ROME 2 Lab5
HTTPServer.cpp@1:5201940a41c1, 2020-06-12 (annotated)
- Committer:
- oehlemar
- Date:
- Fri Jun 12 08:19:42 2020 +0000
- Revision:
- 1:5201940a41c1
- Parent:
- 0:893a1e710078
asdf
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| oehlemar | 0:893a1e710078 | 1 | /* |
| oehlemar | 0:893a1e710078 | 2 | * HTTPServer.cpp |
| oehlemar | 0:893a1e710078 | 3 | * Copyright (c) 2020, ZHAW |
| oehlemar | 0:893a1e710078 | 4 | * All rights reserved. |
| oehlemar | 0:893a1e710078 | 5 | */ |
| oehlemar | 0:893a1e710078 | 6 | |
| oehlemar | 0:893a1e710078 | 7 | #include <algorithm> |
| oehlemar | 0:893a1e710078 | 8 | #include "HTTPScript.h" |
| oehlemar | 0:893a1e710078 | 9 | #include "HTTPServer.h" |
| oehlemar | 0:893a1e710078 | 10 | |
| oehlemar | 0:893a1e710078 | 11 | using namespace std; |
| oehlemar | 0:893a1e710078 | 12 | |
| oehlemar | 0:893a1e710078 | 13 | inline string int2String(int i) { |
| oehlemar | 0:893a1e710078 | 14 | |
| oehlemar | 0:893a1e710078 | 15 | char buffer[32]; |
| oehlemar | 0:893a1e710078 | 16 | sprintf(buffer, "%d", i); |
| oehlemar | 0:893a1e710078 | 17 | |
| oehlemar | 0:893a1e710078 | 18 | return string(buffer); |
| oehlemar | 0:893a1e710078 | 19 | } |
| oehlemar | 0:893a1e710078 | 20 | |
| oehlemar | 0:893a1e710078 | 21 | const unsigned int HTTPServer::INPUT_BUFFER_SIZE = 1024; // size of receive buffer, given in [bytes] |
| oehlemar | 0:893a1e710078 | 22 | const int HTTPServer::SOCKET_TIMEOUT = 1000; // timeout of socket, given in [ms] |
| oehlemar | 0:893a1e710078 | 23 | |
| oehlemar | 0:893a1e710078 | 24 | /** |
| oehlemar | 0:893a1e710078 | 25 | * Create and initialize an http server object. |
| oehlemar | 0:893a1e710078 | 26 | * @param ethernet a reference to the embedded TCP/IP stack to use. |
| oehlemar | 0:893a1e710078 | 27 | */ |
| oehlemar | 0:893a1e710078 | 28 | HTTPServer::HTTPServer(EthernetInterface& ethernet) : ethernet(ethernet), thread(osPriorityNormal, STACK_SIZE) { |
| oehlemar | 0:893a1e710078 | 29 | |
| oehlemar | 0:893a1e710078 | 30 | // start thread |
| oehlemar | 0:893a1e710078 | 31 | |
| oehlemar | 0:893a1e710078 | 32 | thread.start(callback(this, &HTTPServer::run)); |
| oehlemar | 0:893a1e710078 | 33 | } |
| oehlemar | 0:893a1e710078 | 34 | |
| oehlemar | 0:893a1e710078 | 35 | /** |
| oehlemar | 0:893a1e710078 | 36 | * Delete the http server object. |
| oehlemar | 0:893a1e710078 | 37 | */ |
| oehlemar | 0:893a1e710078 | 38 | HTTPServer::~HTTPServer() {} |
| oehlemar | 0:893a1e710078 | 39 | |
| oehlemar | 0:893a1e710078 | 40 | /** |
| oehlemar | 0:893a1e710078 | 41 | * Registers the given script with the http server. |
| oehlemar | 0:893a1e710078 | 42 | * This allows to call a method of this script object |
| oehlemar | 0:893a1e710078 | 43 | * through virtual cgi-bin requests from a remote system. |
| oehlemar | 0:893a1e710078 | 44 | */ |
| oehlemar | 0:893a1e710078 | 45 | void HTTPServer::add(string name, HTTPScript* httpScript) { |
| oehlemar | 0:893a1e710078 | 46 | |
| oehlemar | 0:893a1e710078 | 47 | httpScriptNames.push_back(name); |
| oehlemar | 0:893a1e710078 | 48 | httpScripts.push_back(httpScript); |
| oehlemar | 0:893a1e710078 | 49 | } |
| oehlemar | 0:893a1e710078 | 50 | |
| oehlemar | 0:893a1e710078 | 51 | /** |
| oehlemar | 0:893a1e710078 | 52 | * Decodes a given URL string into a standard text string. |
| oehlemar | 0:893a1e710078 | 53 | */ |
| oehlemar | 0:893a1e710078 | 54 | string HTTPServer::urlDecoder(string url) { |
| oehlemar | 0:893a1e710078 | 55 | |
| oehlemar | 0:893a1e710078 | 56 | size_t pos = 0; |
| oehlemar | 0:893a1e710078 | 57 | while ((pos = url.find("+")) != string::npos) url = url.substr(0, pos)+" "+url.substr(pos+1); |
