diff --git a/.devcontainer/caddy/Caddyfile b/.devcontainer/caddy/Caddyfile
index 74a9df93b28..1150579a47a 100644
--- a/.devcontainer/caddy/Caddyfile
+++ b/.devcontainer/caddy/Caddyfile
@@ -7,7 +7,7 @@
# Matcher for http request scheme. E.g. "http" or "https"
@http_scheme {
- expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https"
+ expression {http.request.scheme}=="https" || {header.X-Forwarded-Scheme}=="https" || {header.X-Forwarded-Proto}=="https"
}
# If any http scheme is "https", then use "wss"
vars @http_scheme WsScheme "wss"
@@ -19,9 +19,9 @@
header X-Forwarded-Host *
}
# If http headers exists, then use them
- vars @host_forwarded WsHost {header.X-Forwarded-Host}
+ vars @host_forwarded ReqHost {header.X-Forwarded-Host}
# Else default to host in request
- vars WsHost {http.request.hostport}
+ vars ReqHost {http.request.hostport}
# Matcher for websocket connection upgrade requests
@websockets {
@@ -37,8 +37,8 @@
# E.g auto redirect websocket URL to match request scheme
(redirect) {
# Configure redirect to match request scheme
- vars LayoutUrl "/assets/nav2_foxglove_layout.json"
- vars DataSourceUrl "{vars.WsScheme}://{vars.WsHost}{args.0}/"
+ vars LayoutUrl "/assets/foxglove/nav2_layout.json"
+ vars DataSourceUrl "{vars.WsScheme}://{vars.ReqHost}{args.0}/"
redir /autoconnect "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}"
redir /autolayout "{args.0}/?ds=foxglove-websocket&ds.url={vars.DataSourceUrl}&layoutUrl={vars.LayoutUrl}"
}
@@ -55,30 +55,26 @@
route / {
# Inject link to manifest just after tag
# https://developer.mozilla.org/docs/Web/Manifest
- replace `` ``
+ replace `` ``
}
# Redirect relative handle_path'ed manifest.json to /manifests directory
- redir /manifest.json /manifests{http.request.orig_uri.path.dir}manifest.json
+ redir /manifest.json /assets{http.request.orig_uri.path.dir}manifest.json
}
# Snippet for hosted web app using websockets
# to serve static files and reverse proxying connections
# E.g. for serving GzWeb and Foxglove web apps
(app) {
- # Redirect implicit directory requests twards index.html
- redir {args.0} {args.0}/
# handle and strip path prefix from redirect
handle_path {args.0}/* {
# Set root directory for static files
- root * {args.1}
- # Serve static files
- file_server
+ root * {http.vars.root}{args.0}
# Enable mobile web app features
import mobile
# Reverse proxy websockets to backend address
- reverse_proxy @websockets {args.2}
+ reverse_proxy @websockets {args.1}
# Import custom snippets
- import {args.3} {args.0}
+ import {args.2} {args.0}
}
}
@@ -88,24 +84,38 @@
:8080 {
# Include global matchers and variables
import globals
+ root * {$ROOT_SRV:/srv}
+ file_server browse
- # Handle main landing page
+ # Handle root content
+ # I.e. assets internal to workspace
handle /* {
- # Use relative path for root directory
- root * srv
- file_server
- import mobile
- # Render markdown files as html
- templates
# Template manifest.json files
templates */manifest.json {
mime application/json
}
}
+ # Handle nav2 web app
+ # I.e. main landing page
+ handle_path /nav2/* {
+ root * {http.vars.root}/nav2
+ import mobile
+ # Render markdown files as html
+ templates
+ }
+
+ # Matcher for requests without browse query
+ @no_browse {
+ path /
+ not query browse=true
+ }
+ # Redirect to nav2 web app by default
+ redir @no_browse /nav2/
+
# Import app snippets for web apps
- import app "/gzweb" "{$GZWEB_WS}/http/client" "localhost:9090" "dummy"
- import app "/foxglove" "{$FOXGLOVE_WS}" "localhost:8765" "redirect"
+ import app "/gzweb" "localhost:9090" "dummy"
+ import app "/foxglove" "localhost:8765" "redirect"
# Handle glances web app
redir /glances /glances/
diff --git a/.devcontainer/caddy/srv/assets/foxglove/manifest.json b/.devcontainer/caddy/srv/assets/foxglove/manifest.json
new file mode 100644
index 00000000000..0b9b8b84d7e
