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rclnodejs-testing
Commit 6a97978c authored by Oleg Dzhimiev's avatar Oleg Dzhimiev
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      app.js 0 → 100644
      View file @ 6a97978c
      const express = require('express');
      const path = require('path');
      const cookieParser = require('cookie-parser');
      const logger = require('morgan');
      const indexRouter = require('./routes/index');
      const app = express();
      app.use(logger('dev'));
      app.use(express.json());
      app.use(express.urlencoded({ extended: false }));
      app.use(cookieParser());
      app.use(express.static(path.join(__dirname, 'public')));
      app.use('/node_modules',express.static(path.join(__dirname, 'node_modules')));
      app.use('/', indexRouter);
      module.exports = app;
      bin/www 0 → 100755
      View file @ 6a97978c
      #!/usr/bin/env node
      /**
      * Module dependencies.
      */
      var app = require('../app');
      var debug = require('debug')('p4:server');
      var http = require('http');
      /**
      * Get port from environment and store in Express.
      */
      var port = normalizePort(process.env.PORT || '3000');
      app.set('port', port);
      /**
      * Create HTTP server.
      */
      var server = http.createServer(app);
      /**
      * Listen on provided port, on all network interfaces.
      */
      server.listen(port);
      server.on('error', onError);
      server.on('listening', onListening);
      /**
      * Normalize a port into a number, string, or false.
      */
      function normalizePort(val) {
      var port = parseInt(val, 10);
      if (isNaN(port)) {
      // named pipe
      return val;
      }
      if (port >= 0) {
      // port number
      return port;
      }
      return false;
      }
      /**
      * Event listener for HTTP server "error" event.
      */
      function onError(error) {
      if (error.syscall !== 'listen') {
      throw error;
      }
      var bind = typeof port === 'string'
      ? 'Pipe ' + port
      : 'Port ' + port;
      // handle specific listen errors with friendly messages
      switch (error.code) {
      case 'EACCES':
      console.error(bind + ' requires elevated privileges');
      process.exit(1);
      break;
      case 'EADDRINUSE':
      console.error(bind + ' is already in use');
      process.exit(1);
      break;
      default:
      throw error;
      }
      }
      /**
      * Event listener for HTTP server "listening" event.
      */
      function onListening() {
      var addr = server.address();
      var bind = typeof addr === 'string'
      ? 'pipe ' + addr
      : 'port ' + addr.port;
      debug('Listening on ' + bind);
      }
      package.json 0 → 100644
      View file @ 6a97978c
      {
      "name": "p4",
      "version": "0.0.0",
      "private": true,
      "scripts": {
      "start": "node ./bin/www"
      },
      "dependencies": {
      "cookie-parser": "~1.4.3",
      "debug": "~2.6.9",
      "express": "~4.16.0",
      "jquery": "^3.3.1",
      "morgan": "~1.9.0"
      }
      }
      public/index.html 0 → 100644
      View file @ 6a97978c
      <!DOCTYPE HTML>
      <html lang="en">
      <head>
      <meta charset="utf-8"/>
      <title>ROS2 Testing</title>
      <link rel="stylesheet" href="/stylesheets/style.css">
      <script type='text/javascript' src='node_modules/jquery/dist/jquery.js'></script>
      <script type='text/javascript' src='javascripts/index.js'></script>
      </head>
      <body>
      <div>
      <table>
      <tr>
      <td>Master:</td>
      <td id='masternode'></td>
      </tr>
      <tr valign='top'>
      <td>Slaves:</td>
      <td id='slavenodes'></td>
      </tr>
      </table>
      </div>
      <div>
      <button id='testbutton'>List masters</button>
      <!--<button id='testbutton1'>List slaves</button>-->
      <button id='testbutton2'>Get states</button>
      <!--<button id='testbutton3'>ifconfig</button>-->
      </div>
      <div id='nodelist'></div>
      </body>
      </html>
      public/javascripts/index.js 0 → 100644
      View file @ 6a97978c
      $(function(){
      init();
      });
      let MasterNode = "-";
      let appData = {
      master: "-",
      slaves: [],
      slaves_selected: []
      }
      function init(){
      // css
      $("#nodelist").css({
      padding:'10px 0px'
      });
      $("#masternode").css({
