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clouetb/TornadoTank.py

Last active February 23, 2018 08:41
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Base for a Tornado based robot control UI. Allows to stream mjpeg in the HTML page returned.
Raw
index.html
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<style>
input, button {
background: #666;
font-size: 35px;
font-weight: bold;
color: #ccc;
width: 50px;
height: 50px;
vertical-align: middle;
}
</style>
<link rel="stylesheet" href="//code.jquery.com/ui/1.11.4/themes/smoothness/jquery-ui.css">
<script src="//code.jquery.com/jquery-1.10.2.js"></script>
<script src="//code.jquery.com/ui/1.11.4/jquery-ui.js"></script>
<script type="text/javascript">
var url = "{{ current_url }}";
var go_forward;
var go_nw;
var go_ne;
var go_left;
var stop;
var go_right;
var go_sw;
var go_backward;
var go_se;
var set_speed;
var uid = "{{ guid }}";
$(function() {
set_speed = $( "#slider" ).slider({
value: 40,
step: 5,
min: 0,
max: 100
})
});
go_nw = function(e) {
socket.send(JSON.stringify({
direction: "nw"
}));
return false;
};
go_forward = function(e) {
socket.send(JSON.stringify({
direction: "n"
}));
return false;
};
go_ne = function(e) {
socket.send(JSON.stringify({
direction: "ne"
}));
return false;
};
go_left = function(e) {
socket.send(JSON.stringify({
direction: "w"
}));
return false;
};
stop = function(e) {
socket.send(JSON.stringify({
direction: "stop"
}));
return false;
};
go_right = function(e) {
socket.send(JSON.stringify({
direction: "e"
}));
return false;
};
go_sw = function(e) {
socket.send(JSON.stringify({
direction: "sw"
}));
return false;
};
go_backward = function(e) {
socket.send(JSON.stringify({
direction: "s"
}));
return false;
};
go_se = function(e) {
socket.send(JSON.stringify({
direction: "se"
}));
return false;
};
$(window).keydown(function(e) {
switch (e.keyCode) {
case 37: // left
go_left();
return false;
case 38: // up
go_forward();
return false;
case 39: // right
go_right();
return false;
case 40: // down
go_backward();
return false;
case 32: // space
stop();
return false;
/*
default:
$('#result').text(e.keyCode);
return false;
*/
}
return; //using "return" other attached events will execute
});
</script>
</head>
<body>
<img src="/video_stream" style="height: 480px; width: 640px;"/>
<div id="slider" style="height: 20px; width: 640px;"></div>
<div>
<div>
<input type="button" name="nw" value="&#8598;">
<input type="button" name="n" value="&#8593;">
<input type="button" name="ne" value="&#8599;">
</div>
<div>
<input type="button" name="w" value="&#8592;">
<input type="button" name="stop" value="&#215;">
<input type="button" name="e" value="&#8594;">
</div>
<div>
<input type="button" name="sw" value="&#8601;">
<input type="button" name="s" value="&#8595;">
<input type="button" name="se" value="&#8600;">
</div>
<div id="messages" style="height:200px;background:black;color:white;"></div>
<script>
var messageBox = document.getElementById("messages");
var socket;
if ("WebSocket" in window) {
messageBox.innerHTML = "WebSocket is supported by your Browser!";
socket = new WebSocket("ws://localhost:8888/socket?id=" + uid);
socket.onopen = function() {
socket.send(JSON.stringify({
ping: uid
}));
};
socket.onmessage = function (evt) {
messageBox.innerHTML = "Message received:<br/>" + evt.data + "<br/>" + messageBox.innerHTML;
};
socket.onclose = function() {
messageBox.innerHTML = "Connection is closed.<br/>" + messageBox.innerHTML;
};
$('input[name=nw]').bind('click', go_nw);
$('input[name=n]').bind('click', go_forward);
$('input[name=ne]').bind('click', go_ne);
$('input[name=w]').bind('click', go_left);
$('input[name=stop]').bind('click', stop);
$('input[name=e]').bind('click', go_right);
$('input[name=sw]').bind('click', go_sw);
$('input[name=s]').bind('click', go_backward);
$('input[name=se]').bind('click', go_se);
$('input[name=forward]').focus();
$('#slider').on('slidechange', function(event, ui){
socket.send(JSON.stringify({
speed: ui.value
}))
return false;
});
} else {
messageBox.innerHTML = "WebSocket NOT supported by your Browser!";
}
</script>
</body>
</html>
Raw
TornadoTank.py
import tornado.ioloop
import tornado.web
import tornado.websocket
import tornado.tcpserver
import tornado.tcpclient
import tornado.httpclient
import tornado.iostream
import tornado.gen
import uuid
import json
import logging
from tornado.options import define, options, parse_command_line
define("port", default=8888, help="run on the given port", type=int)
log = logging.getLogger("tornado.application")
log.setLevel(logging.DEBUG)
clients = dict()
class ForwardingRequestHandler(tornado.web.RequestHandler):
@tornado.web.asynchronous
@tornado.gen.coroutine
def get(self):
log.debug("Browser sent: %s", self.request)
host = "lwsnb160-cam.cs.purdue.edu"
uri = "/axis-cgi/mjpg/video.cgi"
client = tornado.tcpclient.TCPClient()
stream = yield client.connect(host, 80)
stream.write("GET %s HTTP/1.1\r\nHost: %s\r\n\r\n" % (uri, host))
headers = yield stream.read_until(b"\r\n\r\n")
self.clear_header("Content-Type")
for line in headers.split(b"\r\n"):
parts = line.split(b":")
if len(parts) == 2:
self.add_header(parts[0].strip(), parts[1].strip())
while True:
chunk = yield stream.read_bytes(1500)
self.write(chunk)
self.flush()
class IndexHandler(tornado.web.RequestHandler):
@tornado.web.asynchronous
def get(self):
uid = uuid.uuid1()
url = "http://%s" % self.request.host
log.debug("Serving index.html to %s", uid)
self.render("templates/index.html", guid=uid, current_url=url)
class WebSocketHandler(tornado.websocket.WebSocketHandler):
def ping(self, value):
log.debug("Received a ping from %s responding to this client", value)
self.write_message("Ping to " + value)
def set_direction(self, value):
log.debug("Changed direction to %s", value)
self.write_message("Setting direction to '%s'" % value)
def set_speed(self, value):
log.debug("Changed speed to %s", value)
self.write_message("Setting speed to %d" % value)
message_types = {
"ping": ping,
"direction": set_direction,
"speed": set_speed
}
def open(self, *args):
self.id = self.get_argument("id")
self.stream.set_nodelay(True)
clients[self.id] = {"id": self.id, "object": self}
log.debug("Connection from %s", self.id)
self.write_message("Connection from " + self.id)
def on_message(self, message):
log.debug("Client %s received a message : %s", self.id, message)
actions = json.loads(message)
for k in actions.keys():
self.message_types[k](self, actions[k])
def on_close(self):
if self.id in clients:
del clients[self.id]
app = tornado.web.Application([
(r'/', IndexHandler),
(r'/socket', WebSocketHandler),
(r'/video_stream', ForwardingRequestHandler)
], debug=True)
if __name__ == '__main__':
parse_command_line()
app.listen(options.port)
tornado.ioloop.IOLoop.instance().start()
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