mirror of
https://github.com/Luzifer/mimap.git
synced 2024-10-18 12:44:20 +00:00
113 lines
2.7 KiB
Go
113 lines
2.7 KiB
Go
|
package main
|
||
|
|
||
|
import (
|
||
|
"bytes"
|
||
|
"crypto/sha1"
|
||
|
"fmt"
|
||
|
"io"
|
||
|
"net/http"
|
||
|
"os"
|
||
|
"os/exec"
|
||
|
|
||
|
"github.com/Luzifer/rconfig"
|
||
|
"github.com/pkg/errors"
|
||
|
log "github.com/sirupsen/logrus"
|
||
|
)
|
||
|
|
||
|
var (
|
||
|
cfg = struct {
|
||
|
Listen string `flag:"listen" default:":3000" description:"Port/IP to listen on"`
|
||
|
LogLevel string `flag:"log-level" default:"info" description:"Log level (debug, info, warn, error, fatal)"`
|
||
|
VersionAndExit bool `flag:"version" default:"false" description:"Prints current version and exits"`
|
||
|
}{}
|
||
|
|
||
|
version = "dev"
|
||
|
)
|
||
|
|
||
|
func init() {
|
||
|
if err := rconfig.ParseAndValidate(&cfg); err != nil {
|
||
|
log.Fatalf("Unable to parse commandline options: %s", err)
|
||
|
}
|
||
|
|
||
|
if cfg.VersionAndExit {
|
||
|
fmt.Printf("mimap %s\n", version)
|
||
|
os.Exit(0)
|
||
|
}
|
||
|
|
||
|
if l, err := log.ParseLevel(cfg.LogLevel); err != nil {
|
||
|
log.WithError(err).Fatal("Unable to parse log level")
|
||
|
} else {
|
||
|
log.SetLevel(l)
|
||
|
}
|
||
|
}
|
||
|
|
||
|
func main() {
|
||
|
http.HandleFunc("/upload", uploadHandler)
|
||
|
http.HandleFunc("/map.png", mapHandler)
|
||
|
|
||
|
log.WithError(http.ListenAndServe(cfg.Listen, nil)).Fatal("HTTP server quit")
|
||
|
}
|
||
|
|
||
|
func uploadHandler(res http.ResponseWriter, r *http.Request) {
|
||
|
if err := storeFile(r, "map", "/data/navmap.ppm"); err != nil {
|
||
|
http.Error(res, err.Error(), http.StatusInternalServerError)
|
||
|
return
|
||
|
}
|
||
|
|
||
|
if err := storeFile(r, "slam", "/data/slam.log"); err != nil {
|
||
|
http.Error(res, err.Error(), http.StatusInternalServerError)
|
||
|
return
|
||
|
}
|
||
|
|
||
|
go processFile()
|
||
|
|
||
|
http.Error(res, "Received your files, generating map...", http.StatusCreated)
|
||
|
}
|
||
|
|
||
|
func mapHandler(res http.ResponseWriter, r *http.Request) {
|
||
|
http.ServeFile(res, r, "/data/map.png")
|
||
|
}
|
||
|
|
||
|
func storeFile(r *http.Request, field, outname string) error {
|
||
|
f, _, err := r.FormFile(field)
|
||
|
if err != nil {
|
||
|
return errors.Wrapf(err, "Unable to retrieve %q file", field)
|
||
|
}
|
||
|
defer f.Close()
|
||
|
|
||
|
buf := new(bytes.Buffer)
|
||
|
if _, err = io.Copy(buf, f); err != nil {
|
||
|
return errors.Wrapf(err, "Unable to read %q file", field)
|
||
|
}
|
||
|
|
||
|
if hash := fmt.Sprintf("%x", sha1.Sum(buf.Bytes())); hash != r.FormValue("sum_"+field) {
|
||
|
return fmt.Errorf("File hash for %q did not match: %q != %q", field, hash, r.FormValue("sum_"+field))
|
||
|
}
|
||
|
|
||
|
of, err := os.Create(outname)
|
||
|
if err != nil {
|
||
|
return errors.Wrapf(err, "Unable to create %q output file", field)
|
||
|
}
|
||
|
defer of.Close()
|
||
|
|
||
|
if _, err = io.Copy(of, buf); err != nil {
|
||
|
return errors.Wrapf(err, "Unable to copy %q file", field)
|
||
|
}
|
||
|
|
||
|
return nil
|
||
|
}
|
||
|
|
||
|
func processFile() {
|
||
|
log.Info("Generating map...")
|
||
|
|
||
|
cmd := exec.Command("python", "/src/build_map.py", "-slam", "/data/slam.log", "-map", "/data/navmap.ppm", "-out", "/data/map.png")
|
||
|
cmd.Stderr = os.Stderr
|
||
|
cmd.Stdout = os.Stdout
|
||
|
if err := cmd.Run(); err != nil {
|
||
|
log.WithError(err).Error("Map generation failed")
|
||
|
return
|
||
|
}
|
||
|
|
||
|
log.Info("Map generated")
|
||
|
}
|