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server.py
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server.py
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from tornado.web import StaticFileHandler
import tornado.httpserver
import yarp
from threading import Lock
import sqlite3 as sl
import json
import os
import signal, sys, threading
import secrets
from python_code.internal_handlers.generic_handlers.NavClickHandler import NavClickHandler
from python_code.internal_handlers.generic_handlers.ButtonsHandler import ButtonsHandler
from python_code.internal_handlers.generic_handlers.IndexHandler import IndexHandler
from python_code.internal_handlers.media_handlers.AudioInHandler import AudioInHandler
from python_code.internal_handlers.media_handlers.AudioOutHandler import AudioOutHandler
from python_code.internal_handlers.credential_handlers.LoginHandler import LoginHandler, ActiveUsersRegister
from python_code.internal_handlers.credential_handlers.RegisterHandler import RegisterHandler
from python_code.internal_handlers.credential_handlers.LogoutHandler import LogoutHandler
from python_code.internal_handlers.credential_handlers.AuthHandler import AuthHandler
from python_code.utils.cookieServer import CookieServer
## Execution example
# python3 server.py --camera_port 10009 --camera_host 192.168.92.109 --map_port 10014 --no_ssl
# python3 server.py --camera_port 10010 --camera_host 192.168.20.162 --map_port 10010 --no_ssl
# python3 server.py --simulate --no_ssl
# python3 server.py --simulate
ABSPATH = os.path.dirname(os.path.realpath(__file__))
ADMINKEY = "1234qwer"
SERVERPORT = 16001
NETWORK = None
RESFINDER = None
NAVCLICKPORT = None
HEADCLICKPORT = None
MAPCLICKPORT = None
MICPORT = None
NAVCLICKPORTNAME = "/webview/navClick:o"
HEADCLICKPORTNAME = "/webview/headClick:o"
MAPCLICKPORTNAME = "/webview/mapClick:o"
MICPORTNAME = "/webview/microphone:o"
WEBLOCK = Lock()
AUDIOBUFFLEN = 640
dirname = os.path.dirname(__file__)
dbPath = os.path.join(dirname, "static/sql_db/users.db")
certificates_folder = os.path.join(dirname, "resources/certificates")
certificates_name = "host"
loginDb = sl.connect(dbPath)
def createUsersTable(inputDb):
sql_create_projects_table = ''' CREATE TABLE IF NOT EXISTS users (
id integer primary key,
name text not null,
password text not null) '''
try:
c = inputDb.cursor()
c.execute(sql_create_projects_table)
except Exception as e:
print("This is an error")
print(e)
if __name__ == "__main__":
RESFINDER = yarp.ResourceFinder()
RESFINDER.configure(sys.argv)
createUsersTable(loginDb)
commonAUR = ActiveUsersRegister(True,True)
if RESFINDER.check("server_port"):
SERVERPORT = RESFINDER.find("server_port").asInt32()
if not RESFINDER.check("no_yarp"):
NETWORK = yarp.Network()
NETWORK.init()
AUDIOBUFFLEN = RESFINDER.find("audioBufLen").asInt32() if RESFINDER.check("audioBufLen") else AUDIOBUFFLEN
MICPORT = yarp.BufferedPortSound()
NAVCLICKPORT = yarp.Port()
MAPCLICKPORT = yarp.Port()
HEADCLICKPORT = yarp.Port()
MICPORTNAME = RESFINDER.find("mic_port").asString() if RESFINDER.check("mic_port") else MICPORTNAME
NAVCLICKPORTNAME = RESFINDER.find("nav_click_port").asString() if RESFINDER.check("nav_click_port") else NAVCLICKPORTNAME
MAPCLICKPORTNAME = RESFINDER.find("map_click_port").asString() if RESFINDER.check("map_click_port") else MAPCLICKPORTNAME
HEADCLICKPORTNAME = RESFINDER.find("head_click_port").asString() if RESFINDER.check("head_click_port") else HEADCLICKPORTNAME
MICPORT.open(MICPORTNAME)
NAVCLICKPORT.open(NAVCLICKPORTNAME)
MAPCLICKPORT.open(MAPCLICKPORTNAME)
HEADCLICKPORT.open(HEADCLICKPORTNAME)
if RESFINDER.check("no_ssl") or RESFINDER.check("traefik"):
certificates_folder = None
certificates_name = None
else:
certificates_folder = RESFINDER.find("certificates_path").asString() if RESFINDER.check("certificates_path") else certificates_folder
