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‎.gitignore‎

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*.py[cod]
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dist
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build
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MANIFEST
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__pycache__
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*.egg-info
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version.py
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.project
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.pydevproject

‎LICENSE‎

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Copyright © 2015 Dustin Spicuzza
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Copyright © 2015 Leon Tan
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Copyright © 2015 Contributors
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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‎MANIFEST.in‎

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recursive-include example *
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recursive-include pynetworktables2js/js *

‎README.rst‎

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pynetworktables2js
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==================
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A library that forwards NetworkTables key/values over a Websocket, so that
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you can easily write your dashboard in HTML5 + JavaScript.
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This library does not provide a full dashboard solution, but is intended to
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provide the necessary plumbing for one to create one with only knowledge
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of HTML/Javascript. Because the communication layer uses NetworkTables, you
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can connect to all FRC languages (C++, Java, LabVIEW, Python).
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Installation
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============
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Make sure to install python 2 or 3 on your computer, and on Windows you can
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execute::
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py -m pip install pynetworktables2js
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On Linux/OSX you can execute::
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pip install pynetworktables2js
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Usage
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=====
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Go to the 'example' directory distributed with pynetworktables2js, and run::
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python server.py --robot 127.0.0.1
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If you navigate your browser (I recommend Chrome) to http://127.0.0.1:8888, all
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of the current NetworkTables values will be shown as they change.
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One way of testing this out is use the TableViewer application, and start it in
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server mode.
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Feel free to copy the example directory to create your own customized
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dashboard. Just add your custom files to the www directory.
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Authors
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=======
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Leon Tan of FRC Team 1418 did the initial research/work to get this working,
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and created an initial working prototype for Team 1418's 2015 Dashboard.
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Dustin Spicuzza cleaned stuff up, rewrote things, added more functionality,
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and packaged it so other teams could use it.

‎example/server.py‎

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#!/usr/bin/env python
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'''
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This is an example server application that you can use to connect your
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HTML/Javascript dashboard code to your robot via NetworkTables.
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Run this application with python, then you can open your browser to
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http://localhost:8888/ to view the index.html page.
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'''
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from os.path import abspath, dirname, join
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from optparse import OptionParser
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import tornado.web
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from tornado.ioloop import IOLoop
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from networktables import NetworkTable
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from pynetworktables2js import get_handlers, NonCachingStaticFileHandler
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import logging
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logger = logging.getLogger('dashboard')
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log_datefmt = "%H:%M:%S"
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log_format = "%(asctime)s:%(msecs)03d %(levelname)-8s: %(name)-20s: %(message)s"
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def init_networktables(ipaddr):
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logger.info("Connecting to networktables at %s" % ipaddr)
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NetworkTable.setIPAddress(ipaddr)
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NetworkTable.setClientMode()
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NetworkTable.initialize()
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logger.info("Networktables Initialized")
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if __name__ == '__main__':
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# Setup options here
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parser = OptionParser()
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parser.add_option('-p', '--port', default=8888,
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help='Port to run web server on')
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parser.add_option('-v', '--verbose', default=False, action='store_true',
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help='Enable verbose logging')
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parser.add_option('--robot', default='127.0.0.1',
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help="Robot's IP address")
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options, args = parser.parse_args()
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# Setup logging
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logging.basicConfig(datefmt=log_datefmt,
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format=log_format,
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level=logging.DEBUG if options.verbose else logging.INFO)
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# Setup NetworkTables
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init_networktables(options.robot)
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# setup tornado application with static handler + networktables support
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www_dir = abspath(join(dirname(__file__), 'www'))
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app = tornado.web.Application(
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get_handlers() + [
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(r"/()", NonCachingStaticFileHandler, {"path": join(www_dir, 'index.html')}),
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(r"/(.*)", NonCachingStaticFileHandler, {"path": www_dir})
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]
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)
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# Start the app
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logger.info("Listening on http://localhost:%s/" % options.port)
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app.listen(options.port)
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IOLoop.current().start()