| oehlemar | 0:893a1e710078 | 58 | while ((pos = url.find("%08")) != string::npos) url = url.substr(0, pos)+"\b"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 59 | while ((pos = url.find("%09")) != string::npos) url = url.substr(0, pos)+"\t"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 60 | while ((pos = url.find("%0A")) != string::npos) url = url.substr(0, pos)+"\n"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 61 | while ((pos = url.find("%0D")) != string::npos) url = url.substr(0, pos)+"\r"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 62 | while ((pos = url.find("%20")) != string::npos) url = url.substr(0, pos)+" "+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 63 | while ((pos = url.find("%22")) != string::npos) url = url.substr(0, pos)+"\""+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 64 | while ((pos = url.find("%23")) != string::npos) url = url.substr(0, pos)+"#"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 65 | while ((pos = url.find("%24")) != string::npos) url = url.substr(0, pos)+"$"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 66 | while ((pos = url.find("%25")) != string::npos) url = url.substr(0, pos)+"%"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 67 | while ((pos = url.find("%26")) != string::npos) url = url.substr(0, pos)+"&"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 68 | while ((pos = url.find("%2B")) != string::npos) url = url.substr(0, pos)+"+"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 69 | while ((pos = url.find("%2C")) != string::npos) url = url.substr(0, pos)+","+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 70 | while ((pos = url.find("%2F")) != string::npos) url = url.substr(0, pos)+"/"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 71 | while ((pos = url.find("%3A")) != string::npos) url = url.substr(0, pos)+":"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 72 | while ((pos = url.find("%3B")) != string::npos) url = url.substr(0, pos)+";"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 73 | while ((pos = url.find("%3C")) != string::npos) url = url.substr(0, pos)+"<"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 74 | while ((pos = url.find("%3D")) != string::npos) url = url.substr(0, pos)+"="+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 75 | while ((pos = url.find("%3E")) != string::npos) url = url.substr(0, pos)+">"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 76 | while ((pos = url.find("%3F")) != string::npos) url = url.substr(0, pos)+"?"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 77 | while ((pos = url.find("%40")) != string::npos) url = url.substr(0, pos)+"@"+url.substr(pos+3); |
| oehlemar | 0:893a1e710078 | 78 | |
| oehlemar | 0:893a1e710078 | 79 | return url; |
| oehlemar | 0:893a1e710078 | 80 | } |
| oehlemar | 0:893a1e710078 | 81 | |
| oehlemar | 0:893a1e710078 | 82 | /** |
| oehlemar | 0:893a1e710078 | 83 | * This <code>run()</code> method binds the TCP/IP server to a given port number |
| oehlemar | 0:893a1e710078 | 84 | * and enters an infinite loop that waits for http requests and then processes |
| oehlemar | 0:893a1e710078 | 85 | * these requests and returns a response. |
| oehlemar | 0:893a1e710078 | 86 | */ |
| oehlemar | 0:893a1e710078 | 87 | void HTTPServer::run() { |
| oehlemar | 0:893a1e710078 | 88 | |
| oehlemar | 0:893a1e710078 | 89 | // bind the server to a given port number |
| oehlemar | 0:893a1e710078 | 90 | |
| oehlemar | 0:893a1e710078 | 91 | server.open(ðernet); |
| oehlemar | 0:893a1e710078 | 92 | server.bind(PORT_NUMBER); |
| oehlemar | 0:893a1e710078 | 93 | server.listen(); |
| oehlemar | 0:893a1e710078 | 94 | |
| oehlemar | 0:893a1e710078 | 95 | // enter infinite loop |
| oehlemar | 0:893a1e710078 | 96 | |
| oehlemar | 0:893a1e710078 | 97 | while (true) { |
| oehlemar | 0:893a1e710078 | 98 | |
| oehlemar | 0:893a1e710078 | 99 | TCPSocket* client = server.accept(); |
| oehlemar | 0:893a1e710078 | 100 | if (client != NULL) { |
| oehlemar | 0:893a1e710078 | 101 | |
| oehlemar | 0:893a1e710078 | 102 | client->set_blocking(true); |
| oehlemar | 0:893a1e710078 | 103 | client->set_timeout(SOCKET_TIMEOUT); // set timeout of socket |
| oehlemar | 0:893a1e710078 | 104 | |
| oehlemar | 0:893a1e710078 | 105 | // read input |
| oehlemar | 0:893a1e710078 | 106 | |
| oehlemar | 0:893a1e710078 | 107 | char buffer[INPUT_BUFFER_SIZE]; |
| oehlemar | 0:893a1e710078 | 108 | int size = client->recv(buffer, sizeof(buffer)); |
| oehlemar | 0:893a1e710078 | 109 | |
| oehlemar | 0:893a1e710078 | 110 | if (size > 0) { |
| oehlemar | 0:893a1e710078 | 111 | |
| oehlemar | 0:893a1e710078 | 112 | string input(buffer, size); |
| oehlemar | 0:893a1e710078 | 113 | string header; |
| oehlemar | 0:893a1e710078 | 114 | string output; |
