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added host argument and new default for 0.0.0.0 #8

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8 changes: 7 additions & 1 deletion flexbe_webui/webui_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -340,10 +340,16 @@ def main(args: List[str] = None):
print(f' Invalid port = {args.port} - {exc}', flush=True)
return

try:
host = str(args.host)
except Exception as exc:
print(f'\n Invalid host = {args.host} - {exc}', flush=True)
return

print('\nStarting FlexBE WebUI ROS node with server at '
f'port={port} logging={args.logging_level}...', flush=True)
webui_node = WebuiNode(args)
server = threading.Thread(target=webui_node._server.run, args=(port, args.logging_level), daemon=True)
server = threading.Thread(target=webui_node._server.run, args=(port, host, args.logging_level), daemon=True)
server.start()
try:
rclpy.spin(webui_node)
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15 changes: 11 additions & 4 deletions flexbe_webui/webui_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -620,10 +620,10 @@ async def behavior_manifest_generator(json_manifest_dict: Dict = Body(...)):
print(traceback.format_exc().replace('%', '%%'))
return False

def run(self, port: int = 8000, logging: str = 'warning'):
def run(self, port: int = 8000, host: str = '0.0.0.0', logging: str = 'warning'):
"""Run main web server loop."""
print(f' Configure uvicorn port={port} logging={logging} ...', flush=True)
config = uvicorn.Config(self._app, port=port, log_level=logging)
print(f' Configure uvicorn port={port} host={host} logging={logging} ...', flush=True)
config = uvicorn.Config(self._app, host=host, port=port, log_level=logging)
print(' Construct uvicorn server ...', flush=True)
server = uvicorn.Server(config)
print(' Run uvicorn server...', flush=True)
Expand All @@ -636,6 +636,7 @@ def parse_args(args: List[str] = None):
"""Parse command line arguments for webui_server and webui_node."""
parser = argparse.ArgumentParser(description='FlexBE WebUI Server parameters')
parser.add_argument('--port', type=str, default='8000', help="FlexBE WebUI Server port (default='8000')")
parser.add_argument('--host', type=str, default='0.0.0.0', help="IP address to bind the FlexBE WebUI server to (default: 0.0.0.0 — listen on all interfaces)")
parser.add_argument('--config_folder', type=str, default='',
help="FlexBE WebUI Server configuration file folder (default='' use 'flexbe_webui/config')")
parser.add_argument('--config_file', type=str, default='',
Expand Down Expand Up @@ -667,9 +668,15 @@ def main(args: List[str] = None):
print(f'\n Invalid port = {args.port} - {exc}', flush=True)
return

try:
host = str(args.host)
except Exception as exc:
print(f'\n Invalid host = {args.host} - {exc}', flush=True)
return

print(f'at port={port} logging={args.logging_level} ...', flush=True)
webui_server = WebuiServer(args)
webui_server.run(port, args.logging_level)
webui_server.run(port, host, args.logging_level)
print('shutdown FlexBE WebUI server!', flush=True)


Expand Down
9 changes: 9 additions & 0 deletions launch/flexbe_ocs.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,10 @@ def generate_launch_description():
default_value='8000'
)

host = DeclareLaunchArgument('host',
description="IP address to bind the FlexBE WebUI server to (default: 0.0.0.0 — listen on all interfaces)",
default_value='0.0.0.0')

clear_cache = DeclareLaunchArgument('clear_cache',
description='Clear existing package data cache and reprocess',
default_value='false')
Expand All @@ -62,12 +66,14 @@ def start_webui(context, *args, **kwargs):
config_folder = LaunchConfiguration('config_folder').perform(context)
config_file = LaunchConfiguration('config_file').perform(context)
port = LaunchConfiguration('port').perform(context)
host = LaunchConfiguration('host').perform(context)
clear_cache = LaunchConfiguration('clear_cache').perform(context)
print('Setting up launch for FlexBE WebUI')
print(f" offline : '{offline}'")
print(f" config_folder: '{config_folder}'")
print(f" config_file : '{config_file}'")
print(f" port : '{port}'")
print(f" host : '{host}'")
print(f" clear_cache : '{clear_cache}'")

node_args = []
Expand All @@ -77,6 +83,8 @@ def start_webui(context, *args, **kwargs):
node_args += ['--config_file', config_file]
if port != '':
node_args += ['--port', port]
if host != '':
node_args += ['--host', host]
if clear_cache.lower() == 'true':
node_args += ['--clear_cache', 'true']

Expand Down Expand Up @@ -117,6 +125,7 @@ def start_webui(context, *args, **kwargs):
config_folder,
config_file,
port,
host,
clear_cache,
behavior_mirror,
client_delay,
Expand Down