Added HTTP control stuff

single_ursim_control/main.py

@@ -4,7 +4,8 @@ from config import Config
 from plugins import SleepPlugin, SyncPlugin, WaitPlugin, URRTDEPlugin, LogPlugin
 from plugin_repository import PluginRepository
 from program_executor import ProgramExecutor, ProgramExecutorStates
-from http_server import ControllerHTTPServer
+import weakref
+from tiny_http_server import TinyHTTPServer
 import logging
 import signal
 
@@ -14,14 +15,66 @@ from program_loader import load_program
 
 class HTTPControl:
 
-    def GET_status(self, path, data):
-        return 200, "Very good!"
+    def __init__(self, executor: ProgramExecutor, wait_plugin: WaitPlugin):
+        self._executor_ref = weakref.ref(executor)
 
-    def POST_terminate(self, path, data):
-        return 200, "Will do sir!"
+        if wait_plugin:
+            self._wait_plugin_ref = weakref.ref(wait_plugin)
+        else:
+            self._wait_plugin_ref = None
+
+    def GET_status(self, path, data):
+
+        executor: ProgramExecutor = self._executor_ref()
+        if not executor:
+            return 503, "Service unavailable"
+
+        try:
+            return 200, executor.get_status()
+        except Exception as e:
+            return 500, str(e)
+
+    def POST_abort(self, path, data):
+        # TODO: announce to redis message bus
+        executor: ProgramExecutor = self._executor_ref()
+        if not executor:
+            return 503, "Service unavailable"
+
+        try:
+            executor.abort()
+        except Exception as e:
+            return 500, str(e)
+
+        return 200, "Aborting"
 
     def POST_continue(self, path, data):
-        return 201, "Will do sir!"
+
+        if not self._wait_plugin_ref:
+            return 422, "Plugin not loaded"
+
+        wait_plugin: WaitPlugin = self._wait_plugin_ref()
+
+        if not wait_plugin:
+            return 503, "Service unavailable"
+
+        try:
+            wait_plugin.cont()
+        except Exception as e:
+            return 500, str(e)
+
+        return 200, "Continuing"
+
+    def POST_unloop(self, path, data):
+        executor: ProgramExecutor = self._executor_ref()
+        if not executor:
+            return 503, "Service unavailable"
+
+        try:
+            executor.stop_looping()
+        except Exception as e:
+            return 500, str(e)
+
+        return 200, "Looping off"
 
 
 def main() -> int:
@@ -72,6 +125,20 @@ def main() -> int:
     logging.info("Preparing for execution...")
     executor = ProgramExecutor(program, loop=False)
 
+    # Prepare the HTTP Server
+    if Config.HTTP_ENABLE:
+
+        try:
+            loaded_wait_plugin = plugin_repo.get_plugin_instance('wait')
+        except KeyError:
+            loaded_wait_plugin = None
+
+        # The HTTP server stores weak reference to the executor and the wait plugin (if loaded)
+        httpd = TinyHTTPServer(HTTPControl(executor, loaded_wait_plugin), port=Config.HTTP_PORT)
+        httpd.start()
+    else:
+        httpd = None
+
     # Setup signal handler
     def handle_stop_signal(signum, frame):
         logging.warning(f"Signal {signum} received. Aborting execution!")
@@ -103,7 +170,11 @@ def main() -> int:
 
     # Close all resources
     logging.info("Cleaning up...")
+    if httpd:
+        httpd.shutdown()
     plugin_repo.close()
+
+    # Set exit code
     return 0 if execution_success else 5