initial commit

roswww/.gitignore

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+/bin
+/build
+*.pyc

roswww/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>roswww</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.python.pydev.PyDevBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.python.pydev.pythonNature</nature>
+	</natures>
+</projectDescription>

roswww/.pydevproject

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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?eclipse-pydev version="1.0"?>
+
+<pydev_project>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_INTERPRETER">Default</pydev_property>
+<pydev_property name="org.python.pydev.PYTHON_PROJECT_VERSION">python 2.7</pydev_property>
+</pydev_project>

roswww/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})

roswww/Makefile

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+include $(shell rospack find mk)/cmake.mk

roswww/ROS_NOBUILD

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+created by rosmake to mark as installed

roswww/mainpage.dox

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+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b roswww 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

roswww/manifest.xml

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+<package>
+  <description brief="roswww">
+
+     roswww
+
+  </description>
+  <author>Jonathan Mace</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/roswww</url>
+
+  <depend package="rospy"/>
+  <depend package="roslib"/>
+
+</package>
+
+

roswww/nodes/webserver.py

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+#!/usr/bin/env python
+import roslib
+roslib.load_manifest('roswww')
+import rospy
+
+import socket
+import subprocess
+
+import tornado.ioloop
+import tornado.web
+
+def run(*args):
+    '''run the provided command and return its stdout'''
+    args = sum([(arg if type(arg) == list else [arg]) for arg in args], [])
+    return subprocess.Popen(args, stdout=subprocess.PIPE).communicate()[0].strip()
+
+def split_words(text):
+    '''return a list of lines where each line is a list of words'''
+    return [line.strip().split() for line in text.split('\n')]
+
+def get_packages():
+    ''' Find the names and locations of all packages '''
+    lines = split_words(run('rospack', 'list'))
+    packages = [{ 'name': name, 'path': path } for name, path in lines]
+    return packages
+
+class MainHandler(tornado.web.RequestHandler):
+
+    def initialize(self, packages):
+        self.packages = packages
+
+    def get(self):
+        self.write("<h1>ROS web server successfully started.</h1><h3>Package List</h3>")
+        for package in self.packages:
+            self.write("<div style='font-size: 10px'>"+package['name']+"</div>")
+
+def create_webserver(packages):
+    handlers = [(r"/", MainHandler, {"packages": packages})]
+
+    for package in packages:
+        handler = ("/"+package['name']+"/(.*)", tornado.web.StaticFileHandler, {"path": package['path']+"/www", "default_filename": "index.html" })
+        handlers.append(handler)       
+
+    rospy.loginfo("Webserver initialized for %d packages", len(packages))
+    application = tornado.web.Application(handlers)
+
+    return application
+
+def bind_webserver(application):    
+    """ See if there's a default port, use 80 if not """
+    default_port, start_port, end_port = get_webserver_params()
+
+    """ First, we try the default http port 80 """
+    bound = bind_to_port(application, default_port)
+
+    if not bound:
+        """ Otherwise bind any available port within the specified range """
+        bound = bind_in_range(application, start_port, end_port)
+
+    return bound
+
+def get_webserver_params():
+    try:
+        default_port = rospy.get_param("http/default", 80)
+        start_port = rospy.get_param("http/range_start", 8000)
+        end_port = rospy.get_param("http/range_end", 9000)
+        return (default_port, start_port, end_port)
+    except socket.error as err:
+        if err.errno == 111:
+            # Roscore isn't started or cannot be contacted
+            rospy.logwarn("Could not contact ROS master. Is a roscore running? Error: %s", err.strerror)
+            return 80, 8000, 9000
+        else:
+            raise
+
+def start_webserver(application):
+    try: 
+        tornado.ioloop.IOLoop.instance().start()
+    except KeyboardInterrupt:
+        rospy.loginfo("Webserver shutting down")    
+
+def bind_to_port(application, portno):
+    rospy.loginfo("Attempting to start webserver on port %d", portno)
+    try:
+        application.listen(portno)
+        rospy.loginfo("Webserver successfully started on port %d", portno)
+    except socket.error as err:
+        # Socket exceptions get handled, all other exceptions propagated
+        if err.errno==13:
+            rospy.logwarn("Insufficient priveliges to run webserver on port %d. Error: %s", portno, err.strerror)
+            rospy.loginfo("-- Try re-running as super-user: sudo su; source ~/.bashrc)")
+        elif err.errno==98:
+            rospy.logwarn("There is already a webserver running on port %d. Error: %s", portno, err.strerror)
+            rospy.loginfo("-- Try stopping your web server. For example, to stop apache: sudo /etc/init.d/apache2 stop")
+        else:
+            rospy.logerr("An error occurred attempting to listen on port %d: %s", portno, err.strerror)
+        return False
+    return True
+
+def bind_in_range(application, start_port, end_port):
+    if (end_port > start_port):
+        for i in range(start_port, end_port):
+            if bind_to_port(application, i):
+                return True
+    return False
+
+def run_webserver():
+    try:
+        packages = get_packages()
+        server = create_webserver(packages)
+        bound = bind_webserver(server)
+        if (bound):
+            start_webserver(server)
+        else:
+            raise Exception()
+    except Exception as exc:
+        rospy.logerr("Unable to bind webserver.  Exiting.  %s" % exc)
+
+if __name__=='__main__':
+    run_webserver()

roswww/src/tornado/__init__.py

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+#!/usr/bin/env python
+#
+# Copyright 2009 Facebook
+#
+# Licensed under the Apache License, Version 2.0 (the "License"); you may
+# not use this file except in compliance with the License. You may obtain
+# a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations
+# under the License.
+
+"""The Tornado web server and tools."""
+
+from __future__ import absolute_import, division, with_statement
+
+# version is a human-readable version number.
+
+# version_info is a four-tuple for programmatic comparison. The first
+# three numbers are the components of the version number.  The fourth
+# is zero for an official release, positive for a development branch,
+# or negative for a release candidate (after the base version number
+# has been incremented)
+version = "2.3"
+version_info = (2, 3, 0, 0)