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AP_Scripting: added web server appliction

This commit is contained in:
Andrew Tridgell 2023-12-04 10:12:07 +11:00
parent 3446ff78d7
commit 1419042fc0
5 changed files with 818 additions and 29 deletions
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9
libraries/AP_Scripting/applets/WebExamples/test.lua Normal file
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--[[
example lua cgi file for cgi-bin/ folder
--]]
return [[
test-from-cgi
working!!
]]

16
libraries/AP_Scripting/applets/WebExamples/test.shtml Normal file
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<html>
<head>
<meta http-equiv="refresh" content="1">
</head>
<body>
<h1>Server Side Scripting Test</h1>
<table>
<tr><th>Roll</th><th>Pitch</th><th>Yaw</th></tr>
<tr>
<td><?lua return tostring(math.deg(ahrs:get_roll()))?></td>
<td><?lstr math.deg(ahrs:get_pitch())?></td>
<td><?lstr math.deg(ahrs:get_yaw())?></td>
</tr>
</table>
</body>
</html>

694
libraries/AP_Scripting/applets/net_webserver.lua Normal file
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--[[
example script to test lua socket API
--]]
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
PARAM_TABLE_KEY = 47
PARAM_TABLE_PREFIX = "WEB_"
-- add a parameter and bind it to a variable
function bind_add_param(name, idx, default_value)
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
return Parameter(PARAM_TABLE_PREFIX .. name)
end
-- Setup Parameters
assert(param:add_table(PARAM_TABLE_KEY, PARAM_TABLE_PREFIX, 6), 'net_test: could not add param table')
--[[
// @Param: WEB_ENABLE
// @DisplayName: enable web server
// @Description: enable web server
// @Values: 0:Disabled,1:Enabled
// @User: Standard
--]]
local WEB_ENABLE = bind_add_param('ENABLE', 1, 0)
--[[
// @Param: WEB_BIND_PORT
// @DisplayName: web server TCP port
// @Description: web server TCP port
// @Range: 1 65535
// @User: Standard
--]]
local WEB_BIND_PORT = bind_add_param('BIND_PORT', 2, 8080)
--[[
// @Param: WEB_DEBUG
// @DisplayName: web server debugging
// @Description: web server debugging
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
--]]
local WEB_DEBUG = bind_add_param('DEBUG', 3, 0)
--[[
// @Param: WEB_BLOCK_SIZE
// @DisplayName: web server block size
// @Description: web server block size for download
// @Range: 1 65535
// @User: Advanced
--]]
local WEB_BLOCK_SIZE = bind_add_param('BLOCK_SIZE', 4, 10240)
--[[
// @Param: WEB_TIMEOUT
// @DisplayName: web server timeout
// @Description: timeout for inactive connections
// @Units: s
// @Range: 0.1 60
// @User: Advanced
--]]
local WEB_TIMEOUT = bind_add_param('TIMEOUT', 5, 2.0)
gcs:send_text(MAV_SEVERITY.INFO, string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
local counter = 0
local sock_listen = SocketAPM(0)
local clients = {}
local DOCTYPE = "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 3.2 Final//EN\">"
local SERVER_VERSION = "net_webserver 1.0"
local CONTENT_TEXT_HTML = "text/html;charset=UTF-8"
local CONTENT_OCTET_STREAM = "application/octet-stream"
local HIDDEN_FOLDERS = { "@SYS", "@ROMFS", "@MISSION", "@PARAM" }
local CGI_BIN_PATH = "cgi-bin"
local MIME_TYPES = {
["apj"] = CONTENT_OCTET_STREAM,
["dat"] = CONTENT_OCTET_STREAM,
["o"] = CONTENT_OCTET_STREAM,
["obj"] = CONTENT_OCTET_STREAM,
["lua"] = "text/x-lua",
["py"] = "text/x-python",
["shtml"] = CONTENT_TEXT_HTML,
["js"] = "text/javascript",
-- thanks to https://developer.mozilla.org/en-US/docs/Web/HTTP/Basics_of_HTTP/MIME_types/Common_types
["aac"] = "audio/aac",
["abw"] = "application/x-abiword",
["arc"] = "application/x-freearc",
["avif"] = "image/avif",
["avi"] = "video/x-msvideo",
["azw"] = "application/vnd.amazon.ebook",
["bin"] = "application/octet-stream",
["bmp"] = "image/bmp",
["bz"] = "application/x-bzip",
["bz2"] = "application/x-bzip2",
["cda"] = "application/x-cdf",
["csh"] = "application/x-csh",
["css"] = "text/css",
["csv"] = "text/csv",
["doc"] = "application/msword",
["docx"] = "application/vnd.openxmlformats-officedocument.wordprocessingml.document",
["eot"] = "application/vnd.ms-fontobject",
["epub"] = "application/epub+zip",
["gz"] = "application/gzip",
["gif"] = "image/gif",
