Add butterfly web terminal

clever/static/index.html

@@ -2,11 +2,12 @@
 
 <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="" id="butterfly">Open web terminal</a> (<code>Butterfly</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';
+	document.querySelector("#butterfly").href = location.origin + ':57575';
 </script>

deploy/butterfly.service

@@ -0,0 +1,6 @@
+[Unit]
+Description=Butterfly Terminal Server
+
+[Service]
+ExecStart=/usr/local/bin/butterfly.server.py --host="0.0.0.0" --unsecure
+User=pi

deploy/butterfly.socket

@@ -0,0 +1,5 @@
+[Socket]
+ListenStream=57575
+
+[Install]
+WantedBy=sockets.target

image_builder/scripts/software_install.sh

@@ -41,6 +41,14 @@ rm build/conf/sites/default
 ln -s /home/pi/catkin_ws/src/clever/deploy/monkey ./build/conf/sites/default
 cd /home/pi
 
+# install and enable Butterfly (web terminal)
+sudo apt-get install libffi-dev
+sudo pip3 install butterfly
+sudo pip3 install butterfly[systemd]
+sudo ln -s /home/pi/catkin_ws/src/clever/deploy/butterfly.service /lib/systemd/system/
+sudo ln -s /home/pi/catkin_ws/src/clever/deploy/butterfly.socket /lib/systemd/system/
+sudo systemctl enable butterfly.socket
+
 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