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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.

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