["htm"] = CONTENT_TEXT_HTML,
["html"] = CONTENT_TEXT_HTML,
["ico"] = "image/vnd.microsoft.icon",
["ics"] = "text/calendar",
["jar"] = "application/java-archive",
["jpeg"] = "image/jpeg",
["json"] = "application/json",
["jsonld"] = "application/ld+json",
["mid"] = "audio/x-midi",
["mjs"] = "text/javascript",
["mp3"] = "audio/mpeg",
["mp4"] = "video/mp4",
["mpeg"] = "video/mpeg",
["mpkg"] = "application/vnd.apple.installer+xml",
["odp"] = "application/vnd.oasis.opendocument.presentation",
["ods"] = "application/vnd.oasis.opendocument.spreadsheet",
["odt"] = "application/vnd.oasis.opendocument.text",
["oga"] = "audio/ogg",
["ogv"] = "video/ogg",
["ogx"] = "application/ogg",
["opus"] = "audio/opus",
["otf"] = "font/otf",
["png"] = "image/png",
["pdf"] = "application/pdf",
["php"] = "application/x-httpd-php",
["ppt"] = "application/vnd.ms-powerpoint",
["pptx"] = "application/vnd.openxmlformats-officedocument.presentationml.presentation",
["rar"] = "application/vnd.rar",
["rtf"] = "application/rtf",
["sh"] = "application/x-sh",
["svg"] = "image/svg+xml",
["tar"] = "application/x-tar",
["tif"] = "image/tiff",
["tiff"] = "image/tiff",
["ts"] = "video/mp2t",
["ttf"] = "font/ttf",
["txt"] = "text/plain",
["vsd"] = "application/vnd.visio",
["wav"] = "audio/wav",
["weba"] = "audio/webm",
["webm"] = "video/webm",
["webp"] = "image/webp",
["woff"] = "font/woff",
["woff2"] = "font/woff2",
["xhtml"] = "application/xhtml+xml",
["xls"] = "application/vnd.ms-excel",
["xlsx"] = "application/vnd.openxmlformats-officedocument.spreadsheetml.sheet",
["xml"] = "default.",
["xul"] = "application/vnd.mozilla.xul+xml",
["zip"] = "application/zip",
["3gp"] = "video",
["3g2"] = "video",
["7z"] = "application/x-7z-compressed",
}
if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
gcs:send_text(MAV_SEVERITY.ERROR, string.format("WebServer: failed to bind to TCP %u", WEB_BIND_PORT:get()))
return
end
if not sock_listen:listen(50) then
gcs:send_text(MAV_SEVERITY.ERROR, "WebServer: failed to listen")
return
end
--[[
split string by pattern
--]]
local function split(str, pattern)
local ret = {}
for s in string.gmatch(str, pattern) do
table.insert(ret, s)
end
return ret
end
--[[
return true if a string ends in the 2nd string
--]]
local function endswith(str, s)
local len1 = #str
local len2 = #s
return string.sub(str,1+len1-len2,len1) == s
end
--[[
return true if a string starts with the 2nd string
--]]
local function startswith(str, s)
local len1 = #str
local len2 = #s
return string.sub(str,1,len2) == s
end
function DEBUG(txt)
if WEB_DEBUG:get() ~= 0 then
gcs:send_text(MAV_SEVERITY.DEBUG, txt)
end
end
--[[
return true if a table contains a given element
--]]
function contains(t,el)
for _,v in ipairs(t) do
if v == el then
return true
end
end
return false
end
function is_hidden_dir(path)
return contains(HIDDEN_FOLDERS, path)
end
function file_exists(path)
local f = io.open(path, "rb")
if f then
return true
end
return false
end
--[[
client class for open connections
--]]
local function Client(_sock, _idx)
local self = {}
self.closed = false
local sock = _sock
local idx = _idx
local have_header = false
local header = ""
local header_lines = {}
local header_vars = {}
local run = nil
local protocol = nil
local file = nil
local start_time = millis()
function self.read_header()
local s = sock:recv(2048)
if not s then
local now = millis()
if not sock:is_connected() or now - start_time > WEB_TIMEOUT:get()*1000 then
-- EOF while looking for header
DEBUG("EOF")
self.remove()
return false
end
return false
end
if not s or #s == 0 then
return false
end
header = header .. s
local eoh = string.find(s, '\r\n\r\n')
if eoh then
DEBUG("got header")
have_header = true
header_lines = split(header, "[^\r\n]+")
-- blocking for reply
sock:set_blocking(true)
return true
end
return false
end
function self.sendstring(s)
sock:send(s, #s)
end
function self.sendline(s)
self.sendstring(s .. "\r\n")
end
--[[
send a string with variable substitution using {varname}
from http://lua-users.org/wiki/StringInterpolation
--]]
function self.sendstring_vars(s, vars)
s = (string.gsub(s, "({([^}]+)})",
function(whole,i)
return vars[i] or whole
end))
self.sendstring(s)
end