--- /dev/null
+++ b/.devcontainer/caddy/srv/assets/foxglove/manifest.json
@@ -0,0 +1,40 @@
+{
+ "name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+ "short_name": "Foxglove: {{placeholder "http.vars.ReqHost"}}",
+ "icons": [
+ {
+ "src": "/media/icons/foxglove/any_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "any"
+ },
+ {
+ "src": "/media/icons/foxglove/maskable_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "maskable"
+ }
+ ],
+ "id": "/foxglove/",
+ "start_url": "/foxglove/autoconnect",
+ "theme_color": "#6F3BE8",
+ "background_color": "#6F3BE8",
+ "display": "fullscreen",
+ "shortcuts" : [
+ {
+ "name": "Auto Connect",
+ "url": "/foxglove/autoconnect",
+ "description": "Auto connect to default data source"
+ },
+ {
+ "name": "Auto Layout",
+ "url": "/foxglove/autolayout",
+ "description": "Auto connect using default layout"
+ },
+ {
+ "name": "Manual Connect",
+ "url": "/foxglove/",
+ "description": "Manually connect to data source"
+ }
+ ]
+}
diff --git a/.devcontainer/caddy/srv/assets/nav2_foxglove_layout.json b/.devcontainer/caddy/srv/assets/foxglove/nav2_layout.json
similarity index 100%
rename from .devcontainer/caddy/srv/assets/nav2_foxglove_layout.json
rename to .devcontainer/caddy/srv/assets/foxglove/nav2_layout.json
diff --git a/.devcontainer/caddy/srv/assets/glances/manifest.json b/.devcontainer/caddy/srv/assets/glances/manifest.json
new file mode 100644
index 00000000000..78d27cb0bd6
--- /dev/null
+++ b/.devcontainer/caddy/srv/assets/glances/manifest.json
@@ -0,0 +1,40 @@
+{
+ "name": "Glances: {{placeholder "http.vars.ReqHost"}}",
+ "short_name": "Glances: {{placeholder "http.vars.ReqHost"}}",
+ "icons": [
+ {
+ "src": "/media/icons/glances/any_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "any"
+ },
+ {
+ "src": "/media/icons/glances/maskable_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "maskable"
+ }
+ ],
+ "id": "/glances/",
+ "start_url": "/glances/",
+ "theme_color": "#2C363F",
+ "background_color": "#2C363F",
+ "display": "fullscreen",
+ "shortcuts" : [
+ {
+ "name": "Refresh 1sec",
+ "url": "/glances/1",
+ "description": "Refresh page every 1 second"
+ },
+ {
+ "name": "Refresh 5sec",
+ "url": "/glances/5",
+ "description": "Refresh page every 5 seconds"
+ },
+ {
+ "name": "Refresh 10sec",
+ "url": "/glances/10",
+ "description": "Refresh page every 10 seconds"
+ }
+ ]
+}
diff --git a/.devcontainer/caddy/srv/assets/gzweb/manifest.json b/.devcontainer/caddy/srv/assets/gzweb/manifest.json
new file mode 100644
index 00000000000..0596075f158
--- /dev/null
+++ b/.devcontainer/caddy/srv/assets/gzweb/manifest.json
@@ -0,0 +1,23 @@
+{
+ "name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
+ "short_name": "Gzweb: {{placeholder "http.vars.ReqHost"}}",
+ "icons": [
+ {
+ "src": "/media/icons/gzweb/any_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "any"
+ },
+ {
+ "src": "/media/icons/gzweb/maskable_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "maskable"
+ }
+ ],
+ "id": "/gzweb/",
+ "start_url": "/gzweb/",
+ "theme_color": "#ffffff",
+ "background_color": "#ffffff",
+ "display": "fullscreen"
+}
diff --git a/.devcontainer/caddy/srv/assets/nav2/manifest.json b/.devcontainer/caddy/srv/assets/nav2/manifest.json
new file mode 100644
index 00000000000..f482a47e803
--- /dev/null
+++ b/.devcontainer/caddy/srv/assets/nav2/manifest.json
@@ -0,0 +1,23 @@
+{
+ "name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
+ "short_name": "Nav2: {{placeholder "http.vars.ReqHost"}}",
+ "icons": [
+ {
+ "src": "/media/icons/nav2/any_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "any"
+ },
+ {
+ "src": "/media/icons/nav2/maskable_icon_x512.webp",
+ "sizes": "512x512",
+ "type": "image/webp",
+ "purpose": "maskable"
+ }
+ ],
+ "id": "/nav2/",
+ "start_url": "/nav2/",
+ "theme_color": "#ffffff",
