├── requirements.txt ├── msg └── Story.msg ├── example.png ├── screenshot.png ├── static ├── favicon.ico ├── scripts │ ├── script.js │ ├── bootstrap.min.js │ └── jquery-3.3.1.min.js └── stylesheets │ └── style.css ├── setup.py ├── CMakeLists.txt ├── Dockerfile ├── package.xml ├── LICENSE ├── .gitignore ├── templates └── challenge.html ├── backendbase.py ├── README.md ├── rosbackend.py └── server.py /requirements.txt: -------------------------------------------------------------------------------- 1 | tornado 2 | pillow -------------------------------------------------------------------------------- /msg/Story.msg: -------------------------------------------------------------------------------- 1 | string title 2 | string[] storyline -------------------------------------------------------------------------------- /example.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboCupAtHome/vizbox/HEAD/example.png -------------------------------------------------------------------------------- /screenshot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboCupAtHome/vizbox/HEAD/screenshot.png -------------------------------------------------------------------------------- /static/favicon.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/RoboCupAtHome/vizbox/HEAD/static/favicon.ico -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | from distutils.core import setup 4 | 5 | setup(name='vizbox', 6 | version='0.1.0', 7 | description='Visualisation server for RoboCup@Home', 8 | author='Loy van Beek', 9 | author_email='loy.vanbeek@gmail.com', 10 | url='https://github.com/LoyVanBeek/vizbox', 11 | ) -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(vizbox) 3 | 4 | find_package(catkin REQUIRED COMPONENTS 5 | message_generation 6 | ) 7 | 8 | catkin_python_setup() 9 | 10 | add_message_files( 11 | DIRECTORY msg 12 | FILES 13 | Story.msg 14 | ) 15 | generate_messages( 16 | DEPENDENCIES 17 | ) 18 | 19 | catkin_package( 20 | CATKIN_DEPENDS 21 | message_runtime 22 | ) -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ros:kinetic-ros-core 2 | 3 | RUN apt-get update && apt-get install -y \ 4 | ros-kinetic-rospy \ 5 | ros-kinetic-std-msgs \ 6 | python-pip \ 7 | && rm -rf /var/lib/apt/lists/* 8 | 9 | ADD requirements.txt / 10 | 11 | RUN pip install -r requirements.txt 12 | 13 | ADD templates /templates 14 | ADD static /static 15 | ADD backendbase.py / 16 | ADD rosbackend.py / 17 | ADD server.py / 18 | 19 | EXPOSE 8888 20 | 21 | CMD [ "python", "./server.py" ] -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | vizbox 4 | 0.1.0 5 | Visualisation server for RoboCup@Home 6 | 7 | Loy van Beek 8 | 9 | MIT 10 | 11 | catkin 12 | rospy 13 | std_msgs 14 | message_runtime 15 | python-tornado 16 | python-imaging 17 | 18 | 19 | rospy 20 | 21 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2018 Loy van Beek 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | *.egg-info/ 24 | .installed.cfg 25 | *.egg 26 | 27 | # PyInstaller 28 | # Usually these files are written by a python script from a template 29 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 30 | *.manifest 31 | *.spec 32 | 33 | # Installer logs 34 | pip-log.txt 35 | pip-delete-this-directory.txt 36 | 37 | # Unit test / coverage reports 38 | htmlcov/ 39 | .tox/ 40 | .coverage 41 | .coverage.