driverStationServer.py

#!/usr/bin/env python3

import json
from os.path import dirname, join

import tornado.web
from tornado.ioloop import IOLoop
from tornado.options import define, options, parse_command_line

from networktables import NetworkTable
from pynetworktables2js import get_handlers, NonCachingStaticFileHandler

import logging
logger = logging.getLogger('dashboard')

# Setup logging
log_datefmt = "%H:%M:%S"
log_format = "%(asctime)s:%(msecs)03d %(levelname)-8s: %(name)-20s: %(message)s"

logging.basicConfig(datefmt=log_datefmt,
                    format=log_format,
                    level=logging.DEBUG)

class ConfigHandler(tornado.web.RequestHandler):
    '''Writes JSON that the HTML page can retrieve'''
    
    def get(self):
        self.write('var Config = ' + json.dumps({
            'frontcam': options.frontcam,
            'backcam': options.backcam
        }) + ';')
        


def init_networktables(ipaddr):

    logger.info("Connecting to networktables at %s" % ipaddr)
    NetworkTable.setIPAddress(ipaddr)
    NetworkTable.setClientMode()
    NetworkTable.initialize()
    logger.info("Networktables Initialized")


def main():
    define("frontcam", default="http://10.14.18.2:5800", help="URL for the front camera", type=str)
    define("backcam", default="http://10.14.18.2:5801", help="URL for the back camera", type=str)
    define("host", default='127.0.0.1', help="Hostname of robot", type=str)
    define("port", default=8888, help="run on the given port", type=int)

    parse_command_line()
    
    

    init_networktables(options.host)
    
    app = tornado.web.Application(
        get_handlers() + [
            (r"/config.js", ConfigHandler),
            (r"/()", NonCachingStaticFileHandler, {"path": join(dirname(__file__), 'UI_MainPage.html')}),
            (r"/(.*)", NonCachingStaticFileHandler, {"path": dirname(__file__)}),
        ]
    )
    
    logger.info("Listening on http://localhost:%s/" % options.port)

    app.listen(options.port)
    IOLoop.instance().start()


if __name__ == '__main__':
    main()