refactor: replace http.server with Microdot framework in web_node

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>

workspace/src/application_pkg/application_pkg/web_node.py

@@ -1,138 +1,88 @@
 #!/usr/bin/env python3
 import json
+import asyncio
+import threading
 import socket
-import select
-import socketserver
 
 import rclpy
 from rclpy.node import Node
 from std_msgs.msg import String
 
-from http.server import HTTPServer, BaseHTTPRequestHandler
+from microdot import Microdot
-
-_mode_publisher = None
-
-
-class _APIHandler(BaseHTTPRequestHandler):
-    def do_GET(self):
-        self.send_response(404)
-        self.end_headers()
-
-    def do_POST(self):
-        path = self.path.split('?')[0]
-        if path == '/api/mode/switch':
-            self._handle_mode_switch()
-        elif path == '/api/laser':
-            self._handle_laser()
-        else:
-            self.send_response(404)
-            self.end_headers()
-
-    def _handle_mode_switch(self):
-        content_length = int(self.headers.get('Content-Length', 0))
-        body = self.rfile.read(content_length) if content_length > 0 else b'{}'
-        try:
-            data = json.loads(body)
-            mode = data.get('mode', '')
-        except json.JSONDecodeError:
-            self._json_response(400, {'code': -1, 'message': 'invalid json'})
-            return
-
-        valid_modes = ('auto', 'manual', 'debug')
-        if mode not in valid_modes:
-            self._json_response(400, {
-                'code': -1,
-                'message': f'unknown mode: {mode}',
-            })
-            return
-
-        if _mode_publisher is not None:
-            msg = String()
-            msg.data = mode
-            _mode_publisher.publish(msg)
-
-        self._json_response(200, {'code': 0, 'message': 'ok'})
-
-    def _handle_laser(self):
-        content_length = int(self.headers.get('Content-Length', 0))
-        body = self.rfile.read(content_length) if content_length > 0 else b'{}'
-        try:
-            data = json.loads(body)
-            action = data.get('action', '')
-        except json.JSONDecodeError:
-            self._json_response(400, {'code': -1, 'message': 'invalid json'})
-            return
-
-        if action == 'on':
-            mode = 'laser_on'
-        elif action == 'off':
-            mode = 'laser_off'
-        else:
-            self._json_response(400, {
-                'code': -1,
-                'message': 'action must be on or off',
-            })
-            return
-
-        if _mode_publisher is not None:
-            msg = String()
-            msg.data = mode
-            _mode_publisher.publish(msg)
-
-        self._json_response(200, {'code': 0, 'message': 'ok'})
-
-    def _json_response(self, status, data):
-        self.send_response(status)
-        self.send_header('Content-type', 'application/json')
-        self.end_headers()
-        self.wfile.write(json.dumps(data).encode())
-
-    def handle_error(self, request, client_address):
-        pass
-
-    def log_message(self, format, *args):
-        pass
-
-
-class _ThreadingHTTPServer(socketserver.ThreadingMixIn, HTTPServer):
-    daemon_threads = True
 
 
 class WebNode(Node):
     def __init__(self):
         super().__init__('web_node')
-        global _mode_publisher
 
         self.declare_parameter('port', 8080)
-        port = self.get_parameter('port').value
+        self._port = self.get_parameter('port').value
 
         self._mode_publisher = self.create_publisher(
             String, '/gimbal/mode', 10
         )
-        _mode_publisher = self._mode_publisher
 
-        self._server = _ThreadingHTTPServer(('', port), _APIHandler)
+        self._app = Microdot()
-        self._server.socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+        self._setup_routes()
-        self._server.socket.setblocking(False)
-        self._server.timeout = 0
 
-        self._timer = self.create_timer(0.01, self._handle_http_requests)
+        self._thread = threading.Thread(target=self._run_server, daemon=True)
+        self._thread.start()
 
         hostname = socket.gethostname()
         ip = socket.gethostbyname(hostname)
-        self.get_logger().info(
+        self.get_logger().info(f'API server on http://{ip}:{self._port}')
-            f'API server on http://{ip}:{port}'
-        )
 
-    def _handle_http_requests(self):
+    def _setup_routes(self):
-        for _ in range(20):
+        app = self._app
+
+        @app.route('/api/mode/switch', methods=['POST'])
+        async def mode_switch(request):
             try:
-                self._server.handle_request()
+                data = request.json
             except Exception:
-                break
+                return {'code': -1, 'message': 'invalid json'}, 400
+
+            mode = data.get('mode', '')
+            valid_modes = ('auto', 'manual', 'debug')
+            if mode not in valid_modes:
+                return {'code': -1, 'message': f'unknown mode: {mode}'}, 400
+
+            msg = String()
+            msg.data = mode
+            self._mode_publisher.publish(msg)
+            return {'code': 0, 'message': 'ok'}
+
+        @app.route('/api/laser', methods=['POST'])
+        async def laser(request):
+            try:
+                data = request.json
+            except Exception:
+                return {'code': -1, 'message': 'invalid json'}, 400
+
+            action = data.get('action', '')
+            if action == 'on':
+                mode = 'laser_on'
+            elif action == 'off':
+                mode = 'laser_off'
+            else:
+                return {'code': -1, 'message': 'action must be on or off'}, 400
+
+            msg = String()
+            msg.data = mode
+            self._mode_publisher.publish(msg)
+            return {'code': 0, 'message': 'ok'}
+
+    def _run_server(self):
+        try:
+            self._app.run(host='0.0.0.0', port=self._port, debug=False)
+        except RuntimeError:
+            pass
 
     def destroy_node(self):
-        self._server.server_close()
+        try:
+            self._app.shutdown()
+        except Exception:
+            pass
         super().destroy_node()
 
 

workspace/src/application_pkg/package.xml

@@ -9,6 +9,7 @@
 
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
+  <depend>python3-microdot</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

workspace/src/application_pkg/setup.py

@@ -11,7 +11,7 @@ setup(
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
-    install_requires=['setuptools'],
+    install_requires=['setuptools', 'microdot'],
     zip_safe=True,
     maintainer='dev01',
     maintainer_email='dev01@todo.todo',