* 42 | .cache 43 | nosetests.xml 44 | coverage.xml 45 | *.cover 46 | .hypothesis/ 47 | 48 | # Translations 49 | *.mo 50 | *.pot 51 | 52 | # Django stuff: 53 | *.log 54 | local_settings.py 55 | 56 | # Flask stuff: 57 | instance/ 58 | .webassets-cache 59 | 60 | # Scrapy stuff: 61 | .scrapy 62 | 63 | # Sphinx documentation 64 | docs/_build/ 65 | 66 | # PyBuilder 67 | target/ 68 | 69 | # Jupyter Notebook 70 | .ipynb_checkpoints 71 | 72 | # pyenv 73 | .python-version 74 | 75 | # celery beat schedule file 76 | celerybeat-schedule 77 | 78 | # SageMath parsed files 79 | *.sage.py 80 | 81 | # Environments 82 | .env 83 | .venv 84 | env/ 85 | venv/ 86 | ENV/ 87 | 88 | # Spyder project settings 89 | .spyderproject 90 | .spyproject 91 | 92 | # Rope project settings 93 | .ropeproject 94 | 95 | # mkdocs documentation 96 | /site 97 | 98 | # mypy 99 | .mypy_cache/ 100 | 101 | # IDE 102 | .idea 103 | -------------------------------------------------------------------------------- /templates/challenge.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 |
15 |

{{title}}

16 |
17 |
18 | 19 |
20 | {{visualization}} 21 |
22 | 24 |
25 | 26 |
27 |

Event

28 |
    29 | {% for line in storyline %} 30 | {% block line %} 31 |
  1. {{line}}
    2. 32 | {% end %} 33 | {% end %} 34 |
35 |
36 | 37 |
38 |
39 | 40 | 41 |
42 |
43 | 44 |
45 | 51 |
52 | 53 | 54 | 55 | -------------------------------------------------------------------------------- /static/scripts/script.js: -------------------------------------------------------------------------------- 1 | var ws = new WebSocket("ws://localhost:8888/ws"); 2 | 3 | ws.onmessage = function (evt) { 4 | var json = JSON.parse(evt.data); 5 | 6 | switch(json.label) 7 | { 8 | case "operator_text": 9 | case "robot_text": 10 | var subtitles = document.getElementById("subtitles"); 11 | var txt = document.createElement("li"); 12 | txt.appendChild(document.createTextNode(json.text)); 13 | txt.setAttribute("class", json.label + " subtitle-line"); 14 | console.log(json.label) // added line 15 | subtitles.insertAdjacentElement('afterbegin', txt); 16 | 17 | var footer = $(".footer"); 18 | footer.animate({ scrollTop: footer.prop("scrollHeight") - footer.height() }, 100); 19 | break 20 | case "challenge_step": 21 | $old = $(".activated").removeClass('activated'); 22 | 23 | $next_active = $('#storyline li').eq(json.index) 24 | $next_active.addClass('activated'); 25 | break 26 | case "image": 27 | var image = "data:image/png;base64," + json.image; 28 | console.log("Got image: '"+image+"'") 29 | document.getElementById('visualization_img').setAttribute('src', image); 30 | break; 31 | case "story": 32 | $("#title").text(json.title) 33 | 34 | console.log("Got story: '"+json+"'") 35 | 36 | $("#storyline").empty(); 37 | $(json.storyline).each(function(index){ 38 | console.log("Got line: '"+this+"'") 39 | $("#storyline").append('
  • ' + this + '
    • '); 40 | }); 41 | break; 42 | } 43 | }; 44 | 45 | function send_to_ws() { 46 | var formdata = $( "#command_enter_form" ).serialize(); 47 | ws.send(formdata); 48 | } 49 | 50 | $("#submit").on("click", send_to_ws); 51 | 52 | $("#btn1").click(function () { 53 | $.ajax({ 54 | type: 'POST', 55 | url: "/", 56 | data : {'btn' : 1} 57 | }); 58 | }); 59 | 60 | 61 | $("#btn2").click(function () { 62 | $.ajax({ 63 | type: 'POST', 64 | url: "/", 65 | data : {'btn' : 2} 66 | }); 67 | }); -------------------------------------------------------------------------------- /static/stylesheets/style.css: -------------------------------------------------------------------------------- 1 | body { 2 | height: 100%; 3 | margin: 0; 4 | font-family: -apple-system,BlinkMacSystemFont,"Segoe UI",Roboto,Oxygen,Ubuntu,"Fira Sans","Droid Sans","Helvetica Neue",sans-serif; 5 | font-size: 20pt; 6 | } 7 | 8 | #subtitle{ 9 | text-align: center; 10 | } 11 | 12 | * { 13 | margin: 0; 14 | } 15 | 16 | .content { 17 | 18 | width:70%; 19 | height:80%; 20 | right:0; 21 | position:absolute; 22 | 23 | color: #E9EDEE; 24 | padding: 10px; 25 | } 26 | 27 | .header { 28 | width:30%; 29 | height:20%; 30 | position:absolute; 31 | left:0; 32 | background-color: #30426A; 33 | color: #E9EDEE; 34 | text-align: center; 35 | } 36 | 37 | .footer-button{ 38 | height:20%; 39 | width:40%; 40 | bottom:0; 41 | right:0; 42 | position:absolute; 43 | background-color: #30426A; 44 | color: #E9EDEE; 45 | } 46 | 47 | #btn1 { 48 | margin-bottom: 10px; 49 | } 50 | 51 | .center { 52 | align-items: center; 53 | display: flex; 54 | flex-direction: column; 55 | justify-content: center; 56 | vertical-align: middle; 57 | text-align: center; 58 | } 59 | 60 | .footer-text{ 61 | width:40%; 62 | height: 20%; 63 | bottom: 0; 64 | position: absolute; 65 | margin-left: 20%; 66 | background-color: #30426A; 67 | color: #E9EDEE; 68 | overflow-y: auto; 69 | 70 | } 71 | 72 | .sidebar{ 73 | height:80%; 74 | width:30%; 75 | float:left; 76 | bottom:0; 77 | position: absolute; 78 | background-color: #30426A; 79 | color: #E9EDEE; 80 | } 81 | 82 | .subtitle-line { 83 | margin: 10px; 84 | } 85 | 86 | li.operator_text { 87 | list-style-type: circle; 88 | font-style: oblique; 89 | } 90 | 91 | li.robot_text { 92 | list-style-type: square; 93 | font-family: courier; 94 | } 95 | 96 | li.activated { 97 | font-weight: bolder; 98 | } 99 | 100 | ::-webkit-scrollbar-track 101 | { 102 | -webkit-box-shadow: inset 0 0 6px rgba(0,0,0,0.3); 103 | border-radius: 10px; 104 | background-color: #30426A; 105 | } 106 | 107 | ::-webkit-scrollbar 108 | { 109 | width: 12px; 110 | background-color: #30426A; 111 | } 112 | 113 | ::-webkit-scrollbar-thumb 114 | { 115 | border-radius: 10px; 116 | -webkit-box-shadow: inset 0 0 6px rgba(0,0,0,.3); 117 | background-color: SteelBlue; 118 | } 119 | -------------------------------------------------------------------------------- /backendbase.py: -------------------------------------------------------------------------------- 1 | def call_callbacks_in(cb_list, converter): 2 | def callback(message): 3 | converted = converter(message) 4 | for cb in cb_list: 5 | cb(converted) 6 | 7 | return callback 8 | 9 | 10 | class BackendBase(object): 11 | @staticmethod 12 | def get_instance(): 13 | raise NotImplementedError() 14 | 15 | def __init__(self): 16 | self.on_operator_text = [] 17 | self.on_robot_text = [] 18 | self.on_challenge_step = [] 19 | self.on_image = [] 20 | self.on_story = [] 21 | 22 | self._title = "Challenge" 23 | self._storyline = ["Enter", "Do stuff", "Exit"] 24 | 25 | @property 26 | def title(self): 27 | return self._title 28 | 29 | @property 30 | def storyline(self): 31 | return self._storyline 32 | 33 | def attach_operator_text(self, callback): 34 | self.on_operator_text += [callback] 35 | 36 | def attach_robot_text(self, callback): 37 | self.on_robot_text += [callback] 38 | 39 | def attach_challenge_step(self, callback): 40 | self.on_challenge_step += [callback] 41 | 42 | def detach_operator_text(self, callback): 43 | self.on_operator_text.remove(callback) 44 | 45 | def detach_robot_text(self, callback): 46 | self.on_robot_text.remove(callback) 47 | 48 | def detach_challenge_step(self, callback): 