      'font-weight': 'bold'
      });
      update_master_node();
      // init button
      $('#testbutton').on('click', function(e){
      $.ajax({
      url: '/api/nodelist',
      success: function(response){
      const l = response.trim().split('\n');
      let ll = [];
      $("#nodelist").empty();
      l.forEach(function(entry) {
      ll.push("<div class='master_nodes'>"+entry+"</div>");
      });
      $("#nodelist").empty().append(ll.join('\n'));
      $(".master_nodes").on('click',function(e){
      update_master_node($(this).html());
      $("#nodelist").empty();
      //send_command(appData.slaves,'list', parse_cmd_list_init);
      // go straight with ifconfig
      send_command(appData.slaves,'ifconfig', parse_cmd_ifconfig_init);
      });
      }
      });
      });
      $('#testbutton1').on('click', function(e){
      send_command(appData.slaves_selected,'list', parse_cmd_list);
      });
      $('#testbutton2').on('click', function(e){
      send_command(appData.slaves_selected,'state', parse_cmd_state);
      });
      // need a post request
      $('#testbutton3').on('click', function(e){
      //let cmd = "wget -qO- -o /dev/null 'http://localhost/parsedit.php?immediate&amp;TRIG'";
      //let cmd = "ifconfig";
      //let cmd = "wget -qO- -o /dev/null 'http://localhost/diagnostics.php'";
      const cmd = "ifconfig";
      send_command(appData.slaves_selected, cmd, parse_cmd_ifconfig);
      });
      }
      function parse_cmd_list_init(res){
      $(res).find('target').each(function(){
      const name = $(this).text();
      update_slave_list(name);
      });
      $(".slave_checkbox").on("change",function(e){
      let checked = $(this).prop("checked");
      let name = $(this).parent().find("label").html();
      console.log(checked+" "+name);
      if (!checked) {
      appData.slaves_selected = appData.slaves_selected.filter(item => item!==name);
      }else{
      appData.slaves_selected.push(name);
      }
      });
      }
      function parse_cmd_list(res){
      let rtab = [
      '<table class="slave_table">',
      ' <tr>',
      ' <th>Slave</th>',
      ' </tr>'
      ];
      $(res).find('target').each(function(){
      const name = $(this).text();
      //update_slave_list(name);
      rtab = rtab.concat([
      '<tr>',
      ' <td class="name">'+name+'</td>',
      '</tr>',
      ]);
      });
      rtab.push('</table>');
      $("#nodelist").empty().append(rtab.join('\n'));
      }
      function parse_cmd_state(res){
      let rtab = [
      '<table class="slave_table">',
      ' <tr>',
      ' <th>Slave</th>',
      ' <th>State</th>',
      ' </tr>'
      ];
      $(res).find('response').each(function(){
      const name = $(this).find('node').text();
      const state = $(this).find('state').text();
      rtab = rtab.concat([
      '<tr>',
      ' <td class="name">'+name+'</td>',
      ' <td class="state">'+state+'</td>',
      '</tr>',
      ]);
      });
      rtab.push('</table>');
      $("#nodelist").empty().append(rtab.join('\n'));
      }
      function parse_cmd_testing(res){
      $(res).find('response').each(function(){
      const name = $(this).find('node').text();
      const state = $(this).find('state').text();
      console.log(state);
      });
      }
      function parse_cmd_ifconfig(res){
      $(res).find('response').each(function(){
      const name = $(this).find('node').text();
      const state = $(this).find('state').text();
      const ip = get_ipaddr_from_ifconfig(state);
      console.log(ip);
      $("."+name+" label").html(name+" ("+ip+")");
      });
      }
      function send_command(targets, cmd, callback){
      let targets_str = "";
      if (Array.isArray(targets)){
      targets_str = targets.join(',');
      }else if (typeof targets === 'string' || targets instanceof String){
      targets_str = targets;
      }else{
      targets_str = "";
      }
      $.ajax({
      type: "POST",
      url: '/api/cmd',
      data: {
      master: appData.master,
      targets: targets_str,
      cmd: cmd
      },
      dataType: "xml",
      success: callback
      });
      }
      function update_slave_list(name){
      appData.slaves.push(name);
      appData.slaves_selected.push(name);
      let html = [
      '<div class=\''+name+'\'>',
      '<input class=\'slave_checkbox\' type=\'checkbox\' checked />',
      '<label>'+name+'</label>',
      '</div>'
      ].join('\n');
