Add Monkey web server

clever/launch/clever.launch

@@ -3,6 +3,7 @@
     <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
+    <arg name="web_server" default="true"/>
     <arg name="web_video_server" default="true"/>
     <arg name="rosbridge" default="true"/>
     <arg name="main_camera" default="true"/>
@@ -21,6 +22,9 @@
     </include>
 
 
+    <!-- web server, serving /home/pi/catkin_ws/src/clever/clever/static -->
+    <node name="web_server" pkg="clever" type="monkey" output="screen" if="$(arg web_server)"/>
+
     <!-- web video server -->
     <node name="web_video_server" pkg="web_video_server" type="web_video_server" if="$(arg web_video_server)" required="false" respawn="true" respawn_delay="5"/>
 

clever/src/monkey

@@ -0,0 +1,3 @@
+#!/usr/bin/env bash
+
+exec /home/pi/monkey/build/monkey --port 80

clever/static/index.html

@@ -0,0 +1,12 @@
+<h1>CLEVER Drone Kit Tools</h1>
+
+<ul>
+	<!-- <li><a href="">View user reference</a> (<a href="http://clever.copterexpress.com">http://clever.copterexpress.com</a> snapshot)</li> -->
+	<!-- <li><a href="">Go to web terminal</a> (<code>Butterfly</code>)</li> -->
+	<li><a href="" id="wvs">View image topics</a> (<code>web_video_server</code>)</li>
+	<!-- <li><a href="viz.html">View 3D visualization</a> (<code>ros3djs</code>)</li> -->
+</ul>
+
+<script type="text/javascript">
+	document.querySelector("#wvs").href = location.origin + ':8080';
+</script>

deploy/monkey

@@ -0,0 +1,57 @@
+# Default Host - Configuration
+# ============================
+# Here the variable principals of the program are defined in respect
+# to the configuration of the different types of directives.
+
+[HOST]
+    # ServerName:
+    # -----------
+    # Allow you to set a host and domain name (e.g monkey.linuxchile.cl). If
+    # you are working in a local network just set your IP address or if you
+    # are working like localhost set your loopback address (127.0.0.1).
+
+    ServerName 0.0.0.0
+
+    # DocumentRoot:
+    # -------------
+    # This variable corresponds to the location of the main server directory
+    # of the web pages, where the files of your site are located.
+    #
+    # Example:
+    #      DocumentRoot /home/krypton/htdocs
+
+    DocumentRoot /home/pi/catkin_ws/src/clever/clever/static
+
+    # Redirect:
+    # ---------
+    # Under specific conditions, you may want the server performs a HTTP
+    # redirect when this Virtual Host is reach. If that is the case, append
+    # to the Redirect key the value of the address where to redirect the
+    # HTTP client.
+    #
+    # Redirect http://monkey-project.com
+
+[LOGGER]
+    # AccessLog:
+    # ----------
+    # Registration file of correct request.
+
+    AccessLog /home/pi/monkey/build/log/access.log
+
+    # ErrorLog:
+    # ---------
+    # Registration file of incorrect request.
+
+    ErrorLog /home/pi/monkey/build/log/error.log
+
+[ERROR_PAGES]
+    404  404.html
+
+[HANDLERS]
+    # FastCGI
+    # =======
+    # Match /.*\.php fastcgi
+
+    # CGI
+    # ===
+    # Match /cgi-bin/.*\.cgi cgi

image_builder/scripts/software_install.sh

@@ -28,7 +28,19 @@ apt-get install --no-install-recommends -y \
   libjpeg8-dev=8d1-2 \
   tcpdump \
   libpoco-dev=1.7.6+dfsg1-5+deb9u1
-  
+
+# install Monkey web-server
+cd /home/pi
+git clone git@github.com:monkey/monkey.git
+cd monkey
+git checkout v1.6.9
+./configure --malloc-libc --local
+make
+sudo setcap 'cap_net_bind_service=+ep' ./build/monkey  # allow using 80 port
+rm build/conf/sites/default
+ln -s /home/pi/catkin_ws/src/clever/deploy/monkey ./build/conf/sites/default
+cd /home/pi
+
 echo -e "\033[0;31m\033[1m$(date) | #2 Adding mjpg-streamer at /home/pi\033[0m\033[0m"
 # https://github.com/jacksonliam/mjpg-streamer