49 | self.on_challenge_step.remove(callback) 50 | 51 | def accept_command(self, command_text): 52 | raise NotImplementedError() 53 | 54 | def attach_image(self, callback): 55 | """ 56 | Add a callback for when an Image is received 57 | :param callback: function accepting a base64-encoded image 58 | :return: 59 | """ 60 | self.on_image += [callback] 61 | 62 | def detach_image(self, callback): 63 | """ 64 | Remove a callback from when an Image is received 65 | :param callback: 66 | :return: 67 | """ 68 | self.on_image.remove(callback) 69 | 70 | def attach_story(self, callback): 71 | """ 72 | Add a callback for when a Story is received 73 | :param callback: function accepting a tuple of (title: str, storyline: [str]) 74 | :return: 75 | """ 76 | self.on_story += [callback] 77 | 78 | def detach_story(self, callback): 79 | """ 80 | Remove a callback from when a Story is received 81 | :param callback: 82 | :return: 83 | """ 84 | self.on_story.remove(callback) -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | RoboCup@Home VizBox 2 | =================== 3 | 4 | The RoboCup@Home VizBox is a little webserver @Home robots can run to vizualize what is going on. 5 | 6 | The main page shows 7 | - an outline of the current challenge and where the robot is in the story of that challenge. 8 | - Subtitles of what the robot and operator just said; their conversation 9 | - Images of what the robot sees or a visualisation of the robot's world model, eg. camera images, it's map, anything to make clear what is going on to the audience. 10 | 11 | Additionally, the server accepts HTTP POSTs to which a command sentence can be submitted on /command 12 | 13 | ![Screenshot](https://github.com/RoboCupAtHome/vizbox/blob/master/screenshot.png) 14 | 15 | Backends 16 | -------- 17 | 18 | The server abstracts over the underlying robot via a Backend. A backend accepts messages from the robot's internals. A message is forwarded to the web page via websockets. 19 | 20 | Currently, only a ROS backend is implemented: 21 | 22 | ### Subscriptions: 23 | 24 | * ```operator_text std_msgs/String``` What the robot has heard the operator say 25 | * ```robot_text std_msgs/String``` What the robot itself is saying 26 | * ```challenge_step std_msgs/UInt32``` Active item index in the plan or action sequence the robot is executing. 27 | * ```image sensor_msgs/Image``` Image of what the robo sees or anything else interesting to the audience 28 | 29 | ### Publications 30 | * ```command std_msgs/String``` Command HTTP POSTed to the robot. 31 | 32 | TODO 33 | ---- 34 | 35 | * Allow robot to push action sequence and challenge name to server. Allows for GPSR action sequences etc. 36 | 37 | Installation and try out 38 | ------- 39 | ```bash 40 | git clone https://github.com/RoboCupAtHome/vizbox.git 41 | cd vizbox 42 | sudo pip install -r requirements.txt 43 | 44 | roscore # in separate terminal 45 | ./server.py image:=/usb_cam/image_raw # Remaps the image-topic to output of the USB cam, see below 46 | ``` 47 | 48 | Open [The web page on localhost](http://localhost:8888) 49 | 50 | To reproduce the the screenshot: 51 | ```bash 52 | roslaunch usb_cam usb_cam-test.launch # separate terminal 53 | rostopic pub /challenge_step std_msgs/UInt32 "data: 0" --once 54 | rostopic pub /robot_text std_msgs/String "data: 'Hello operator'" --once 55 | rostopic pub /operator_text std_msgs/String "data: 'Robot, follow me'" --once 56 | rostopic pub /robot_text std_msgs/String "data: 'OK, I will follow you'" --once; 57 | rostopic pub /challenge_step std_msgs/UInt32 "data: 1" --once 58 | ``` 59 | 60 | POST commands 61 | ============= 62 | Use 63 | ```bash 64 | http -f POST localhost:8888/command command="Robot, follow me" 65 | ``` 66 | (Using the very handy [HTTPie](https://httpie.org/) utility) to get a publication on the ```/command``` topic 67 | 68 | Buttons 69 | ============= 70 | 71 | Buttons are pushing messages in `next_step` topic. 