Minimal JSON REST API (ROS 1 access for Jupyter)

ros_json_server.py

#! /usr/bin/env python2
#
#   ROS 1 "Kinetic Kame" server
#   EOL date at April 2021, but this version uses Python 2.7
#
#   Demo code for Jupyter access, need accesspoints and all the
#   associated data packet handling.
#
from BaseHTTPServer import BaseHTTPRequestHandler, HTTPServer
import json

PORT = 8080
# Demo payload, random stuff
PAYLOAD = {
    'id':       'rat',
    'value':    42,
    'pocket':   {
        'smurf':    True,
        'chain':    [ 1, 'a', 7, ('beep', -2)]
    }
}


class ROSJSONHandler(BaseHTTPRequestHandler):

    def _set_headers(self):
        self.send_response(200)
        self.send_header('Content-type', 'application/json')
        self.end_headers()


    def do_HEAD(self):
        self._set_headers()


    def do_GET(self):
        path = self.path.split("?")[0]
        if path == "/":
            payload = PAYLOAD
        elif path == "/hello":
            payload = { "Hello" : "World" }
        else:
            # Complaint response
            self.send_response(405)
            self.send_header('Content-type', 'text/plain')
            self.end_headers()
            self.wfile.write("405 Method Not Allowed")
            return

        # JSON response
        self._set_headers()
        self.wfile.write(json.dumps(payload))

        return




if __name__ == "__main__":

    httpd = HTTPServer(('', PORT), ROSJSONHandler)
    print("Serving on port {}".format(PORT))
    httpd.serve_forever()


# EOF