mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: added a home page and ajax support
This commit is contained in:
Andrew Tridgell
parent
168bc4e32f
commit
18044a9644
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@ -79,6 +79,9 @@ local HIDDEN_FOLDERS = { "@SYS", "@ROMFS", "@MISSION", "@PARAM" }
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local CGI_BIN_PATH = "cgi-bin"
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local MNT_PREFIX = "/mnt"
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local MNT_PREFIX2 = MNT_PREFIX .. "/"
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local MIME_TYPES = {
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["apj"] = CONTENT_OCTET_STREAM,
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["dat"] = CONTENT_OCTET_STREAM,
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@ -164,6 +167,79 @@ local MIME_TYPES = {
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["7z"] = "application/x-7z-compressed",
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}
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--[[
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builtin dynamic pages
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--]]
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local DYNAMIC_PAGES = {
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-- main home page
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["/"] = [[
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<!doctype html>
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<html lang="en">
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<head>
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<meta charset="utf-8">
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<title>ArduPilot</title>
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<script>
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<?lstr JS_LIBRARY['dynamic_load']?>
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</script>
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</head>
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<h2>ArduPilot Web Server</h2>
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<body onload="javascript: dynamic_load('board_status','/@DYNAMIC/board_status.shtml',1000)">
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<div id="main">
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<ul>
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<li><a href="mnt/">SDCard Access</a></li>
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</ul>
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</div>
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<h2>Controller Status</h2>
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<div id="board_status"></div>
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</body>
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</html>
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]],
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-- board status section on front page
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["@DYNAMIC/board_status.shtml"] = [[
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<table>
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<tr><td>Firmware</td><td><?lstr FWVersion:string() ?></td></tr>
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<tr><td>GIT Hash</td><td><?lstr FWVersion:hash() ?></td></tr>
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<tr><td>Uptime</td><td><?lstr hms_uptime() ?></td></tr>
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<tr><td>Arm Status</td><td><?lstr arming:is_armed() and "ARMED" or "DISARMED" ?></td></tr>
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<tr><td>AHRS Location</td><td><?lstr location_string(ahrs:get_location()) ?></td>
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<tr><td>GPS Location</td><td><?lstr location_string(ahrs:get_location()) ?></td>
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</table>
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]]
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}
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--[[
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builtin javascript library functions
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--]]
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JS_LIBRARY = {
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["dynamic_load"] = [[
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function dynamic_load(div_id, uri, period_ms) {
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var xhr = new XMLHttpRequest();
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xhr.open('GET', uri);
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xhr.setRequestHeader("Cache-Control", "no-cache, no-store, max-age=0");
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xhr.setRequestHeader("Expires", "Tue, 01 Jan 1980 1:00:00 GMT");
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xhr.setRequestHeader("Pragma", "no-cache");
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xhr.onload = function () {
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if (xhr.status === 200) {
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var output = document.getElementById(div_id);
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if (uri.endsWith('.shtml') || uri.endsWith('.html')) {
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output.innerHTML = xhr.responseText;
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} else {
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output.textContent = xhr.responseText;
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}
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}
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setTimeout(function() { dynamic_load(div_id,uri, period_ms); }, period_ms);
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}
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xhr.send();
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}
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]]
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}
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if not sock_listen:bind("0.0.0.0", WEB_BIND_PORT:get()) then
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gcs:send_text(MAV_SEVERITY.ERROR, string.format("WebServer: failed to bind to TCP %u", WEB_BIND_PORT:get()))
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@ -175,6 +251,13 @@ if not sock_listen:listen(20) then
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return
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end
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function hms_uptime()
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local s = (millis()/1000):toint()
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local min = math.floor(s / 60) % 60
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local hr = math.floor(s / 3600)
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return string.format("%u hours %u minutes %u seconds", hr, min, s%60)
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end
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--[[
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split string by pattern
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--]]
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@ -316,7 +399,25 @@ function substitute_vars(s, vars)
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end))
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return s
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end
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--[[
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lat or lon as a string, working around limited type in ftoa_engine
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--]]
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function latlon_str(ll)
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local ipart = tonumber(string.match(tostring(ll*1.0e-7), '(.*[.]).*'))
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local fpart = math.abs(ll - ipart*10000000)
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return string.format("%d.%u", ipart, fpart, ipart*10000000, ll)
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end
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--[[
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location string for home page
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--]]
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function location_string(loc)
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return substitute_vars([[<a href="https://www.google.com/maps/search/?api=1&query={lat},{lon}" target="_blank">{lat} {lon}</a> {alt}]],
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{ ["lat"] = latlon_str(loc:lat()),
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["lon"] = latlon_str(loc:lng()),
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["alt"] = string.format("%.1fm", loc:alt()*1.0e-2) })
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end
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--[[
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client class for open connections
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@ -468,9 +569,6 @@ local function Client(_sock, _idx)
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]], {path=path})
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for _,d in ipairs(dlist) do
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local skip = d == "."