| oehlemar | 0:893a1e710078 | 115 | |
| oehlemar | 0:893a1e710078 | 116 | // parse input |
| oehlemar | 0:893a1e710078 | 117 | |
| oehlemar | 0:893a1e710078 | 118 | if ((input.find("GET") == 0) || (input.find("HEAD") == 0)) { |
| oehlemar | 0:893a1e710078 | 119 | |
| oehlemar | 0:893a1e710078 | 120 | if (input.find("cgi-bin") != string::npos) { |
| oehlemar | 0:893a1e710078 | 121 | |
| oehlemar | 0:893a1e710078 | 122 | // process script request with arguments |
| oehlemar | 0:893a1e710078 | 123 | |
| oehlemar | 0:893a1e710078 | 124 | string script = input.substr(input.find("cgi-bin/")+8, input.find(" ", input.find("cgi-bin/")+8)-input.find("cgi-bin/")-8); |
| oehlemar | 0:893a1e710078 | 125 | string name; |
| oehlemar | 0:893a1e710078 | 126 | vector<string> names; |
| oehlemar | 0:893a1e710078 | 127 | vector<string> values; |
| oehlemar | 0:893a1e710078 | 128 | |
| oehlemar | 0:893a1e710078 | 129 | if (script.find("?") != string::npos) { |
| oehlemar | 0:893a1e710078 | 130 | |
| oehlemar | 0:893a1e710078 | 131 | name = script.substr(0, script.find("?")); |
| oehlemar | 0:893a1e710078 | 132 | script = script.substr(script.find("?")+1); |
| oehlemar | 0:893a1e710078 | 133 | |
| oehlemar | 0:893a1e710078 | 134 | vector<string> arguments; |
| oehlemar | 0:893a1e710078 | 135 | while (script.find("&") != string::npos) { |
| oehlemar | 0:893a1e710078 | 136 | arguments.push_back(script.substr(0, script.find("&"))); |
| oehlemar | 0:893a1e710078 | 137 | script = script.substr(script.find("&")+1); |
| oehlemar | 0:893a1e710078 | 138 | } |
| oehlemar | 0:893a1e710078 | 139 | arguments.push_back(script); |
| oehlemar | 0:893a1e710078 | 140 | |
| oehlemar | 0:893a1e710078 | 141 | for (int i = 0; i < arguments.size(); i++) { |
| oehlemar | 0:893a1e710078 | 142 | |
| oehlemar | 0:893a1e710078 | 143 | if (arguments[i].find("=") != string::npos) { |
| oehlemar | 0:893a1e710078 | 144 | |
| oehlemar | 0:893a1e710078 | 145 | names.push_back(arguments[i].substr(0, arguments[i].find("="))); |
| oehlemar | 0:893a1e710078 | 146 | values.push_back(urlDecoder(arguments[i].substr(arguments[i].find("=")+1))); |
| oehlemar | 0:893a1e710078 | 147 | |
| oehlemar | 0:893a1e710078 | 148 | } else { |
| oehlemar | 0:893a1e710078 | 149 | |
| oehlemar | 0:893a1e710078 | 150 | names.push_back(arguments[i]); |
| oehlemar | 0:893a1e710078 | 151 | values.push_back(""); |
| oehlemar | 0:893a1e710078 | 152 | } |
| oehlemar | 0:893a1e710078 | 153 | } |
| oehlemar | 0:893a1e710078 | 154 | |
| oehlemar | 0:893a1e710078 | 155 | } else { |
| oehlemar | 0:893a1e710078 | 156 | |
| oehlemar | 0:893a1e710078 | 157 | name = script; |
| oehlemar | 0:893a1e710078 | 158 | } |
| oehlemar | 0:893a1e710078 | 159 | |
| oehlemar | 0:893a1e710078 | 160 | // look for corresponding script |
| oehlemar | 0:893a1e710078 | 161 | |
| oehlemar | 0:893a1e710078 | 162 | for (int i = 0; i < min(httpScriptNames.size(), httpScripts.size()); i++) { |
| oehlemar | 0:893a1e710078 | 163 | |
| oehlemar | 0:893a1e710078 | 164 | if (httpScriptNames[i].compare(name) == 0) { |
| oehlemar | 0:893a1e710078 | 165 | |
| oehlemar | 0:893a1e710078 | 166 | output = "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n"; |
| oehlemar | 0:893a1e710078 | 167 | output += "<!DOCTYPE html>\r\n"; |
| oehlemar | 0:893a1e710078 | 168 | output += "<html xmlns=\"http://www.w3.org/1999/xhtml\" xml:lang=\"en\" lang=\"en\">\r\n"; |
| oehlemar | 0:893a1e710078 | 169 | output += "<body>\r\n"; |
| oehlemar | 0:893a1e710078 | 170 | output += httpScripts[i]->call(names, values); |
| oehlemar | 0:893a1e710078 | 171 | output += "</body>\r\n"; |
| oehlemar | 0:893a1e710078 | 172 | output += "</html>\r\n"; |
| oehlemar | 0:893a1e710078 | 173 | |
| oehlemar | 0:893a1e710078 | 174 | header = "HTTP/1.1 200 OK\r\n"; |
| oehlemar | 0:893a1e710078 | 175 | header += "Content-Length: "+int2String(output.size())+"\r\n"; |
| oehlemar | 0:893a1e710078 | 176 | header += "Content-Type: text/xml\r\n"; |
| oehlemar | 0:893a1e710078 | 177 | header += "Expires: 0\r\n"; |
| oehlemar | 0:893a1e710078 | 178 | header += "\r\n"; |
| oehlemar | 0:893a1e710078 | 179 | |
| oehlemar | 0:893a1e710078 | 180 | output = header+output; |
| oehlemar | 0:893a1e710078 | 181 | } |
| oehlemar | 0:893a1e710078 | 182 | } |
