From fe624b7f5963d69bc6826c1b3845644ce14a5344 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 7 Nov 2017 15:38:25 +0300
Subject: [PATCH] Simple web-server node for serving Clever interface

---
 clever/launch/web_server.launch |  5 +++++
 clever/requirements.txt         |  1 +
 clever/src/web_server.py        | 28 ++++++++++++++++++++++++++++
 3 files changed, 34 insertions(+)
 create mode 100644 clever/launch/web_server.launch
 create mode 100644 clever/requirements.txt
 create mode 100644 clever/src/web_server.py

diff --git a/clever/launch/web_server.launch b/clever/launch/web_server.launch
new file mode 100644
index 00000000..9d8944ac
--- /dev/null
+++ b/clever/launch/web_server.launch
@@ -0,0 +1,5 @@
+<launch>
+    <node name="web_server" pkg="clever" type="web_server.py" output="screen">
+        <param name="path" value="$(find clever)/static"/>
+    </node>
+</launch>
diff --git a/clever/requirements.txt b/clever/requirements.txt
new file mode 100644
index 00000000..484d3c57
--- /dev/null
+++ b/clever/requirements.txt
@@ -0,0 +1 @@
+flask==0.12.2
diff --git a/clever/src/web_server.py b/clever/src/web_server.py
new file mode 100644
index 00000000..d035ac4b
--- /dev/null
+++ b/clever/src/web_server.py
@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+
+import rospy
+from flask import Flask, send_from_directory, send_file
+
+
+rospy.init_node('web_server', disable_signals=True)
+
+
+port = rospy.get_param('~port', 8080)
+host = rospy.get_param('~host', '0.0.0.0')
+serve_path = rospy.get_param('~path')
+app = Flask(__name__)
+
+
+@app.route('/')
+def serve_index():
+    return send_from_directory(serve_path, 'index.html')
+
+
+@app.route('/<path:path>')
+def serve_static(path):
+    print serve_path, path
+    return send_from_directory(serve_path, path)
+
+
+rospy.loginfo('Serving on %s:%s', host, port)
+app.run(host=host, port=port, threaded=True)