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if path == "/" and d == ".." then
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skip = true
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end
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if not skip then
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local fullpath = self.full_path(path, d)
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local name = d
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@ -586,9 +684,14 @@ local function Client(_sock, _idx)
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Using 'lstr' a return tostring(yourcode) is added to the code
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automatically
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--]]
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function self.send_processed_file()
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function self.send_processed_file(dynamic_page)
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sock:set_blocking(true)
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local contents = self.load_file()
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local contents
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if dynamic_page then
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contents = file
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else
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contents = self.load_file()
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end
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while #contents > 0 do
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local pat1 = "(.-)[<][?]lua[ \n](.-)[?][>](.*)"
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local pat2 = "(.-)[<][?]lstr[ \n](.-)[?][>](.*)"
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@ -613,6 +716,9 @@ local function Client(_sock, _idx)
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-- return a content type
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function self.content_type(path)
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if path == "/" then
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return MIME_TYPES["html"]
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end
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local file, ext = string.match(path, '(.*[.])(.*)')
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ext = string.lower(ext)
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local ret = MIME_TYPES[ext]
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@ -628,16 +734,23 @@ local function Client(_sock, _idx)
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path = string.sub(path, 2, #path)
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end
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DEBUG(string.format("%u: file_download(%s)", idx, path))
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file = io.open(path,"rb")
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if not file then
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DEBUG(string.format("%u: Failed to open '%s'", idx, path))
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return false
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file = DYNAMIC_PAGES[path]
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dynamic_page = file ~= nil
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if not dynamic_page then
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file = io.open(path,"rb")
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if not file then
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DEBUG(string.format("%u: Failed to open '%s'", idx, path))
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return false
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end
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end
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local vars = {["Content-Type"]=self.content_type(path)}
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local cgi_processing = startswith(path, "/cgi-bin/") and endswith(path, ".lua")
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local server_side_processing = endswith(path, ".shtml")
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local stat = fs:stat(path)
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if not startswith(path, "@") and not server_side_processing and not cgi_processing and stat then
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if not startswith(path, "@") and
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not server_side_processing and
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not cgi_processing and stat and
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not dynamic_page then
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local fsize = stat:size()
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local mtime = stat:mtime()
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vars["Content-Length"]= tostring(fsize)
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@ -656,9 +769,9 @@ local function Client(_sock, _idx)
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end
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end
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self.send_header(200, "OK", vars)
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if server_side_processing then
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if server_side_processing or dynamic_page then
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DEBUG(string.format("%u: shtml processing %s", idx, path))
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run = self.send_processed_file
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run = self.send_processed_file(dynamic_page)
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elseif cgi_processing then
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DEBUG(string.format("%u: CGI processing %s", idx, path))
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run = self.send_cgi
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@ -715,7 +828,22 @@ local function Client(_sock, _idx)
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end
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end
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if isdirectory(path) and not endswith(path,"/") and header_vars['Host'] and not is_hidden_dir(path) then
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if DYNAMIC_PAGES[path] ~= nil then
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self.file_download(path)
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return
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end
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if path == MNT_PREFIX then
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path = "/"
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end
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if startswith(path, MNT_PREFIX2) then
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path = string.sub(path,#MNT_PREFIX2,#path)
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end
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if isdirectory(path) and
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not endswith(path,"/") and
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header_vars['Host'] and
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not is_hidden_dir(path) then
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self.moved_permanently(path .. "/")
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return
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end
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@ -737,10 +865,15 @@ local function Client(_sock, _idx)
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end
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-- see if it is a directory
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if endswith(path,"/") or isdirectory(path) or is_hidden_dir(path) then
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if (path == "/" or
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DYNAMIC_PAGES[path] == nil) and
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(endswith(path,"/") or
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isdirectory(path) or
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is_hidden_dir(path)) then
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self.directory_list(path)
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return
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end
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-- or a file
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if self.file_download(path) then
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return
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