forked from owoalex/botd
-
Notifications
You must be signed in to change notification settings - Fork 0
/
botd_server.py
executable file
·342 lines (305 loc) · 14 KB
/
botd_server.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
#!/bin/python3
from http.server import BaseHTTPRequestHandler, HTTPServer
import time
import json
from io import BytesIO
import re
import os
import sys
import requests
import math
import threading
bot_list = []
controller_list = []
config = {
"disconnection_time": 5
}
class ClientMonitor(threading.Thread):
def __init__(self, thread_name):
threading.Thread.__init__(self)
self.thread_name = thread_name
# helper function to execute the threads
def run(self):
global bot_list
global controller_list
global config
time.sleep(1)
while (True):
time.sleep(1)
#print("Polling clients")
for bot in bot_list:
if bot["connected"]:
try:
remote_server_base_uri = "http://" + bot["ip"] + ":" + str(bot["port"])
params = {}
request = requests.get(url = remote_server_base_uri + "/", params = params)
data = request.json()
#print(data)
bot["last_status"] = data
bot["last_status_at"] = time.time()
except:
ttd = (bot["last_status_at"] + config["disconnection_time"]) - time.time()
if ttd > 0.5:
print("Bot @ %s is not responding, will disconnect in %s seconds" % ((bot["ip"] + ":" + str(bot["port"])), str(round(ttd))))
else:
print("Disconnecting unresponsive robot @ %s :(" % (bot["ip"] + ":" + str(bot["port"])))
bot["connected"] = False
for controller in controller_list:
if controller["connected"]:
try:
remote_server_base_uri = "http://" + controller["ip"] + ":" + str(controller["port"])
params = {}
request = requests.get(url = remote_server_base_uri + "/", params = params)
data = request.json()
#print(data)
controller["last_status"] = data
controller["last_status_at"] = time.time()
except:
ttd = (controller["last_status_at"] + config["disconnection_time"]) - time.time()
if ttd > 0.5:
print("Controller @ %s is not responding, will disconnect in %s seconds" % ((controller["ip"] + ":" + str(controller["port"])), str(round(ttd))))
else:
print("Disconnecting unresponsive controller @ %s :/" % (controller["ip"] + ":" + str(controller["port"])))
controller["connected"] = False
class BotServer(BaseHTTPRequestHandler):
def log_message(self, format, *args):
return
#process info given to pi from client
#do_POST responsibilities
# configuration
#
def do_POST(self):
path_components = self.path.split("/")
if (len(path_components) >= 1):
if (path_components[0] == ""):
path_components.pop(0)
if (len(path_components) == 0):
path_components.push("")
#if has no content, treat this post request as a get
if (self.headers['Content-Length'] == None):
self.do_GET()
return
#get content length as bytes
content_length = int(self.headers['Content-Length'])
#get content of post request in a variable
body = self.rfile.read(content_length).decode("utf-8")
#try convert body from JSON to a generic dictionary. If fails, send back a message saying u fucked up
try:
body = json.loads(body)
except ValueError: # includes simplejson.decoder.JSONDecodeError
self.send_response(401)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "INVALID_JSON_PAYLOAD"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
return
#if thats all worked then we start processing it:
#if the request's first part says register then register the contents
if (path_components[0] == "register"):
error = None
device_definition = body
device_definition["ip"] = self.client_address[0]
device_definition["connected"] = True
idx = -1
if (error == None):
if not ("port" in body):
error = "MISSING_DEVICE_PORT"
if (error == None):
if ("type" in body):
if (body["type"] == "BOT"):
bot_list.append(device_definition)
idx = len(bot_list) - 1
print("New robot (bot%s) @ %s :D" % (str(idx), (device_definition["ip"] + ":" + str(device_definition["port"]))))
elif (body["type"] == "CONTROLLER"):
controller_list.append(device_definition)
idx = len(controller_list) - 1
print("New controller (controller%s) @ %s :>" % (str(idx), (device_definition["ip"] + ":" + str(device_definition["port"]))))
else:
error = "INVALID_DEVICE_TYPE"
else:
error = "MISSING_DEVICE_TYPE"
if (error == None):
self.send_response(200)
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"request": body,
"device_index": idx
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
else:
self.send_response(401)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": error
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if first part of path references a bot then ...