function self.send_header(code, codestr, vars)
self.sendline(string.format("%s %u %s", protocol, code, codestr))
self.sendline(string.format("Server: %s", SERVER_VERSION))
for k,v in pairs(vars) do
self.sendline(string.format("%s: %s", k, v))
end
self.sendline("Connection: close")
self.sendline("")
end
-- get size of a file
function self.file_size(fname)
DEBUG(string.format("size of '%s'", fname))
local f = io.open(fname, "rb")
if not f then
return -1
end
local ret = f:seek("end")
f:close()
DEBUG(string.format("size of '%s' -> %u", fname, ret))
return ret
end
--[[
return full path with .. resolution
--]]
function self.full_path(path, name)
DEBUG(string.format("full_path(%s,%s)", path, name))
local ret = path
if path == "/" and startswith(name,"@") then
return name
end
if name == ".." then
if path == "/" then
return "/"
end
if endswith(path,"/") then
path = string.sub(path, 1, #path-1)
end
local dir, file = string.match(path, '(.*/)(.*)')
if not dir then
return path
end
return dir
end
if not endswith(ret, "/") then
ret = ret .. "/"
end
ret = ret .. name
DEBUG(string.format("full_path(%s,%s) -> %s", path, name, ret))
return ret
end
function self.directory_list(path)
if startswith(path, "/@") then
path = string.sub(path, 2, #path-1)
end
DEBUG(string.format("directory_list(%s)", path))
local dlist = dirlist(path)
if not dlist then
dlist = {}
end
if not contains(dlist, "..") then
-- on ChibiOS we don't get ..
table.insert(dlist, "..")
end
if path == "/" then
for _,v in ipairs(HIDDEN_FOLDERS) do
table.insert(dlist, v)
end
end
table.sort(dlist)
self.send_header(200, "OK", {["Content-Type"]=CONTENT_TEXT_HTML})
self.sendline(DOCTYPE)
self.sendstring_vars([[
<html>
<head>
<title>Index of {path}</title>
</head>
<body>
<h1>Index of {path}</h1>
<table>
<tr><th>Name</th><th>Size</th></tr>
]], {path=path})
for _,d in ipairs(dlist) do
local skip = d == "."
if path == "/" and d == ".." then
skip = true
end
if not skip then
local fullpath = self.full_path(path, d)
local name = d
local size = 0
if is_hidden_dir(fullpath) or isdirectory(fullpath) then
name = name .. "/"
else
size = math.max(self.file_size(fullpath),0)
end
self.sendstring_vars([[<tr><td><a href="{name}">{name}</a></td><td>{size}</td></tr>
]], { name=name, size=tostring(size) })
end
end
self.sendstring([[
</table>
</body>
</html>
]])
end
-- send file content
function self.send_file()
local chunk = WEB_BLOCK_SIZE:get()
local b = file:read(chunk)
if b and #b > 0 then
sock:send(b, #b)
end
if not b or #b < chunk then
-- EOF
DEBUG("sent file")
run = nil
self.remove()
return
end
end
--[[
load whole file as a string
--]]
function self.load_file()
local chunk = WEB_BLOCK_SIZE:get()
local ret = ""
while true do
local b = file:read(chunk)
if not b or #b == 0 then
break
end
ret = ret .. b
end
return ret
end
--[[
evaluate some lua code and return as a string
--]]
function self.evaluate(code)
local eval_code = "function eval_func()\n" .. code .. "\nend\n"
local f, errloc, err = load(eval_code, "eval_func", "t", _ENV)
if not f then
DEBUG(string.format("load failed: err=%s", err))
return nil
end
local success, err = pcall(f)
if not success then
DEBUG(string.format("pcall failed: err=%s", err))
return nil
end
local ok, s2 = pcall(eval_func)
eval_func = nil
if ok then
return s2
end
return nil
end
--[[
process a file as a lua CGI
--]]
function self.send_cgi()
local contents = self.load_file()
local s = self.evaluate(contents)
if s then
self.sendstring(s)
end
self.remove()
end
--[[
send file content with server side processsing
files ending in .shtml can have embedded lua lika this:
<?lua return "foo" ?>
<?lstr 2.6+7.2 ?>
Using 'lstr' a return tostring(yourcode) is added to the code
automatically
--]]
function self.send_processed_file()
local contents = self.load_file()
while #contents > 0 do
local pat1 = "(.-)[<][?]lua[ \n](.-)[?][>](.*)"
local pat2 = "(.-)[<][?]lstr[ \n](.-)[?][>](.*)"
local p1, p2, p3 = string.match(contents, pat1)
if not p1 then
p1, p2, p3 = string.match(contents, pat2)
if not p1 then
break
end
p2 = "return tostring(" .. p2 .. ")"
end
self.sendstring(p1)
local s2 = self.evaluate(p2)
if s2 then
self.sendstring(s2)
end
contents = p3
end
self.sendstring(contents)
self.remove()