| oehlemar | 0:893a1e710078 | 183 | |
| oehlemar | 0:893a1e710078 | 184 | // requested script was not found on this server |
| oehlemar | 0:893a1e710078 | 185 | |
| oehlemar | 0:893a1e710078 | 186 | if ((output).size() == 0) { |
| oehlemar | 0:893a1e710078 | 187 | |
| oehlemar | 0:893a1e710078 | 188 | output = "<!DOCTYPE html>\r\n"; |
| oehlemar | 0:893a1e710078 | 189 | output += "<html lang=\"en\">\r\n"; |
| oehlemar | 0:893a1e710078 | 190 | output += "<head>\r\n"; |
| oehlemar | 0:893a1e710078 | 191 | output += " <title>404 Not Found</title>\r\n"; |
| oehlemar | 0:893a1e710078 | 192 | output += " <style type=\"text/css\">\r\n"; |
| oehlemar | 0:893a1e710078 | 193 | output += " h2 {font-family:Helvetica,Arial,sans-serif; font-size: 24; color:#FFFFFF;}\r\n"; |
| oehlemar | 0:893a1e710078 | 194 | output += " p {font-family:Helvetica,Arial,sans-serif; font-size: 14; color:#444444;}\r\n"; |
| oehlemar | 0:893a1e710078 | 195 | output += " </style>\r\n"; |
| oehlemar | 0:893a1e710078 | 196 | output += "</head>\r\n"; |
| oehlemar | 0:893a1e710078 | 197 | output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n"; |
| oehlemar | 0:893a1e710078 | 198 | output += " <table width=\"100%\" height=\"100%\" border=\"0\" frame=\"void\" cellspacing=\"0\" cellpadding=\"20\">\r\n"; |
| oehlemar | 0:893a1e710078 | 199 | output += " <tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 200 | output += " <th width=\"100%\" height=\"30\" bgcolor=\"#0064A6\"><h2>400 Bad Request</h2></th>\r\n"; |
| oehlemar | 0:893a1e710078 | 201 | output += " </tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 202 | output += " <tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 203 | output += " <td valign=\"top\">\r\n"; |
| oehlemar | 0:893a1e710078 | 204 | output += " <p>The requested script could not be found on this server!</p>\r\n"; |
| oehlemar | 0:893a1e710078 | 205 | output += " </td>\r\n"; |
| oehlemar | 0:893a1e710078 | 206 | output += " </tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 207 | output += " </table>\r\n"; |
| oehlemar | 0:893a1e710078 | 208 | output += "</body>\r\n"; |
| oehlemar | 0:893a1e710078 | 209 | output += "</html>\r\n"; |
| oehlemar | 0:893a1e710078 | 210 | |
| oehlemar | 0:893a1e710078 | 211 | header = "HTTP/1.1 404 Not Found\r\n"; |
| oehlemar | 0:893a1e710078 | 212 | header += "Content-Length: "+int2String(output.size())+"\r\n"; |
| oehlemar | 0:893a1e710078 | 213 | header += "Content-Type: text/html\r\n"; |
| oehlemar | 0:893a1e710078 | 214 | header += "\r\n"; |
| oehlemar | 0:893a1e710078 | 215 | |
| oehlemar | 0:893a1e710078 | 216 | output = header+output; |
| oehlemar | 0:893a1e710078 | 217 | } |
| oehlemar | 0:893a1e710078 | 218 | |
| oehlemar | 0:893a1e710078 | 219 | // write output |
| oehlemar | 0:893a1e710078 | 220 | |
| oehlemar | 0:893a1e710078 | 221 | void* address = (void*)(output).c_str(); |
| oehlemar | 0:893a1e710078 | 222 | int offset = 0; |
| oehlemar | 0:893a1e710078 | 223 | while (offset < (output).size()) offset += client->send((void*)(static_cast<int>(reinterpret_cast<intptr_t>(address))+offset), (output).size()-offset); |
| oehlemar | 0:893a1e710078 | 224 | |
| oehlemar | 0:893a1e710078 | 225 | } else { |
| oehlemar | 0:893a1e710078 | 226 | |
| oehlemar | 0:893a1e710078 | 227 | // transmit static file |
| oehlemar | 0:893a1e710078 | 228 | |
| oehlemar | 0:893a1e710078 | 229 | output = "<!DOCTYPE html>\r\n"; |
| oehlemar | 0:893a1e710078 | 230 | output += "<html lang=\"en\">\r\n"; |
| oehlemar | 0:893a1e710078 | 231 | output += "<head>\r\n"; |
| oehlemar | 0:893a1e710078 | 232 | output += " <meta charset=\"utf-8\"/>\r\n"; |
| oehlemar | 0:893a1e710078 | 233 | output += " <title>LIDAR Scan</title>\r\n"; |
| oehlemar | 0:893a1e710078 | 234 | output += " <style type=\"text/css\">\r\n"; |
| oehlemar | 0:893a1e710078 | 235 | output += " html {background-color: #223344;}\r\n"; |
| oehlemar | 0:893a1e710078 | 236 | output += " h2 {font-family:Helvetica,Arial,sans-serif; font-size: 24; color:#FFFFFF;}\r\n"; |
| oehlemar | 0:893a1e710078 | 237 | output += " p {font-family:Helvetica,Arial,sans-serif; font-size: 16; color:#EEEEEE;}\r\n"; |
| oehlemar | 0:893a1e710078 | 238 | output += " </style>\r\n"; |
