urweb/src/main/java/at/acdp/urweb/web/WebServer.java

package at.acdp.urweb.web;

import at.acdp.urweb.Params;
import at.acdp.urweb.RobotCommand;
import at.acdp.urweb.URBot;
import at.acdp.urweb.rt.GetRobotRealtimeData;
import at.acdp.urweb.sclient.URLog;
import com.eclipsesource.json.JsonArray;
import net.schmizz.sshj.SSHClient;
import net.schmizz.sshj.xfer.FileSystemFile;
import org.slf4j.LoggerFactory;

import static spark.Spark.*;

public class WebServer {
    private final static org.slf4j.Logger logger = LoggerFactory.getLogger(WebServer.class);
    private URBot urbot;
    private final Params params;
    private GetRobotRealtimeData rtbot;

    public WebServer(Params params) {
        this.params = params;
    }

    public void start() {
        this.urbot=new URBot(params.robotIP, params.robotPort);
        this.urbot.start();
        // this.rtbot=new GetRobotRealtimeData(params.robotIP, params.rtPort);
        // this.rtbot.start();
        port(params.port);
        if (!params.webroot.isEmpty())
            staticFileLocation(params.webroot);
        else
            staticFiles.location("/webroot");

        post("/cmd", (req, res) -> {
            var cmd=req.queryParams("script");
            RobotCommand rc=new RobotCommand(cmd);
            rc.cpeeCallback = req.headers("CPEE-CALLBACK");
            rc.cpeeCallbackId = req.headers("CPEE-CALLBACK-ID");
            rc.cpeeInstanceURL = req.headers("CPEE-INSTANCE-URL");
            if (Boolean.valueOf(req.queryParams("callback"))) {
                res.header("CPEE-CALLBACK", "true");
                rc.doCpeeCallback = true;
            }
            urbot.sendCmd(rc);
            return "";
        });
        post("/freedrive",  (req, res) -> {
                urbot.sendFreedrive(1);
                return "";
        });
        post("/digital/:which", (req, res) -> {
            int which=Integer.parseInt(req.params("which"));
            boolean val = Boolean.valueOf(new String(req.raw().getInputStream().readAllBytes()));
            urbot.setDigital(which, val);
            return "";
        });
        get("/digital/:which", (req, res) -> {
            int which=Integer.parseInt(req.params("which"));
            boolean d=urbot.getDigital(which);
            res.body(String.valueOf(d));
            return "";
        });
        get("/log/:from",  (req, res) -> {
            int from=Integer.parseInt(req.params("from"));
            from=Integer.max(0,from);
            var r = URLog.get(from);
            return r.toJSON();
        });
        get("/cmdq",  (req, res) -> {
            JsonArray jsa=new JsonArray();
            for(var c:urbot.getCmdq()) {
                jsa.add(c.toJSON());
            }
            return jsa.toString();
        });
        get("/running",  (req, res) -> {
            var rc=urbot.getRunningScript();
            if(rc.isPresent()) {
                return rc.get().toJSON();
            }
            return "[{}]";
        });
        get("/files/:path",  (req, res) -> {
            String path=req.params("from");
            SSHClient ssh = new SSHClient();
            // ssh.useCompression(); // Can lead to significant speedup (needs JZlib in classpath)
            ssh.loadKnownHosts();
            ssh.connect(params.robotIP, params.robotPort);
            try {
                ssh.authPublickey(System.getProperty(params.sshUsername));
                ssh.newSCPFileTransfer().download(path, new FileSystemFile("C:\\tmp\\"));

            }catch (Exception e) {
                logger.warn("",e);

            } finally{
                ssh.disconnect();
            }
            return "[{}]";
        });
    }
}