||
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||||
class OptionalPauseHandler(bbctrl.APIHandler):
|
||||
def put_ok(self): self.get_ctrl().mach.optional_pause()
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||||
|
||||
|
||||
class StepHandler(bbctrl.APIHandler):
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def put_ok(self): self.get_ctrl().mach.step()
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||||
|
||||
|
||||
class PositionHandler(bbctrl.APIHandler):
|
||||
def put_ok(self, axis):
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||||
self.get_ctrl().mach.set_position(axis, float(self.json['position']))
|
||||
|
||||
|
||||
class OverrideFeedHandler(bbctrl.APIHandler):
|
||||
def put_ok(self, value): self.get_ctrl().mach.override_feed(float(value))
|
||||
|
||||
|
||||
class OverrideSpeedHandler(bbctrl.APIHandler):
|
||||
def put_ok(self, value): self.get_ctrl().mach.override_speed(float(value))
|
||||
|
||||
|
||||
class ModbusReadHandler(bbctrl.APIHandler):
|
||||
def put_ok(self):
|
||||
self.get_ctrl().mach.modbus_read(int(self.json['address']))
|
||||
|
||||
|
||||
class ModbusWriteHandler(bbctrl.APIHandler):
|
||||
def put_ok(self):
|
||||
self.get_ctrl().mach.modbus_write(int(self.json['address']),
|
||||
int(self.json['value']))
|
||||
|
||||
|
||||
class JogHandler(bbctrl.APIHandler):
|
||||
def put_ok(self):
|
||||
# Handle possible out of order jog command processing
|
||||
if 'ts' in self.json:
|
||||
ts = self.json['ts']
|
||||
id = self.get_cookie('client-id')
|
||||
|
||||
if not hasattr(self.app, 'last_jog'):
|
||||
self.app.last_jog = {}
|
||||
|
||||
last = self.app.last_jog.get(id, 0)
|
||||
self.app.last_jog[id] = ts
|
||||
|
||||
if ts < last: return # Out of order
|
||||
|
||||
self.get_ctrl().mach.jog(self.json)
|
||||
|
||||
|
||||
# Base class for Web Socket connections
|
||||
class ClientConnection(object):
|
||||
def __init__(self, app):
|
||||
self.app = app
|
||||
self.count = 0
|
||||
|
||||
|
||||
def heartbeat(self):
|
||||
self.timer = self.app.ioloop.call_later(3, self.heartbeat)
|
||||
self.send({'heartbeat': self.count})
|
||||
self.count += 1
|
||||
|
||||
|
||||
def send(self, msg): raise HTTPError(400, 'Not implemented')
|
||||
|
||||
|
||||
def on_open(self, id = None):
|
||||
self.ctrl = self.app.get_ctrl(id)
|
||||
|
||||
self.ctrl.state.add_listener(self.send)
|
||||
self.ctrl.log.add_listener(self.send)
|
||||
self.is_open = True
|
||||
self.heartbeat()
|
||||
self.app.opened(self.ctrl)
|
||||
|
||||
|
||||
def on_close(self):
|
||||
self.app.ioloop.remove_timeout(self.timer)
|
||||
self.ctrl.state.remove_listener(self.send)
|
||||
self.ctrl.log.remove_listener(self.send)
|
||||
self.is_open = False
|
||||
self.app.closed(self.ctrl)
|
||||
|
||||
|
||||
def on_message(self, data): self.ctrl.mach.mdi(data)
|
||||
|
||||
|
||||
# Used by CAMotics
|
||||
class WSConnection(ClientConnection, tornado.websocket.WebSocketHandler):
|
||||
def __init__(self, app, request, **kwargs):
|
||||
ClientConnection.__init__(self, app)
|
||||
tornado.websocket.WebSocketHandler.__init__(
|
||||
self, app, request, **kwargs)
|
||||
|
||||
def send(self, msg): self.write_message(msg)
|
||||
def open(self): self.on_open()
|
||||
|
||||
|
||||
# Used by Web frontend
|
||||
class SockJSConnection(ClientConnection, sockjs.tornado.SockJSConnection):
|
||||
def __init__(self, session):
|
||||
ClientConnection.__init__(self, session.server.app)
|
||||
sockjs.tornado.SockJSConnection.__init__(self, session)
|
||||
|
||||
|
||||
def send(self, msg):
|
||||
try:
|
||||
sockjs.tornado.SockJSConnection.send(self, msg)
|
||||
except:
|
||||
self.close()
|
||||
|
||||
|
||||
def on_open(self, info):
|
||||
cookie = info.get_cookie('client-id')
|
||||
if cookie is None: self.send(dict(sid = '')) # Trigger client reset
|
||||
else:
|
||||
id = cookie.value
|
||||
|
||||
ip = info.ip
|
||||
if 'X-Real-IP' in info.headers: ip = info.headers['X-Real-IP']