‎example/www/index.html‎

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<!DOCTYPE html>
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<html lang="en">
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<head>
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<meta charset="utf-8">
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</head>
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<body>
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<!-- This starts the NetworkTables websocket, it can be accessed from multiple
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pages simultaneously -->
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<script src="/networktables/networktables.js"></script>
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<!-- Obviously, you will want to copy this file locally in a real
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dashboard, as the Driver Station won't have internet access -->
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<script src="https://code.jquery.com/jquery-2.1.3.min.js"></script>
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<div>
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NetworkTables websocket: <span id="connectstate">Unknown state</span><br/>
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Robot: <span id="robotstate">Unknown state</span>
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</div>
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<hr/>
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<table id="nt" border=1>
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<tbody></tbody>
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</table>
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<script type="text/javascript">
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"use strict";
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$(document).ready(function(){
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// sets a function that will be called when the websocket connects/disconnects
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NetworkTables.addWsConnectionListener(onNetworkTablesConnection, true);
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// sets a function that will be called when the robot connects/disconnects
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NetworkTables.addRobotConnectionListener(onRobotConnection, true);
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// sets a function that will be called when any NetworkTables key/value changes
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NetworkTables.addGlobalListener(onValueChanged, true);
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});
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function onRobotConnection(connected) {
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$('#robotstate').text(connected ? "Connected!" : "Disconnected");
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}
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function onNetworkTablesConnection(connected) {
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if (connected) {
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$("#connectstate").text("Connected!");
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// clear the table
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$("#nt tbody > tr").remove();
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} else {
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$("#connectstate").text("Disconnected!");
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}
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}
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function onValueChanged(key, value, isNew) {
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// key thing here: we're using the various NetworkTable keys as
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// the id of the elements that we're appending, for simplicity. However,
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// the key names aren't always valid HTML identifiers, so we use
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// the NetworkTables.keyToId() function to convert them appropriately
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if (isNew) {
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var tr = $('<tr></tr>').appendTo($('#nt > tbody:last'));
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$('<td></td>').text(key).appendTo(tr);
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$('<td></td>').attr('id', NetworkTables.keyToId(key))
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.text(value)
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.appendTo(tr);
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} else {
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// similarly, use keySelector to convert the key to a valid jQuery
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// selector. This should work for class names also, not just for ids
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$('#' + NetworkTables.keySelector(key)).text(value);
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}
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}
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</script>
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</body>
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</html>

‎pynetworktables2js/__init__.py‎

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from .handlers import NetworkTablesWebSocket, NonCachingStaticFileHandler, get_handlers

‎pynetworktables2js/handlers.py‎

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from os.path import abspath, dirname, join
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try:
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from ujson import loads
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except ImportError:
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from json import loads
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from tornado.ioloop import IOLoop
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from tornado.web import StaticFileHandler
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from tornado.websocket import WebSocketHandler, WebSocketClosedError
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from networktables import NetworkTable
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import logging
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logger = logging.getLogger('net2js')
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__all__ = ['get_handlers', 'NetworkTablesWebSocket', 'NonCachingStaticFileHandler']
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class NetworkTablesWebSocket(WebSocketHandler):
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'''
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A tornado web handler that forwards values between NetworkTables
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and a webpage via a websocket
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'''
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def open(self):
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logger.info("NetworkTables websocket opened")
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self.ioloop = IOLoop.current()
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self.nt = NetworkTable.getGlobalTable()
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NetworkTable.addGlobalListener(self.on_nt_change, immediateNotify=True)
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self.nt.addConnectionListener(self, immediateNotify=True)
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def on_message(self, message):
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# called when message is received from the dashboard
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data = loads(message)
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self.nt.putValue(data['k'], data['v'])
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def on_close(self):
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logger.info("NetworkTables websocket closed")
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NetworkTable.removeGlobalListener(self.on_nt_change)
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def send_to_dashboard(self, msg):
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try:
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self.write_message(msg, False)
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except WebSocketClosedError:
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logger.warn("websocket closed when sending message")
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#
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# NetworkTables API
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#
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# These functions cannot directly access the websocket, as they are
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# called from another thread
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def on_nt_change(self, key, value, isNew):
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self.ioloop.add_callback(self.send_to_dashboard,
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{'k': key, 'v': value, 'n': isNew})
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def connected(self, table):
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self.ioloop.add_callback(self.send_to_dashboard,
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{'r': True})
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def disconnected(self, table):
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self.ioloop.add_callback(self.send_to_dashboard,
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{'r': False})
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class NonCachingStaticFileHandler(StaticFileHandler):
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'''
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This static file handler disables caching, to allow for easy
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development of your Dashboard
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'''
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# This is broken in tornado, disable it
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def check_etag_header(self):
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return False
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def set_extra_headers(self, path):
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# Disable caching
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self.set_header('Cache-Control', 'no-store, no-cache, must-revalidate, max-age=0')
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def get_handlers():
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'''
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Returns a list that can be concatenated to the list of handlers
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passed to the ``tornado.web.Application`` object. This list contains
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handlers for the NetworkTables websocket and the necessary javascript
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to use it.
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Example usage::
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import pynetworktables2js
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import tornado.web
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...
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app = tornado.web.Application(
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pynetworktables2js.get_handlers() + [
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# tornado handlers here
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])
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'''
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js_path_opts = {'path': abspath(join(dirname(__file__), 'js', 'networktables.js'))}
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return [
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('/networktables/ws', NetworkTablesWebSocket),
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('/networktables/networktables.js()', NonCachingStaticFileHandler, js_path_opts),
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]
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