end
-- return a content type
function self.content_type(path)
local file, ext = string.match(path, '(.*[.])(.*)')
ext = string.lower(ext)
local ret = MIME_TYPES[ext]
if not ret then
return CONTENT_OCTET_STREAM
end
return ret
end
-- perform a file download
function self.file_download(path)
if startswith(path, "/@") then
path = string.sub(path, 2, #path)
end
DEBUG(string.format("file_download(%s)", path))
file = io.open(path,"rb")
if not file then
DEBUG(string.format("Failed to open '%s'", path))
return false
end
local vars = {["Content-Type"]=self.content_type(path)}
local cgi_processing = startswith(path, "/cgi-bin/") and endswith(path, ".lua")
local server_side_processing = endswith(path, ".shtml")
if not startswith(path, "@") and not server_side_processing and not cgi_processing then
local fsize = self.file_size(path)
vars["Content-Length"]= tostring(fsize)
end
self.send_header(200, "OK", vars)
if server_side_processing then
DEBUG(string.format("shtml processing %s", path))
run = self.send_processed_file
elseif cgi_processing then
DEBUG(string.format("CGI processing %s", path))
run = self.send_cgi
else
run = self.send_file
end
return true
end
function self.not_found()
self.send_header(404, "Not found", {})
end
function self.moved_permanently(relpath)
if not startswith(relpath, "/") then
relpath = "/" .. relpath
end
local location = string.format("http://%s%s", header_vars['Host'], relpath)
DEBUG(string.format("Redirect -> %s", location))
self.send_header(301, "Moved Permanently", {["Location"]=location})
end
-- process a single request
function self.process_request()
local h1 = header_lines[1]
if not h1 or #h1 == 0 then
DEBUG("empty request")
return
end
local cmd = split(header_lines[1], "%S+")
if not cmd or #cmd < 3 then
DEBUG(string.format("bad request: %s", header_lines[1]))
return
end
if cmd[1] ~= "GET" then
DEBUG(string.format("bad op: %s", cmd[1]))
return
end
protocol = cmd[3]
if protocol ~= "HTTP/1.0" and protocol ~= "HTTP/1.1" then
DEBUG(string.format("bad protocol: %s", protocol))
return
end
local path = cmd[2]
DEBUG(string.format("path='%s'", path))
-- extract header variables
for i = 2,#header_lines do
local key, var = string.match(header_lines[i], '(.*): (.*)')
header_vars[key] = var
end
if isdirectory(path) and not endswith(path,"/") and header_vars['Host'] and not is_hidden_dir(path) then
self.moved_permanently(path .. "/")
return
end
if path ~= "/" and endswith(path,"/") then
path = string.sub(path, 1, #path-1)
end
if startswith(path,"/@") then
path = string.sub(path, 2, #path)
end
-- see if we have an index file
if isdirectory(path) and file_exists(path .. "/index.html") then
DEBUG("found index.html")
if self.file_download(path .. "/index.html") then
return
end
end
-- see if it is a directory
if endswith(path,"/") or isdirectory(path) or is_hidden_dir(path) then
self.directory_list(path)
return
end
-- or a file
if self.file_download(path) then
return
end
self.not_found(path)
end
-- update the client
function self.update()
if run then
run()
return
end
if not have_header then
if not self.read_header() then
return
end
end
self.process_request()
if not run then
-- nothing more to do
self.remove()
end
end
function self.remove()
DEBUG(string.format("Removing client %u", idx))
sock:close()
self.closed = true
end
-- return the instance
return self
end
--[[
see if any new clients want to connect
--]]
local function check_new_clients()
local sock = sock_listen:accept()
if sock then
-- non-blocking for header read
sock:set_blocking(false)
local idx = #clients+1
local client = Client(sock, idx)
DEBUG(string.format("New client %u", idx))
table.insert(clients, client)
end
end
--[[
check for client activity
--]]
local function check_clients()
for idx,client in ipairs(clients) do
if not client.closed then
client.update()
end
if client.closed then
table.remove(clients,idx)
end
end
end
local function update()
check_clients()
check_new_clients()
return update,1
end
return update,100

91
libraries/AP_Scripting/applets/net_webserver.md Normal file
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@ -0,0 +1,91 @@
# Web Server Application
This implements a web server for boards that have networking support.