|
||||
self.app.get_ctrl(id).log.get('Web').info('Connection from %s' % ip)
|
||||
super().on_open(id)
|
||||
|
||||
|
||||
class StaticFileHandler(tornado.web.StaticFileHandler):
|
||||
def set_extra_headers(self, path):
|
||||
self.set_header('Cache-Control',
|
||||
'no-store, no-cache, must-revalidate, max-age=0')
|
||||
|
||||
|
||||
class Web(tornado.web.Application):
|
||||
def __init__(self, args, ioloop):
|
||||
self.args = args
|
||||
self.ioloop = ioloop
|
||||
self.ctrls = {}
|
||||
|
||||
# Init camera
|
||||
if not args.disable_camera:
|
||||
if self.args.demo: log = bbctrl.log.Log(args, ioloop, 'camera.log')
|
||||
else: log = self.get_ctrl().log
|
||||
self.camera = bbctrl.Camera(ioloop, args, log)
|
||||
else: self.camera = None
|
||||
|
||||
# Init controller
|
||||
if not self.args.demo:
|
||||
self.get_ctrl()
|
||||
self.monitor = bbctrl.MonitorTemp(self)
|
||||
|
||||
handlers = [
|
||||
(r'/websocket', WSConnection),
|
||||
(r'/api/log', LogHandler),
|
||||
(r'/api/message/(\d+)/ack', MessageAckHandler),
|
||||
(r'/api/bugreport', BugReportHandler),
|
||||
(r'/api/reboot', RebootHandler),
|
||||
(r'/api/hostname', HostnameHandler),
|
||||
(r'/api/wifi', WifiHandler),
|
||||
(r'/api/remote/username', UsernameHandler),
|
||||
(r'/api/remote/password', PasswordHandler),
|
||||
(r'/api/config/load', ConfigLoadHandler),
|
||||
(r'/api/config/download', ConfigDownloadHandler),
|
||||
(r'/api/config/save', ConfigSaveHandler),
|
||||
(r'/api/config/reset', ConfigResetHandler),
|
||||
(r'/api/firmware/update', FirmwareUpdateHandler),
|
||||
(r'/api/upgrade', UpgradeHandler),
|
||||
(r'/api/file(/[^/]+)?', bbctrl.FileHandler),
|
||||
(r'/api/path/([^/]+)((/positions)|(/speeds))?', PathHandler),
|
||||
(r'/api/home(/[xyzabcXYZABC]((/set)|(/clear))?)?', HomeHandler),
|
||||
(r'/api/start', StartHandler),
|
||||
(r'/api/estop', EStopHandler),
|
||||
(r'/api/clear', ClearHandler),
|
||||
(r'/api/stop', StopHandler),
|
||||
(r'/api/pause', PauseHandler),
|
||||
(r'/api/unpause', UnpauseHandler),
|
||||
(r'/api/pause/optional', OptionalPauseHandler),
|
||||
(r'/api/step', StepHandler),
|
||||
(r'/api/position/([xyzabcXYZABC])', PositionHandler),
|
||||
(r'/api/override/feed/([\d.]+)', OverrideFeedHandler),
|
||||
(r'/api/override/speed/([\d.]+)', OverrideSpeedHandler),
|
||||
(r'/api/modbus/read', ModbusReadHandler),
|
||||
(r'/api/modbus/write', ModbusWriteHandler),
|
||||
(r'/api/jog', JogHandler),
|
||||
(r'/api/video', bbctrl.VideoHandler),
|
||||
(r'/(.*)', StaticFileHandler,
|
||||
{'path': bbctrl.get_resource('http/'),
|
||||
'default_filename': 'index.html'}),
|
||||
]
|
||||
|
||||
router = sockjs.tornado.SockJSRouter(SockJSConnection, '/sockjs')
|
||||
router.app = self
|
||||
|
||||
tornado.web.Application.__init__(self, router.urls + handlers)
|
||||
|
||||
try:
|
||||
self.listen(args.port, address = args.addr)
|
||||
|
||||
except Exception as e:
|
||||
raise Exception('Failed to bind %s:%d: %s' % (
|
||||
args.addr, args.port, e))
|
||||
|
||||
print('Listening on http://%s:%d/' % (args.addr, args.port))
|
||||
|
||||
|
||||
def opened(self, ctrl): ctrl.clear_timeout()
|
||||
|
||||
|
||||
def closed(self, ctrl):
|
||||
# Time out clients in demo mode
|
||||
if self.args.demo: ctrl.set_timeout(self._reap_ctrl, ctrl)
|
||||
|
||||
|
||||
def _reap_ctrl(self, ctrl):
|
||||
ctrl.close()
|
||||
del self.ctrls[ctrl.id]
|
||||
|
||||
|
||||
def get_ctrl(self, id = None):
|
||||
if not id or not self.args.demo: id = ''
|
||||
|
||||
if not id in self.ctrls:
|
||||
ctrl = bbctrl.Ctrl(self.args, self.ioloop, id)
|
||||
self.ctrls[id] = ctrl
|
||||
|
||||
else: ctrl = self.ctrls[id]
|
||||
|
||||
return ctrl
|
||||
|
||||
|
||||
# Override default logger
|
||||
def log_request(self, handler):
|
||||
log = self.get_ctrl(handler.get_cookie('client-id')).log.get('Web')
|
||||
log.info("%d %s", handler.get_status(), handler._request_summary())
|
||||
Reference in New Issue
Block a user