--[[
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, 1)
--[[
// @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)
--[[
// @Param: WEB_SENDFILE_MIN
// @DisplayName: web server minimum file size for sendfile
// @Description: sendfile is an offloading mechanism for faster file download. If this is non-zero and the file is larger than this size then sendfile will be used for file download
// @Range: 0 10000000
// @User: Advanced
--]]
local WEB_SENDFILE_MIN = bind_add_param('SENDFILE_MIN', 6, 100000)
if WEB_ENABLE:get() ~= 1 then
gcs:send_text(MAV_SEVERITY.INFO, "WebServer: disabled")
return
end
local BRD_RTC_TZ_MIN = Parameter("BRD_RTC_TZ_MIN")
gcs:send_text(MAV_SEVERITY.INFO, string.format("WebServer: starting on port %u", WEB_BIND_PORT:get()))
local sock_listen = Socket(0)
local clients = {}
local DOCTYPE = ""
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 MNT_PREFIX = "/mnt"
local MNT_PREFIX2 = MNT_PREFIX .. "/"
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",
}
--[[
builtin dynamic pages
--]]
local DYNAMIC_PAGES = {
-- main home page
["/"] = [[
ArduPilot
ArduPilot Web Server
Controller Status
]],
-- board status section on front page
["@DYNAMIC/board_status.shtml"] = [[
| Firmware | |
| GIT Hash | |
| Uptime | |
| Arm Status | |
| AHRS Location | |
| GPS Location | |
]]
}
--[[
builtin javascript library functions
--]]
JS_LIBRARY = {
["dynamic_load"] = [[
function dynamic_load(div_id, uri, period_ms) {
var xhr = new XMLHttpRequest();
xhr.open('GET', uri);
xhr.setRequestHeader("Cache-Control", "no-cache, no-store, max-age=0");
xhr.setRequestHeader("Expires", "Tue, 01 Jan 1980 1:00:00 GMT");
xhr.setRequestHeader("Pragma", "no-cache");
xhr.onload = function () {
if (xhr.status === 200) {
var output = document.getElementById(div_id);
if (uri.endsWith('.shtml') || uri.endsWith('.html')) {
output.innerHTML = xhr.responseText;
} else {
output.textContent = xhr.responseText;
}
}
setTimeout(function() { dynamic_load(div_id,uri, period_ms); }, period_ms);
}
xhr.send();
}
]]
}
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(20) then
gcs:send_text(MAV_SEVERITY.ERROR, "WebServer: failed to listen")
return
end
function hms_uptime()
local s = (millis()/1000):toint()
local min = math.floor(s / 60) % 60
local hr = math.floor(s / 3600)
return string.format("%u hours %u minutes %u seconds", hr, min, s%60)
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)
return string.sub(str,1,#s) == s
end
local debug_count=0
function DEBUG(txt)
if WEB_DEBUG:get() ~= 0 then
gcs:send_text(MAV_SEVERITY.DEBUG, txt .. string.format(" [%u]", debug_count))
debug_count = debug_count + 1
end
end
--[[
return index of element in a table
--]]
function table_index(t,el)
for i,v in ipairs(t) do
if v == el then
return i
end
end
return nil
end
--[[
return true if a table contains a given element
--]]
function table_contains(t,el)
local i = table_index(t, el)
return i ~= nil
end
function is_hidden_dir(path)
return table_contains(HIDDEN_FOLDERS, path)
end
local DAYS = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat" }
local MONTHS = { "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec" }
function isdirectory(path)
local s = fs:stat(path)
return s and s:is_directory()
end
--[[
time string for directory listings
--]]
function file_timestring(path)
local s = fs:stat(path)
if not s then
return ""
end
local mtime = s:mtime()
mtime = mtime + BRD_RTC_TZ_MIN:get()*60
local year, month, day, hour, min, sec, _ = rtc:clock_s_to_date_fields(mtime)
if not year then
return ""
end
return string.format("%04u-%02u-%02u %02u:%02u", year, month+1, day, hour, min, sec)
end
--[[
time string for Last-Modified
--]]
function file_timestring_http(mtime)
local year, month, day, hour, min, sec, wday = rtc:clock_s_to_date_fields(mtime)
if not year then
return ""
end
return string.format("%s, %02u %s %u %02u:%02u:%02u GMT",
DAYS[wday+1],
day,
MONTHS[month+1],
year,
hour,
min,
sec)
end
--[[
parse a http time string to a uint32_t seconds timestamp
--]]
function file_timestring_http_parse(tstring)
local dayname, day, monthname, year, hour, min, sec =
string.match(tstring,
'(%w%w%w), (%d+) (%w%w%w) (%d%d%d%d) (%d%d):(%d%d):(%d%d) GMT')
if not dayname then
return nil
end
local mon = table_index(MONTHS, monthname)
return rtc:date_fields_to_clock_s(year, mon-1, day, hour, min, sec)
end
--[[
return true if path exists and is not a directory
--]]
function file_exists(path)
local s = fs:stat(path)
if not s then
return false
end
return not s:is_directory()
end
--[[
substitute variables of form {xxx} from a table
from http://lua-users.org/wiki/StringInterpolation
--]]
function substitute_vars(s, vars)
s = (string.gsub(s, "({([^}]+)})",
function(whole,i)
return vars[i] or whole
end))
return s
end
--[[
lat or lon as a string, working around limited type in ftoa_engine
--]]
function latlon_str(ll)
local ipart = tonumber(string.match(tostring(ll*1.0e-7), '(.*[.]).*'))
local fpart = math.abs(ll - ipart*10000000)
return string.format("%d.%u", ipart, fpart, ipart*10000000, ll)
end
--[[
location string for home page
--]]
function location_string(loc)
return substitute_vars([[{lat} {lon} {alt}]],
{ ["lat"] = latlon_str(loc:lat()),
["lon"] = latlon_str(loc:lng()),
["alt"] = string.format("%.1fm", loc:alt()*1.0e-2) })
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()
local offset = 0
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(string.format("%u: EOF", idx))
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(string.format("%u: got header", idx))
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}
--]]
function self.sendstring_vars(s, vars)
self.sendstring(substitute_vars(s, vars))
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)
local s = fs:stat(fname)
if not s then
return 0
end
local ret = s:size():toint()
DEBUG(string.format("%u: size of '%s' -> %u", idx, fname, ret))
return ret
end
--[[
return full path with .. resolution
--]]
function self.full_path(path, name)
DEBUG(string.format("%u: full_path(%s,%s)", idx, 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, _ = 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("%u: full_path(%s,%s) -> %s", idx, path, name, ret))
return ret
end
function self.directory_list(path)
sock:set_blocking(true)
if startswith(path, "/@") then
path = string.sub(path, 2, #path-1)
end
DEBUG(string.format("%u: directory_list(%s)", idx, path))
local dlist = dirlist(path)
if not dlist then
dlist = {}
end
if not table_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([[
Index of {path}
Index of {path}
| Name | Last modified | Size |
|---|
]], {path=path})
for _,d in ipairs(dlist) do
local skip = d == "."