# Parameters
The web server has a small number of parameters
## WEB_ENABLE
This must be set to 1 to enable the web server
## WEB_BIND_PORT
This sets the network port to use for the server. It defaults to 8080
## WEB_DEBUG
This enables verbose debugging
## WEB_BLOCK_SIZE
This sets the block size for network and file read/write
operations. Setting a larger value can increase performance at the
cost of more memory
## WEB_TIMEOUT
This sets the timeout in seconds for inactive client connections.
# Operation
By default the web server serves the root of your microSD card. You
can include html, javascript (*.js), image files etc on your microSD
to create a full web server with any structure you want.
## Server Side Scripting
The web server supports embedding lua script elements inside html
files for files with a filename of *.shtml. Here is an example:
```
<html>
<head>
<meta http-equiv="refresh" content="1">
</head>
<body>
<h1>Server Side Scripting Test</h1>
<table>
<tr><th>Roll</th><th>Pitch</th><th>Yaw</th></tr>
<tr>
<td><?lua return tostring(math.deg(ahrs:get_roll()))?></td>
<td><?lstr math.deg(ahrs:get_pitch())?></td>
<td><?lstr math.deg(ahrs:get_yaw())?></td>
</tr>
</table>
</body>
</html>
```
In this example we are using two forms of embedded lua scripts. The
first form starts with "<?lua" and requires you to have a return
statement at the end which returns a string. This form can use as many
lines as you like.
The second form starts with "<?lstr" and will automatically cast the
expression to a string. The second form is for short single value
elements.
You can use any of the normal ArduPilot lua script bindings inside
these lua embedded elements to access sensor data etc.
## CGI Scripts
You can have CGI scripts written in lua by putting them in a directory
called "cgi-bin" in the root of the microSD card. The files must have
a file extension of ".lua".
Here is an example of a simple cgi script:
```
--[[
example lua cgi file for cgi-bin/ folder
--]]
return [[
test-from-cgi
2nd line
and a third line
]]
```
You can use any of the normal ArduPilot lua script bindings inside CGI
scripts to access sensor data etc.

37
libraries/AP_Scripting/examples/net_test.lua
View File

@ -7,17 +7,10 @@ local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTI
PARAM_TABLE_KEY = 46
PARAM_TABLE_PREFIX = "NT_"
-- bind a parameter to a variable given
function bind_param(name)
local p = Parameter()
assert(p:init(name), string.format('could not find %s parameter', name))
return p
end
-- add a parameter and bind it to a variable
function bind_add_param(name, idx, default_value)
assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
return bind_param(PARAM_TABLE_PREFIX .. name)
return Parameter(PARAM_TABLE_PREFIX .. name)
end
-- Setup Parameters
@ -57,27 +50,13 @@ local sock_tcp_in = SocketAPM(0)
local sock_tcp_in2 = nil
local sock_udp_in = SocketAPM(1)
if not sock_tcp_echo then
gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create tcp echo socket")
return
end
if not sock_udp_echo then
gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to create udp echo socket")
return
end
if not sock_tcp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to TCP 5001")
end
if not sock_tcp_in:listen(1) then
gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to listen")
end
if not sock_udp_in:bind("0.0.0.0", NT_BIND_PORT:get()) then
gcs:send_text(MAV_SEVERITY.ERROR, "net_test: failed to bind to UDP 5001")
end
assert(sock_tcp_echo, "net_test: failed to create tcp echo socket")
assert(sock_udp_echo, "net_test: failed to create udp echo socket")
assert(sock_tcp_in:bind("0.0.0.0",
NT_BIND_PORT:get()), string.format("net_test: failed to bind to TCP %u", NT_BIND_PORT:get()))
assert(sock_tcp_in:listen(1), "net_test: failed to listen")
assert(sock_udp_in:bind("0.0.0.0",
NT_BIND_PORT:get()), string.format("net_test: failed to bind to UDP %u", NT_BIND_PORT:get()))
--[[
test TCP or UDP echo