| oehlemar | 0:893a1e710078 | 239 | output += "</head>\r\n"; |
| oehlemar | 0:893a1e710078 | 240 | output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n"; |
| oehlemar | 0:893a1e710078 | 241 | output += " <script type=\"text/javascript\">\r\n"; |
| oehlemar | 0:893a1e710078 | 242 | output += " var xmlhttp = null;\r\n"; |
| oehlemar | 1:5201940a41c1 | 243 | output += " var task = window.setInterval(\"update()\", 250);\r\n"; |
| oehlemar | 0:893a1e710078 | 244 | output += " function update() {\r\n"; |
| oehlemar | 0:893a1e710078 | 245 | output += " if (window.XMLHttpRequest) {\r\n"; |
| oehlemar | 0:893a1e710078 | 246 | output += " xmlhttp = new XMLHttpRequest();\r\n"; |
| oehlemar | 0:893a1e710078 | 247 | output += " } else if (window.ActiveXObject) {\r\n"; |
| oehlemar | 0:893a1e710078 | 248 | output += " try {\r\n"; |
| oehlemar | 0:893a1e710078 | 249 | output += " xmlhttp = new ActiveXObject(\"Msxml2.XMLHTTP\");\r\n"; |
| oehlemar | 0:893a1e710078 | 250 | output += " } catch (exception) {\r\n"; |
| oehlemar | 0:893a1e710078 | 251 | output += " try {\r\n"; |
| oehlemar | 0:893a1e710078 | 252 | output += " xmlhttp = new ActiveXObject(\"Microsoft.XMLHTTP\");\r\n"; |
| oehlemar | 0:893a1e710078 | 253 | output += " } catch (exception) {}\r\n"; |
| oehlemar | 0:893a1e710078 | 254 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 255 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 256 | output += " xmlhttp.onreadystatechange = refresh;\r\n"; |
| oehlemar | 0:893a1e710078 | 257 | output += " xmlhttp.open(\"GET\", \"/cgi-bin/lidar\");\r\n"; |
| oehlemar | 0:893a1e710078 | 258 | output += " xmlhttp.send(null);\r\n"; |
| oehlemar | 0:893a1e710078 | 259 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 260 | output += " function refresh() {\r\n"; |
| oehlemar | 0:893a1e710078 | 261 | output += " if (xmlhttp.readyState == 4) {\r\n"; |
| oehlemar | 0:893a1e710078 | 262 | output += " var xml = xmlhttp.responseXML;\r\n"; |
| oehlemar | 0:893a1e710078 | 263 | output += " var intValues = xml.getElementsByTagName(\"int\");\r\n"; |
| oehlemar | 0:893a1e710078 | 264 | output += " var floatValues = xml.getElementsByTagName(\"float\");\r\n"; |
| oehlemar | 0:893a1e710078 | 265 | output += " var sizeScan = intValues[0].childNodes[0].nodeValue;\r\n"; |
| oehlemar | 0:893a1e710078 | 266 | output += " var sizeBeacons = intValues[1].childNodes[0].nodeValue;\r\n"; |
| oehlemar | 0:893a1e710078 | 267 | output += " var x = [];\r\n"; |
| oehlemar | 0:893a1e710078 | 268 | output += " var y = [];\r\n"; |
| oehlemar | 0:893a1e710078 | 269 | output += " var xBeacon = [];\r\n"; |
| oehlemar | 0:893a1e710078 | 270 | output += " var yBeacon = [];\r\n"; |
| oehlemar | 0:893a1e710078 | 271 | output += " for (i = 0; i < sizeScan; i++) {\r\n"; |
| oehlemar | 0:893a1e710078 | 272 | output += " x.push(-floatValues[2*i+1].childNodes[0].nodeValue);\r\n"; |
| oehlemar | 0:893a1e710078 | 273 | output += " y.push(floatValues[2*i].childNodes[0].nodeValue);\r\n"; |
| oehlemar | 0:893a1e710078 | 274 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 275 | output += " for (i = 0; i < sizeBeacons; i++) {\r\n"; |
| oehlemar | 0:893a1e710078 | 276 | output += " xBeacon.push(-floatValues[2*i+2*sizeScan+1].childNodes[0].nodeValue);\r\n"; |
| oehlemar | 0:893a1e710078 | 277 | output += " yBeacon.push(floatValues[2*i+2*sizeScan].childNodes[0].nodeValue);\r\n"; |
| oehlemar | 0:893a1e710078 | 278 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 279 | output += " drawScan(\"lidar\", x, y, xBeacon, yBeacon);\r\n"; |
| oehlemar | 0:893a1e710078 | 280 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 281 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 282 | output += " function drawScan(id, x, y, xBeacon, yBeacon) {\r\n"; |
| oehlemar | 0:893a1e710078 | 283 | output += " var canvas = document.getElementById(id);\r\n"; |
| oehlemar | 0:893a1e710078 | 284 | output += " var width = window.innerWidth-50;\r\n"; |
| oehlemar | 0:893a1e710078 | 285 | output += " var height = window.innerHeight-50;\r\n"; |
| oehlemar | 0:893a1e710078 | 286 | output += " canvas.width = 2*width;\r\n"; |
| oehlemar | 0:893a1e710078 | 287 | output += " canvas.height = 2*height;\r\n"; |
| oehlemar | 0:893a1e710078 | 288 | output += " canvas.style.width = width+\"px\";\r\n"; |