72 | 73 | To see pushed messages use : 74 | ```bash 75 | rostopic echo next_step # separate terminal 76 | ``` 77 | 78 | To change messages, modify the values of `CMD_BTN1` and `CMD_BTN2` at the beginning of `server.py` 79 | -------------------------------------------------------------------------------- /rosbackend.py: -------------------------------------------------------------------------------- 1 | from backendbase import BackendBase, call_callbacks_in 2 | 3 | import rospy 4 | from std_msgs.msg import String, UInt32 5 | from sensor_msgs.msg import Image, CompressedImage 6 | 7 | import cv2 8 | import numpy as np 9 | from PIL import Image as pil_image 10 | import base64 11 | from StringIO import StringIO 12 | 13 | try: 14 | from vizbox.msg import Story 15 | except ImportError as e: 16 | rospy.logerr(e) 17 | 18 | 19 | class RosBackend(BackendBase): 20 | __instance = None 21 | 22 | 23 | @staticmethod 24 | def get_instance(*args, **kwargs): 25 | if not RosBackend.__instance: 26 | RosBackend.__instance = RosBackend(*args, **kwargs) 27 | return RosBackend.__instance 28 | 29 | def __init__(self, shutdown_hook): 30 | 31 | super(RosBackend, self).__init__() 32 | rospy.init_node("vizbox", log_level=rospy.INFO) 33 | rospy.logdebug("Node initialized") 34 | 35 | rospy.on_shutdown(shutdown_hook) 36 | 37 | self.__encoding = {'rgb8':self.rgba2base64, 38 | 'bgr8':self.bgr8_2_base64, 39 | 'compressed':self.compressed2base64} 40 | 41 | self.op_sub = rospy.Subscriber("operator_text", String, call_callbacks_in(self.on_operator_text, lambda rosmsg: rosmsg.data), queue_size=100) 42 | self.robot_sub = rospy.Subscriber("robot_text", String, call_callbacks_in(self.on_robot_text, lambda rosmsg: rosmsg.data), queue_size=100) 43 | self.step_sub = rospy.Subscriber("challenge_step", UInt32, call_callbacks_in(self.on_challenge_step, lambda rosmsg: rosmsg.data), queue_size=100) 44 | 45 | self.image_sub = rospy.Subscriber("image", Image, call_callbacks_in(self.on_image, self.ros_image_to_base64), queue_size=1) 46 | self.compressed_image_sub = rospy.Subscriber("image/compressed", CompressedImage, call_callbacks_in(self.on_image, self.ros_image_to_base64), queue_size=1) 47 | 48 | try: 49 | self.story_sub = rospy.Subscriber("story", Story, call_callbacks_in(self.on_story, lambda rosmsg: (rosmsg.title, rosmsg.storyline)), queue_size=100) 50 | except NameError, e: 51 | rospy.logerr("To dynamically define a Story, catkin_make this package") 52 | 53 | self.cmd_pub = rospy.Publisher("command", String, queue_size=1) 54 | self.btn_pub = rospy.Publisher("next_step", String, queue_size=1) 55 | 56 | self._title = rospy.get_param("story/title", "Challenge") 57 | self._storyline = rospy.get_param("story/storyline", ["Start"]) 58 | 59 | def accept_command(self, command_text): 60 | self.cmd_pub.publish(command_text) 61 | 62 | 63 | def btn_pushed(self, command_text): 64 | self.btn_pub.publish(command_text) 65 | 66 | 67 | def ros_image_to_base64(self, rosmsg): 68 | if hasattr(rosmsg, 'encoding'): 69 | decoder = self.