      $("#slavenodes").append(html);
      }
      function update_master_node(newvalue){
      if (newvalue!==undefined){
      appData.master = newvalue;
      appData.slaves = [];
      }
      $("#masternode").html(appData.master);
      }
      function get_ipaddr_from_ifconfig(str){
      // for Elphel 10393
      const iface_regex_10393 = /[^\ \n]+(?=\ +Link\ encap)/gi;
      const ipaddr_regex_10393 = /(?<=inet\ addr\:)\d+\.\d+\.\d+\.\d+/gi;
      // for PC
      const iface_regex_pc = /[^\ \n]+(?=\:\ flags)/gi;
      const ipaddr_regex_pc = /(?<=inet\ )\d+\.\d+\.\d+\.\d+/gi;
      let res = "";
      let ifaces = str.match(iface_regex_10393);
      let ipaddrs = str.match(ipaddr_regex_10393);
      if (ifaces===null || ipaddrs===null){
      ifaces = str.match(iface_regex_pc);
      ipaddrs = str.match(ipaddr_regex_pc);
      }
      for(var i=0;i<ipaddrs.length;i++){
      if (ifaces[i]!=='lo') {
      res = ipaddrs[i];
      }
      break;
      }
      return res;
      }
      public/stylesheets/style.css 0 → 100644
      View file @ 6a97978c
      body {
      padding: 10px;
      font: 14px "Lucida Grande", Helvetica, Arial, sans-serif;
      }
      a {
      color: #00B7FF;
      }
      div.inline{
      float: left;
      padding: 2px 5px 2px 0px;
      }
      .master_nodes{
      cursor: pointer;
      }
      .slave_table{
      border-collapse: collapse;
      }
      .slave_table th,
      .slave_table td
      {
      border: 1px solid gray;
      padding: 3px 10px;
      }
      .slave_table .state{
      text-align: center;
      }
      input[type=checkbox], input[type=radio] {
      width: 18px;
      height: 18px;
      vertical-align: middle;
      position: relative;
      bottom: 1px;
      }
      routes/index.js 0 → 100644
      View file @ 6a97978c
      // libs
      const url = require('url');
      const express = require('express');
      const fs = require('fs');
      const path = require('path');
      // more libs
      const router = express.Router();
      const log = console.log;
      const rclnodejs = require('rclnodejs');
      let ros2node = {};
      rclnodejs.init().then(() => {
      const mac = get_my_mac();
      ros2node = rclnodejs.createNode('_nodejs_client_'+mac);
      rclnodejs.spin(ros2node);
      log('rclnodejs initialized');
      });
      /* GET home page. */
      router.get('/', function(req, res, next) {
      res.render('index');
      });
      const { execSync } = require('child_process');
      router.get('/api/nodelist', function(req, res, next) {
      // shell command
      const stdout = execSync('ros2 node list');
      const uri = url.parse(req.url).pathname;
      res.send(stdout);
      });
      router.post('/api/*', function(req, res, next) {
      const master = req.body.master;
      const targets = req.body.targets;
      const cmd = req.body.cmd;
      // handle errors
      if ((master==='')||(master==='-')) {
      res.send("Invalid master node name");
      return;
      }
      const client = ros2node.createClient('elphel_interfaces/srv/StrReqStrRes', master+'/cmd');
      const request = {
      request: [
      '<document>',
      '<targets>'+targets+'</targets>',
      '<cmd>'+cmd+'</cmd>',
      '</document>'].join('')
      };
      console.log(`Sending: ${typeof request}`, request);
      client.sendRequest(request, (response) => {
      console.log(`Result: ${typeof response}`, response);
      //rclnodejs.shutdown();
      res.send(response.response);
      });
      //rclnodejs.spin(node);
      });
      module.exports = router;
      function get_my_mac(last_three_octets=true){
      let tmp_mac = "000000000000";
      let dir = "/sys/class/net/";
      fs.readdirSync(dir).forEach(file => {
      //log(file);
      let p = /^(eth|enp|wlp)/gi;
      let a = p.test(file);
      if(a){
      tmp_mac = fs.readFileSync(path.join(dir,file,'address'),'utf-8').trim();
      tmp_mac = tmp_mac.replace(/:/g,'');
      }
      //log(a);
      });
      if (last_three_octets) {
      tmp_mac = tmp_mac.slice(-6);
      }
      return tmp_mac;
      }
      routes/users.js 0 → 100644
      View file @ 6a97978c
      var express = require('express');
      var router = express.Router();
      /* GET users listing. */
      router.get('/', function(req, res, next) {
      res.send('respond with a resource');
      });
      module.exports = router;
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