| oehlemar | 0:893a1e710078 | 289 | output += " canvas.style.height = height+\"px\";\r\n"; |
| oehlemar | 0:893a1e710078 | 290 | output += " var ctx = canvas.getContext(\"2d\");\r\n"; |
| oehlemar | 0:893a1e710078 | 291 | output += " ctx.scale(2,2);\r\n"; |
| oehlemar | 0:893a1e710078 | 292 | output += " ctx.fillStyle = \"#334455\";\r\n"; |
| oehlemar | 0:893a1e710078 | 293 | output += " ctx.fillRect(0.5, 0.5, width-1, height-1);\r\n"; |
| oehlemar | 0:893a1e710078 | 294 | output += " var xMax = 3.0;\r\n"; |
| oehlemar | 0:893a1e710078 | 295 | output += " var yMax = 3.0;\r\n"; |
| oehlemar | 0:893a1e710078 | 296 | output += " if (width > height) {\r\n"; |
| oehlemar | 0:893a1e710078 | 297 | output += " xMax = yMax*width/height;\r\n"; |
| oehlemar | 0:893a1e710078 | 298 | output += " } else {\r\n"; |
| oehlemar | 0:893a1e710078 | 299 | output += " yMax = xMax*height/width;\r\n"; |
| oehlemar | 0:893a1e710078 | 300 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 301 | output += " ctx.strokeStyle = \"#445566\";\r\n"; |
| oehlemar | 0:893a1e710078 | 302 | output += " ctx.lineWidth = 1;\r\n"; |
| oehlemar | 0:893a1e710078 | 303 | output += " ctx.beginPath();\r\n"; |
| oehlemar | 0:893a1e710078 | 304 | output += " for (xGrid = 0.0; xGrid < xMax; xGrid += 0.1) {\r\n"; |
| oehlemar | 0:893a1e710078 | 305 | output += " ctx.moveTo(width/2.0+xGrid/xMax*width/2.0, 0.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 306 | output += " ctx.lineTo(width/2.0+xGrid/xMax*width/2.0, height);\r\n"; |
| oehlemar | 0:893a1e710078 | 307 | output += " ctx.moveTo(width/2.0-xGrid/xMax*width/2.0, 0.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 308 | output += " ctx.lineTo(width/2.0-xGrid/xMax*width/2.0, height);\r\n"; |
| oehlemar | 0:893a1e710078 | 309 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 310 | output += " for (yGrid = 0.0; yGrid < yMax; yGrid += 0.1) {\r\n"; |
| oehlemar | 0:893a1e710078 | 311 | output += " ctx.moveTo(0.0, height/2.0+yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 312 | output += " ctx.lineTo(width, height/2.0+yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 313 | output += " ctx.moveTo(0.0, height/2.0-yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 314 | output += " ctx.lineTo(width, height/2.0-yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 315 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 316 | output += " ctx.stroke();\r\n"; |
| oehlemar | 0:893a1e710078 | 317 | output += " ctx.strokeStyle = \"#667788\";\r\n"; |
| oehlemar | 0:893a1e710078 | 318 | output += " ctx.lineWidth = 1;\r\n"; |
| oehlemar | 0:893a1e710078 | 319 | output += " ctx.beginPath();\r\n"; |
| oehlemar | 0:893a1e710078 | 320 | output += " for (xGrid = 0.0; xGrid < xMax; xGrid += 1.0) {\r\n"; |
| oehlemar | 0:893a1e710078 | 321 | output += " ctx.moveTo(width/2.0+xGrid/xMax*width/2.0, 0.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 322 | output += " ctx.lineTo(width/2.0+xGrid/xMax*width/2.0, height);\r\n"; |
| oehlemar | 0:893a1e710078 | 323 | output += " ctx.moveTo(width/2.0-xGrid/xMax*width/2.0, 0.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 324 | output += " ctx.lineTo(width/2.0-xGrid/xMax*width/2.0, height);\r\n"; |
| oehlemar | 0:893a1e710078 | 325 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 326 | output += " for (yGrid = 0.0; yGrid < yMax; yGrid += 1.0) {\r\n"; |
| oehlemar | 0:893a1e710078 | 327 | output += " ctx.moveTo(0.0, height/2.0+yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 328 | output += " ctx.lineTo(width, height/2.0+yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 329 | output += " ctx.moveTo(0.0, height/2.0-yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 330 | output += " ctx.lineTo(width, height/2.0-yGrid/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 331 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 332 | output += " ctx.stroke();\r\n"; |
| oehlemar | 0:893a1e710078 | 333 | output += " ctx.strokeStyle = \"white\";\r\n"; |
| oehlemar | 0:893a1e710078 | 334 | output += " ctx.lineWidth = 0;\r\n"; |
| oehlemar | 0:893a1e710078 | 335 | output += " ctx.fillStyle = \"white\";\r\n"; |
| oehlemar | 0:893a1e710078 | 336 | output += " ctx.beginPath();\r\n"; |