__encoding[rosmsg.encoding] 70 | else: 71 | decoder = self.__encoding['compressed'] 72 | return decoder(rosmsg) 73 | 74 | 75 | @staticmethod 76 | def rgba2base64(rosmsg): 77 | length = len(rosmsg.data) 78 | bytes_needed = int(rosmsg.width * rosmsg.height * 3) 79 | # print "encode: length={} width={}, heigth={}, bytes_needed={}".format(length, width, height, bytes_needed) 80 | 81 | converted = pil_image.frombytes('RGB', 82 | (rosmsg.width, rosmsg.height), 83 | rosmsg.data) 84 | string_buffer = StringIO() 85 | converted.save(string_buffer, "png") 86 | image_bytes = string_buffer.getvalue() 87 | encoded = base64.standard_b64encode(image_bytes) 88 | return encoded 89 | 90 | @staticmethod 91 | def compressed2base64(rosmsg): 92 | length = len(rosmsg.data) 93 | img_np_arr = np.fromstring(rosmsg.data, np.uint8) 94 | flag = cv2.IMREAD_COLOR if cv2.__version__.split('.')[0] == '3' else cv2.CV_LOAD_IMAGE_COLOR 95 | encoded_img = cv2.imdecode(img_np_arr, flag)[:,:,::-1] 96 | converted = pil_image.fromarray(encoded_img) 97 | string_buffer = StringIO() 98 | converted.save(string_buffer, "png") 99 | image_bytes = string_buffer.getvalue() 100 | encoded = base64.standard_b64encode(image_bytes) 101 | return encoded 102 | 103 | @staticmethod 104 | def bgr8_2_base64(rosmsg): 105 | # Decode image into RGB rigt because PIL doesn't know BGR. 106 | # Below we simply reorder the channels 107 | converted_rgb = pil_image.frombytes('RGB', 108 | (rosmsg.width, rosmsg.height), 109 | rosmsg.data) 110 | 111 | # Re-order channels to match RGB what we encoded :-). 112 | b,g,r = converted_rgb.split() 113 | converted = pil_image.merge("RGB", (b,g,r)) 114 | 115 | string_buffer = StringIO() 116 | converted.save(string_buffer, "png") 117 | image_bytes = string_buffer.getvalue() 118 | encoded = base64.standard_b64encode(image_bytes) 119 | return encoded 120 | -------------------------------------------------------------------------------- /server.py: -------------------------------------------------------------------------------- 1 | #! /usr/bin/env python 2 | 3 | import json 4 | import signal 5 | from socket import error 6 | 7 | import time 8 | from tornado.ioloop import IOLoop 9 | from tornado.web import Application, RequestHandler, StaticFileHandler 10 | from tornado.websocket import WebSocketHandler 11 | 12 | from backendbase import BackendBase 13 | from rosbackend import RosBackend 14 | 15 | CMD_BTN1 = "Next Step" 16 | CMD_BTN2 = "Stop" 17 | 18 | 19 | class ChallengeHandler(RequestHandler): 20 | def initialize(self, backend): 21 | self.backend = backend 22 | 23 | def get(self): 24 | print "Rendering..." 25 | self.render("challenge.html", 26 | visualization="Robot camera image", 27 | title=self.backend.title, 28 | storyline=self.backend.storyline 29 | ) 30 | 31 | def post(self): 32 | if self.get_argument("btn") == "1": 33 | print('btn1 pushed') 34 | self.backend.btn_pushed(CMD_BTN1) 35 | 36 | if self.get_argument("btn") == "2": 37 | print('btn2 pushed') 38 | self.backend.btn_pushed(CMD_BTN2) 39 | 40 | 41 | class CommandReceiver(RequestHandler): 42 | def initialize(self, backend): 43 | self.backend = backend 44 | 45 | def post(self, *args, **kwargs): 46 | command = self.get_argument("command") 47 | self.backend.accept_command(command) 48 | print(command) 49 | 50 | 51 | 52 | 53 | class MessageForwarder(WebSocketHandler): 54 | 55 | def __init__(self, *args, **kwargs): 56 | self.backend = kwargs.pop('backend') 57 | super(MessageForwarder, self).