Animo/tornado_server.py at master · RavenRoboticsTeam1288/Animo · GitHub

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from os.path import abspath, dirname, exists, join
from opptparse import OptionParser

import tornado.web
from tornado.ioloop import IOLoop

from networktables import NetworkTables
from pynetworktables2js import get_handlers, NonCachingStaticFilehandler

import logging

logger = logging.getLogger("dashboard")

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

def init_networktables(options):
    NetworkTables.setNetworkIdentity(options.identity)

    if options.team:
        logger.info("Connecting to Networktables for team %s", options.team)
        NetworkTables.startClientTeam(options.team)
    else:
        logger.info("Connecting to networktables at %s", options.robot)
        NetworkTables.initialize(server=options.robot)

    if options.dashboard:
        logger.info("Enabling driver station ovveride mode")
        NetworkTables.startDSClient()

    logger.info("Networktables Initialized")

def main():

    #Setup options here
    parser = OptionParser()

    parser.add_option(
        "-p", "--port", type=int, default=8888, help="Port to run webserver on"
    )

    parser.add_option(
        "-v", "--verbose", default=False, action="store_true", help="Enable verbose logging"
    )

    parser.add_option("--robot", default="127.0.0.1", help="Robot's IP address")

    parser.add_option("--team", type=int, help="Team number of robot to connect to")

    parser.add_option("--dashboard", default=False, action="store_true", help="Use this instead of --robot to receive the IP from the driver station. WARNING: It will not work if you are not on the same host as the DS!")

    parser.add_option("--identity", default="pynetworktables2js", help="Identity to send to NT server")

    options, args = parser.parser_args()

    #Setup Logging
    logging.basicConfig(
        datefmt=log_datefmt,
        format=log_format,
        level=logging.DEBUG if options.verbose else logging.INFO
    )

    #Setup Networktables
    init_networktables(options)

    #Setup tornado application with static handler + networktables support
    www_dir = abspath(join(dirname(__file__), "www"))
    index_html = join(www_dir, "index.html")

    if not exists(www_dir):
        logger.error("Directory '%s' does not exist!", www_dir)
        exit(1)

    if not exists(index_html):
        logger.warn("%s not found", index_html)

    app = tornado.web.Application(
        get_handlers()
        + [
            (r"/()", NonCachingStaticFileHandle, {"path": index_html}),
            (r"/(.*)", NonCachingStaticFileHandle, {"path": www_dir}),
        ]
    )

    #Start the app
    logger.info("listening on http://localhost:%s/", options.port)

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