| oehlemar | 0:893a1e710078 | 337 | output += " ctx.moveTo(width/2.0, height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 338 | output += " ctx.arc(width/2.0, height/2.0, 8, 0, 2*Math.PI, false);\r\n"; |
| oehlemar | 0:893a1e710078 | 339 | output += " ctx.moveTo(width/2.0, height/2.0+8);\r\n"; |
| oehlemar | 0:893a1e710078 | 340 | output += " ctx.arc(width/2.0, height/2.0+8, 5, 0, 2*Math.PI, false);\r\n"; |
| oehlemar | 0:893a1e710078 | 341 | output += " ctx.fill();\r\n"; |
| oehlemar | 0:893a1e710078 | 342 | output += " ctx.stroke();\r\n"; |
| oehlemar | 0:893a1e710078 | 343 | output += " ctx.strokeStyle = \"#FF0000\";\r\n"; |
| oehlemar | 0:893a1e710078 | 344 | output += " ctx.fillStyle = \"#FF0000\";\r\n"; |
| oehlemar | 0:893a1e710078 | 345 | output += " ctx.beginPath();\r\n"; |
| oehlemar | 0:893a1e710078 | 346 | output += " for (i = 0; i < Math.min(xBeacon.length, yBeacon.length); i++) {\r\n"; |
| oehlemar | 0:893a1e710078 | 347 | output += " ctx.moveTo(width/2.0+xBeacon[i]/xMax*width/2.0, height/2.0-yBeacon[i]/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 348 | output += " ctx.arc(width/2.0+xBeacon[i]/xMax*width/2.0, height/2.0-yBeacon[i]/yMax*height/2.0, 5, 0, 2*Math.PI, false);\r\n"; |
| oehlemar | 0:893a1e710078 | 349 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 350 | output += " ctx.fill();\r\n"; |
| oehlemar | 0:893a1e710078 | 351 | output += " ctx.stroke();\r\n"; |
| oehlemar | 0:893a1e710078 | 352 | output += " ctx.strokeStyle = \"#FFFF00\";\r\n"; |
| oehlemar | 0:893a1e710078 | 353 | output += " ctx.lineWidth = 0.5;\r\n"; |
| oehlemar | 0:893a1e710078 | 354 | output += " ctx.beginPath();\r\n"; |
| oehlemar | 0:893a1e710078 | 355 | output += " ctx.moveTo(width/2.0+x[0]/xMax*width/2.0, height/2.0-y[0]/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 356 | output += " for (i = 1; i < Math.min(x.length, y.length); i++) {\r\n"; |
| oehlemar | 0:893a1e710078 | 357 | output += " ctx.lineTo(width/2.0+x[i]/xMax*width/2.0, height/2.0-y[i]/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 358 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 359 | output += " ctx.lineTo(width/2.0+x[0]/xMax*width/2.0, height/2.0-y[0]/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 360 | output += " ctx.stroke();\r\n"; |
| oehlemar | 0:893a1e710078 | 361 | output += " ctx.fillStyle = \"#FFFF00\";\r\n"; |
| oehlemar | 0:893a1e710078 | 362 | output += " ctx.beginPath();\r\n"; |
| oehlemar | 0:893a1e710078 | 363 | output += " for (i = 0; i < Math.min(x.length, y.length); i++) {\r\n"; |
| oehlemar | 0:893a1e710078 | 364 | output += " ctx.moveTo(width/2.0+x[i]/xMax*width/2.0, height/2.0-y[i]/yMax*height/2.0);\r\n"; |
| oehlemar | 0:893a1e710078 | 365 | output += " ctx.arc(width/2.0+x[i]/xMax*width/2.0, height/2.0-y[i]/yMax*height/2.0, 2, 0, 2*Math.PI, false);\r\n"; |
| oehlemar | 0:893a1e710078 | 366 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 367 | output += " ctx.fill();\r\n"; |
| oehlemar | 0:893a1e710078 | 368 | output += " ctx.stroke();\r\n"; |
| oehlemar | 0:893a1e710078 | 369 | output += " ctx.strokeStyle = \"white\";\r\n"; |
| oehlemar | 0:893a1e710078 | 370 | output += " ctx.lineWidth = 1;\r\n"; |
| oehlemar | 0:893a1e710078 | 371 | output += " ctx.strokeRect(0.5, 0.5, width-1, height-1);\r\n"; |
| oehlemar | 0:893a1e710078 | 372 | output += " }\r\n"; |
| oehlemar | 0:893a1e710078 | 373 | output += " </script>\r\n"; |
| oehlemar | 0:893a1e710078 | 374 | output += " <table width=\"100%\" height=\"100%\" border=\"0\" frame=\"void\" cellspacing=\"20\" cellpadding=\"0\">\r\n"; |
| oehlemar | 0:893a1e710078 | 375 | output += " <tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 376 | output += " <th><canvas id=\"lidar\"></canvas></th>\r\n"; |
| oehlemar | 0:893a1e710078 | 377 | output += " </tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 378 | output += " </table>\r\n"; |
| oehlemar | 0:893a1e710078 | 379 | output += "</body>\r\n"; |
| oehlemar | 0:893a1e710078 | 380 | output += "</html>\r\n"; |
| oehlemar | 0:893a1e710078 | 381 | |
| oehlemar | 0:893a1e710078 | 382 | header = "HTTP/1.1 404 Not Found\r\n"; |
| oehlemar | 0:893a1e710078 | 383 | header += "Content-Length: "+int2String(output.size())+"\r\n"; |