elif (re.compile("^bot[0-9]+$").match(path_components[0])):
if (len(path_components) > 1):
#if second part is cmd then they're sending a command, we process that
if (path_components[1] == "cmd"):
bot_number = int(path_components[0][3:])
destination_definition = bot_list[bot_number]
#print(destination_definition["ip"])
#print(destination_definition["port"])
self.send_response(200)
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"intent": body
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
remote_bot_base_uri = "http://" + destination_definition["ip"] + ":" + str(destination_definition["port"])
bot_request = requests.post(url = remote_bot_base_uri + "/cmd", json = body)
ret_data = bot_request.json()
#if second part isnt a command then assume they're just requesting status and return that
else:
self.send_response(200)
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"request": body
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#same as before but ask for data of a controller instead of a bot
elif (re.compile("^controller[0-9]+$").match(path_components[0])):
self.send_response(200)
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"request": body
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if its none of those then assume its a get request
else:
self.do_GET()
#for processing put requests (uploading files e.g. photos for a video feed)
def do_PUT(self):
path_components = self.path.split("/")
if (len(path_components) >= 1):
if (path_components[0] == ""):
path_components.pop(0)
if (len(path_components) == 0):
path_components.push("")
#if start of request lists a bot then they're identifiying themselves as a bot, use this data to...
if (re.compile("^bot[0-9]+$").match(path_components[0])):
#if second part says camera then they're uploading camera data, process that
#this is processed by just writing it to a file for later use
if (re.compile("^cam[0-9]+$").match(path_components[1])):
timestamp = time.time()
filename = "camera/" + path_components[1] + "-" + str(timestamp) + ".jpeg"
file_length = int(self.headers['Content-Length'])
with open(filename, 'wb') as output_file:
output_file.write(self.rfile.read(file_length))
self.send_response(201, "Created")
self.end_headers()
reply_body = json.dumps({
"status": "OK"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if second part of request isnt recognised then reply with error
else:
self.send_response(404)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "INVALID_BOT_ENDPOINT"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if part of first request isnt a bot then return error
else:
self.send_response(404)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "INVALID_PUT_LOCATION"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#processing get requests, requesting data innit fam
def do_GET(self):
path_components = self.path.split("/")
if (len(path_components) >= 1):
if (path_components[0] == ""):
path_components.pop(0)
if (len(path_components) == 0):
path_components.push("")
#if first part of request is empty then just send basic response "I got your request, Im working"
if (path_components[0] == ""):
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "OK"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if first part says devices then return list of devices
elif (path_components[0] == "devices"):
self.send_response(200)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "OK",
"bots": bot_list,
"controllers": controller_list
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if first part is register then throw error because that should be going to POST not GET
#(could this rerout it to a do_post instead of throwing error?)
elif (path_components[0] == "register"):
self.send_response(401)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "POST_ONLY_ENDPOINT"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#if anything else throw error
else:
self.send_response(404)
self.send_header("Content-type", "application/json")
self.end_headers()
reply_body = json.dumps({
"status": "ENDPOINT_NOT_FOUND"
}, indent=4)
self.wfile.write((reply_body + "\n").encode("utf-8"))
#this part just runs the server and calls the above stuff when the requests come through
if __name__ == "__main__":
switch_name = "PYFILE"
host_name = ""
local_server_port = 8080
for arg in sys.argv:
if switch_name == None:
if (arg.startswith("-")):
if (arg.startswith("--")):
if (arg == "--port"):
switch_name = "PORT"
else:
if (arg == "-p"):
switch_name = "PORT"
else:
remote_server = arg
elif switch_name == "PORT":
local_server_port = int(arg)
switch_name = None
elif switch_name == "PYFILE":
switch_name = None
else:
print("Argument parse error!")
web_server = HTTPServer((host_name, local_server_port), BotServer)
client_monitor = ClientMonitor("client_monitor");
if host_name == "":
print("Host server starting on port %s" % (local_server_port))
else:
print("Host server starting http://%s:%s" % (host_name, local_server_port))
client_monitor.start();
try:
web_server.serve_forever()
except KeyboardInterrupt:
pass
web_server.server_close()
print("Server stopped.")
os._exit(0)