__init__(*args, **kwargs) 58 | 59 | def check_origin(self, origin): 60 | return True 61 | 62 | def open(self): 63 | print("opening WebSocket") 64 | self.backend.attach_operator_text(self.handle_operator_text) 65 | self.backend.attach_robot_text(self.handle_robot_text) 66 | self.backend.attach_challenge_step(self.handle_challenge_step) 67 | self.backend.attach_image(self.handle_image) 68 | self.backend.attach_story(self.handle_story) 69 | 70 | print("WebSocket opened") 71 | 72 | def on_message(self, message): 73 | self.write_message(u"You said: " + message) 74 | 75 | def on_close(self): 76 | print("WebSocket closed") 77 | self.backend.detach_operator_text(self.handle_operator_text) 78 | self.backend.detach_robot_text(self.handle_robot_text) 79 | self.backend.detach_challenge_step(self.handle_challenge_step) 80 | self.backend.detach_image(self.handle_image) 81 | self.backend.detach_story(self.handle_story) 82 | 83 | def handle_operator_text(self, text): 84 | print "handle_operator_text({})".format(text) 85 | 86 | data = {"label": "operator_text", "text": "Operator : "+text} 87 | data = json.dumps(data) 88 | 89 | self.write_message(data) 90 | 91 | def handle_robot_text(self, text): 92 | print "handle_robot_text({})".format(text) 93 | 94 | data = {"label": "robot_text", "text": "Robot : "+text} 95 | data = json.dumps(data) 96 | 97 | self.write_message(data) 98 | 99 | def handle_challenge_step(self, step): 100 | print "handle_challenge_step({})".format(step) 101 | 102 | data = {"label": "challenge_step", "index": step} 103 | data = json.dumps(data) 104 | 105 | self.write_message(data) 106 | 107 | def handle_image(self, image): 108 | print "handle_image({})".format(len(image)) 109 | 110 | data = {"label": "image", "image": image} 111 | data = json.dumps(data) 112 | 113 | self.write_message(data) 114 | 115 | def handle_story(self, title_storyline): 116 | print "handle_story({})".format(title_storyline) 117 | 118 | title, storyline = title_storyline 119 | 120 | data = {"label": "story", "title": title, "storyline": storyline} 121 | data = json.dumps(data) 122 | 123 | self.write_message(data) 124 | 125 | 126 | def handle_shutdown(*arg, **kwargs): 127 | IOLoop.instance().stop() 128 | 129 | if __name__ == "__main__": 130 | backend = RosBackend.get_instance(shutdown_hook=handle_shutdown) 131 | 132 | signal.signal(signal.SIGINT, handle_shutdown) 133 | signal.signal(signal.SIGQUIT, handle_shutdown) # SIGQUIT is send by our supervisord to stop this server. 134 | signal.signal(signal.SIGTERM, handle_shutdown) # SIGTERM is send by Ctrl+C or supervisord's default. 135 | print "Shutdown handler connected" 136 | 137 | app = Application([ 138 | (r"/ws", MessageForwarder, {'backend': backend}), 139 | (r'/', ChallengeHandler, {'backend': backend}), 140 | (r'/command', CommandReceiver, {'backend': backend}), 141 | (r'/static/(.*)', StaticFileHandler, {'path': 'static/'})], 142 | (r'/(favicon\.ico)', StaticFileHandler, {'path': 'static/favicon.ico'}), 143 | debug=True, 144 | template_path="templates") 145 | 146 | address, port = "localhost", 8888 147 | print "Application instantiated" 148 | 149 | connected = False 150 | while not connected: 151 | try: 152 | print "Listening..." 153 | app.listen(port, address) 154 | print "Listening on http://{addr}:{port}".format(addr=address, port=port) 155 | connected = True 156 | except error as ex: 157 | print "{ex}. 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