| oehlemar | 0:893a1e710078 | 384 | header += "Content-Type: text/html\r\n"; |
| oehlemar | 0:893a1e710078 | 385 | header += "\r\n"; |
| oehlemar | 0:893a1e710078 | 386 | |
| oehlemar | 0:893a1e710078 | 387 | output = header+output; |
| oehlemar | 0:893a1e710078 | 388 | |
| oehlemar | 0:893a1e710078 | 389 | // write output |
| oehlemar | 0:893a1e710078 | 390 | |
| oehlemar | 0:893a1e710078 | 391 | void* address = (void*)output.c_str(); |
| oehlemar | 0:893a1e710078 | 392 | int offset = 0; |
| oehlemar | 0:893a1e710078 | 393 | while (offset < output.size()) offset += client->send((void*)(static_cast<int>(reinterpret_cast<intptr_t>(address))+offset), output.size()-offset); |
| oehlemar | 0:893a1e710078 | 394 | } |
| oehlemar | 0:893a1e710078 | 395 | |
| oehlemar | 0:893a1e710078 | 396 | } else { |
| oehlemar | 0:893a1e710078 | 397 | |
| oehlemar | 0:893a1e710078 | 398 | // the http method is not known |
| oehlemar | 0:893a1e710078 | 399 | |
| oehlemar | 0:893a1e710078 | 400 | output = "<!DOCTYPE html>\r\n"; |
| oehlemar | 0:893a1e710078 | 401 | output += "<html lang=\"en\">\r\n"; |
| oehlemar | 0:893a1e710078 | 402 | output += "<head>\r\n"; |
| oehlemar | 0:893a1e710078 | 403 | output += " <title>400 Bad Request</title>\r\n"; |
| oehlemar | 0:893a1e710078 | 404 | output += " <style type=\"text/css\">\r\n"; |
| oehlemar | 0:893a1e710078 | 405 | output += " h2 {font-family:Helvetica,Arial,sans-serif; font-size: 24; color:#FFFFFF;}\r\n"; |
| oehlemar | 0:893a1e710078 | 406 | output += " p {font-family:Helvetica,Arial,sans-serif; font-size: 14; color:#444444;}\r\n"; |
| oehlemar | 0:893a1e710078 | 407 | output += " </style>\r\n"; |
| oehlemar | 0:893a1e710078 | 408 | output += "</head>\r\n"; |
| oehlemar | 0:893a1e710078 | 409 | output += "<body leftmargin=\"0\" topmargin=\"0\" marginwidth=\"0\" marginheight=\"0\">\r\n"; |
| oehlemar | 0:893a1e710078 | 410 | output += " <table width=\"100%\" height=\"100%\" border=\"0\" frame=\"void\" cellspacing=\"0\" cellpadding=\"20\">\r\n"; |
| oehlemar | 0:893a1e710078 | 411 | output += " <tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 412 | output += " <th width=\"100%\" height=\"30\" bgcolor=\"#0064A6\"><h2>400 Bad Request</h2></th>\r\n"; |
| oehlemar | 0:893a1e710078 | 413 | output += " </tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 414 | output += " <tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 415 | output += " <td valign=\"top\">\r\n"; |
| oehlemar | 0:893a1e710078 | 416 | output += " <p>The requested method is not supported by this server!</p>\r\n"; |
| oehlemar | 0:893a1e710078 | 417 | output += " </td>\r\n"; |
| oehlemar | 0:893a1e710078 | 418 | output += " </tr>\r\n"; |
| oehlemar | 0:893a1e710078 | 419 | output += " </table>\r\n"; |
| oehlemar | 0:893a1e710078 | 420 | output += "</body>\r\n"; |
| oehlemar | 0:893a1e710078 | 421 | output += "</html>\r\n"; |
| oehlemar | 0:893a1e710078 | 422 | |
| oehlemar | 0:893a1e710078 | 423 | header = "HTTP/1.1 400 Bad Request\r\n"; |
| oehlemar | 0:893a1e710078 | 424 | header += "Content-Length: "+int2String(output.size())+"\r\n"; |
| oehlemar | 0:893a1e710078 | 425 | header += "Content-Type: text/html\r\n"; |
| oehlemar | 0:893a1e710078 | 426 | header += "\r\n"; |
| oehlemar | 0:893a1e710078 | 427 | |
| oehlemar | 0:893a1e710078 | 428 | output = header+output; |
| oehlemar | 0:893a1e710078 | 429 | |
| oehlemar | 0:893a1e710078 | 430 | // write output |
| oehlemar | 0:893a1e710078 | 431 | |
| oehlemar | 0:893a1e710078 | 432 | void* address = (void*)output.c_str(); |
| oehlemar | 0:893a1e710078 | 433 | int offset = 0; |
| oehlemar | 0:893a1e710078 | 434 | while (offset < output.size()) offset += client->send((void*)(static_cast<int>(reinterpret_cast<intptr_t>(address))+offset), output.size()-offset); |
| oehlemar | 0:893a1e710078 | 435 | } |
| oehlemar | 0:893a1e710078 | 436 | } |
| oehlemar | 0:893a1e710078 | 437 | |
| oehlemar | 0:893a1e710078 | 438 | client->close(); |
| oehlemar | 0:893a1e710078 | 439 | |
| oehlemar | 0:893a1e710078 | 440 | } // client != NULL |
| oehlemar | 0:893a1e710078 | 441 | |
| oehlemar | 0:893a1e710078 | 442 | } // infinite while loop |
| oehlemar | 0:893a1e710078 | 443 | } |
| oehlemar | 0:893a1e710078 | 444 |