if not skip then
local fullpath = self.full_path(path, d)
local name = d
local sizestr = "0"
local stat = fs:stat(fullpath)
local size = stat and stat:size() or 0
if is_hidden_dir(fullpath) or (stat and stat:is_directory()) then
name = name .. "/"
elseif size >= 100*1000*1000 then
sizestr = string.format("%uM", (size/(1000*1000)):toint())
else
sizestr = tostring(size)
end
local modtime = file_timestring(fullpath)
self.sendstring_vars([[| {name} | {modtime} | {size} |
]], { name=name, size=sizestr, modtime=modtime })
end
end
self.sendstring([[
]])
end
-- send file content
function self.send_file()
if not sock:pollout(0) then
return
end
local chunk = WEB_BLOCK_SIZE:get()
local b = file:read(chunk)
sock:set_blocking(true)
if b and #b > 0 then
local sent = sock:send(b, #b)
if sent == -1 then
run = nil
self.remove()
return
end
if sent < #b then
file:seek(offset+sent)
end
offset = offset + sent
end
if not b or #b < chunk then
-- EOF
DEBUG(string.format("%u: sent file", idx))
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 errloc=%s", err, errloc))
return nil
end
local success, err2 = pcall(f)
if not success then
DEBUG(string.format("pcall failed: err=%s", err2))
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()
sock:set_blocking(true)
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:
Using 'lstr' a return tostring(yourcode) is added to the code
automatically
--]]
function self.send_processed_file(dynamic_page)
sock:set_blocking(true)
local contents
if dynamic_page then
contents = file
else
contents = self.load_file()
end
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)
if path == "/" then
return MIME_TYPES["html"]
end
local _, 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("%u: file_download(%s)", idx, path))
file = DYNAMIC_PAGES[path]
dynamic_page = file ~= nil
if not dynamic_page then
file = io.open(path,"rb")
if not file then
DEBUG(string.format("%u: Failed to open '%s'", idx, path))
return false
end
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")
local stat = fs:stat(path)
if not startswith(path, "@") and
not server_side_processing and
not cgi_processing and stat and
not dynamic_page then
local fsize = stat:size()
local mtime = stat:mtime()
vars["Content-Length"]= tostring(fsize)
local modtime = file_timestring_http(mtime)
if modtime then
vars["Last-Modified"] = modtime
end
local if_modified_since = header_vars['If-Modified-Since']
if if_modified_since then
local tsec = file_timestring_http_parse(if_modified_since)
if tsec and tsec >= mtime then
DEBUG(string.format("%u: Not modified: %s %s", idx, modtime, if_modified_since))
self.send_header(304, "Not Modified", vars)
return true
end
end
end
self.send_header(200, "OK", vars)
if server_side_processing or dynamic_page then
DEBUG(string.format("%u: shtml processing %s", idx, path))
run = self.send_processed_file(dynamic_page)
elseif cgi_processing then
DEBUG(string.format("%u: CGI processing %s", idx, path))
run = self.send_cgi
elseif stat and
WEB_SENDFILE_MIN:get() > 0 and
stat:size() >= WEB_SENDFILE_MIN:get() and
sock:sendfile(file) then
return true
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("%u: Redirect -> %s", idx, 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(string.format("%u: empty request", idx))
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("%u: path='%s'", idx, path))
-- extract header variables
for i = 2,#header_lines do
local key, var = string.match(header_lines[i], '(.*): (.*)')
if key then
header_vars[key] = var
end
end
if DYNAMIC_PAGES[path] ~= nil then
self.file_download(path)
return
end
if path == MNT_PREFIX then
path = "/"
end
if startswith(path, MNT_PREFIX2) then
path = string.sub(path,#MNT_PREFIX2,#path)
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(string.format("%u: found index.html", idx))
if self.file_download(path .. "/index.html") then
return
end
end
-- see if it is a directory
if (path == "/" or
DYNAMIC_PAGES[path] == nil) and
(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("%u: removing client OFFSET=%u", idx, offset))
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()
while sock_listen:pollin(0) do
local sock = sock_listen:accept()
if not sock then
return
end
-- non-blocking for header read
sock:set_blocking(false)
-- find free client slot
for i = 1, #clients+1 do
if clients[i] == nil then
local idx = i
local client = Client(sock, idx)
DEBUG(string.format("%u: New client", idx))
clients[idx] = client
end
end
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_new_clients()
check_clients()
return update,5
end
return update,100