certificates_name = RESFINDER.find("certificates_name").asString() if RESFINDER.check("certificates_name") else certificates_name
if RESFINDER.check("simulate"):
handlersList = [(r'/', IndexHandler,{"inputNetwork": NETWORK,
"cameraPort": "",
"mapPort": "",
"audioPort": "",
"cameraHost": "",
"resFinder": None,
"absPath": ABSPATH,
"audioBufferLen": AUDIOBUFFLEN,
"mapHost": "",
"simulate":True,
"isSsl": (not RESFINDER.check("no_ssl")) or RESFINDER.check("traefik")}),
(r'/auth',AuthHandler),
(r'/wsa',AudioInHandler,{"soundPort": MICPORT}),
(r'/wsc',AudioOutHandler,{"network": NETWORK, "audioPort": ""}),
(r'/login', LoginHandler,{"absPath": ABSPATH,"aur": commonAUR,"my_db": loginDb}),
(r'/logout', LogoutHandler,{"absPath": ABSPATH,"aur": commonAUR,"my_db": loginDb}),
(r'/register', RegisterHandler,{"absPath": ABSPATH,"aur": commonAUR,"my_db": loginDb,"adminkey": ADMINKEY}),
(r"/static/(.*)", StaticFileHandler,{'path':'static'}),
(r"/ws", NavClickHandler, {"webLock": WEBLOCK,
"navPort": NAVCLICKPORT,
"headPort": HEADCLICKPORT,
"mapPort": MAPCLICKPORT}),
(r"/wsb", ButtonsHandler, {"webLock": WEBLOCK,
"navPort": NAVCLICKPORT})]
elif not RESFINDER.check("simulate") and NETWORK is not None:
MAPPORT = None
CAMERAPORT = None
AUDIOPORT = None
MAPHOST = None
CAMERAHOST = None
if RESFINDER.check("camera_name"):
tempConn = yarp.NetworkBase_queryName(RESFINDER.find("camera_name").toString())
CAMERAPORT = str(tempConn.getPort())
CAMERAHOST = tempConn.getHost()
if RESFINDER.check("map_name"):
tempConn = yarp.NetworkBase_queryName(RESFINDER.find("map_name").toString())
MAPPORT = str(tempConn.getPort())
MAPHOST = tempConn.getHost()
if RESFINDER.check("audio_name"):
AUDIOPORT = RESFINDER.find("audio_name").toString()
if RESFINDER.check("camera_port"):
CAMERAPORT = RESFINDER.find("camera_port").toString()
else:
if CAMERAPORT is None:
print("Error! Camera port not found")
sys.exit()
if RESFINDER.check("map_port"):
MAPPORT = RESFINDER.find("map_port").toString()
else:
if MAPPORT is None:
print("Error! Map port not found")
sys.exit()
if RESFINDER.check("camera_host"):
CAMERAHOST = RESFINDER.find("camera_host").asString()
else:
if CAMERAHOST is None:
print("Error! Camera host not found")
sys.exit()
if RESFINDER.check("map_host"):
MAPHOST = RESFINDER.find("map_host").asString()
handlersList = [(r'/', IndexHandler,{"inputNetwork": NETWORK,
"cameraPort": CAMERAPORT,
"mapPort": MAPPORT,
"audioPort": AUDIOPORT,
"cameraHost": CAMERAHOST,
"resFinder": RESFINDER,
"absPath": ABSPATH,
"audioBufferLen": AUDIOBUFFLEN,
"mapHost": MAPHOST,
"isSsl": (not RESFINDER.check("no_ssl")) or RESFINDER.check("traefik"),
"simulate": False}),
(r'/auth',AuthHandler),
(r'/wsa',AudioInHandler,{"soundPort": MICPORT}),
(r'/wsc',AudioOutHandler,{"network": NETWORK, "audioPort": AUDIOPORT}),
(r'/login', LoginHandler,{"absPath": ABSPATH, "aur": commonAUR,"my_db": loginDb}),
(r'/logout', LogoutHandler,{"absPath": ABSPATH,"aur": commonAUR,"my_db": loginDb}),
(r'/register', RegisterHandler,{"absPath": ABSPATH,"aur": commonAUR,"my_db": loginDb,"adminkey": ADMINKEY}),
(r"/static/(.*)", StaticFileHandler,{'path':'static'}),
(r"/ws", NavClickHandler, {"webLock": WEBLOCK,
"navPort": NAVCLICKPORT,
"headPort": HEADCLICKPORT,
"mapPort": MAPCLICKPORT}),
(r"/wsb", ButtonsHandler, {"webLock": WEBLOCK,
"navPort": NAVCLICKPORT})]
server = CookieServer(handlersList,SERVERPORT,certificates_folder,certificates_name,True,secrets.token_urlsafe())
def signal_handler(signal, frame):
print('exiting')
server.stop()
print('before exit')
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
signal.signal(signal.SIGHUP, signal_handler)
print('Running on port %d' % SERVERPORT)
print('Press Ctrl+C to stop')
#signal.pause()
server.start()