+ "background_color": "#ffffff",
+ "display": "standalone"
+}
diff --git a/.devcontainer/caddy/srv/index.md b/.devcontainer/caddy/srv/index.md
deleted file mode 100644
index acaec1c52c4..00000000000
--- a/.devcontainer/caddy/srv/index.md
+++ /dev/null
@@ -1,48 +0,0 @@
-{
- "title": "Web Server"
-}
-## Hosted Apps
-
-Redirects for available web apps:
-
-| App | Links |
-|-|-|
-| [](foxglove/autolayout) | [**Foxglove Studio**](foxglove/autolayout) |
-| [](gzweb) | [**Gzweb Client**](gzweb) |
-| [](glances) | [**System Monitor**](glances) |
-
-## External Resources
-
-For more related documentation:
-
-- [Nav2 Documentation](https://navigation.ros.org)
- - [Development Guides](https://navigation.ros.org/development_guides)
- - [Dev Containers](https://navigation.ros.org/development_guides/devcontainer_docs)
-
-## Session Info
-
-Useful information about host server and remote client:
-
-|Key | Value |
-|-|-|
-| Host | `{{.Host}}` |
-| Remote IP | `{{placeholder "http.request.remote.host"}}` |
-| Date | `{{now}}` |
-
-### Server Diagnostics
-
-
-Websocket Debug
-
-For troubleshooting websocket connections:
-
-|Key | Value |
-|-|-|
-| `header.X-Forwarded-Host` | `{{placeholder "header.X-Forwarded-Host"}}` |
-| `header.X-Forwarded-Scheme` | `{{placeholder "header.X-Forwarded-Scheme"}}` |
-| `http.request.hostport` | `{{placeholder "http.request.hostport"}}` |
-| `http.request.scheme` | `{{placeholder "http.request.scheme"}}` |
-| `http.vars.WsHost` | `{{placeholder "http.vars.WsHost"}}` |
-| `http.vars.WsScheme` | `{{placeholder "http.vars.WsScheme"}}` |
-
-
diff --git a/.devcontainer/caddy/srv/manifests/foxglove/manifest.json b/.devcontainer/caddy/srv/manifests/foxglove/manifest.json
deleted file mode 100644
index 24237b34f42..00000000000
--- a/.devcontainer/caddy/srv/manifests/foxglove/manifest.json
+++ /dev/null
@@ -1,32 +0,0 @@
-{
- "name": "Foxglove: {{placeholder "http.request.hostport"}}",
- "short_name": "Foxglove: {{placeholder "http.request.hostport"}}",
- "icons": [
- {
- "src": "/foxglove/apple-touch-icon.png",
- "sizes": "180x180",
- "type": "image/png"
- }
- ],
- "start_url": "/foxglove/autoconnect",
- "theme_color": "#ffffff",
- "background_color": "#ffffff",
- "display": "standalone",
- "shortcuts" : [
- {
- "name": "Auto Connect",
- "url": "/foxglove/autoconnect",
- "description": "Auto connect to default data source"
- },
- {
- "name": "Auto Layout",
- "url": "/foxglove/autolayout",
- "description": "Auto connect using default layout"
- },
- {
- "name": "Manual Connect",
- "url": "/foxglove/",
- "description": "Manually connect to data source"
- }
- ]
-}
diff --git a/.devcontainer/caddy/srv/manifests/glances/manifest.json b/.devcontainer/caddy/srv/manifests/glances/manifest.json
deleted file mode 100644
index 7578cc2fafa..00000000000
--- a/.devcontainer/caddy/srv/manifests/glances/manifest.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
- "name": "Glances: {{placeholder "http.request.hostport"}}",
- "short_name": "Glances: {{placeholder "http.request.hostport"}}",
- "icons": [
- {
- "src": "/glances/favicon.ico",
- "sizes": "32x32",
- "type": "image/ico"
- }
- ],
- "start_url": "/glances",
- "theme_color": "#ffffff",
- "background_color": "#ffffff",
- "display": "standalone"
-}
diff --git a/.devcontainer/caddy/srv/manifests/gzweb/manifest.json b/.devcontainer/caddy/srv/manifests/gzweb/manifest.json
deleted file mode 100644
index d97b278a29a..00000000000
--- a/.devcontainer/caddy/srv/manifests/gzweb/manifest.json
+++ /dev/null
@@ -1,15 +0,0 @@
-{
- "name": "Gzweb: {{placeholder "http.request.hostport"}}",
- "short_name": "Gzweb: {{placeholder "http.request.hostport"}}",
- "icons": [
- {
- "src": "/gzweb/favicon.ico",
- "sizes": "64x64",
- "type": "image/ico"
- }
- ],
- "start_url": "/gzweb",
- "theme_color": "#ffffff",
- "background_color": "#ffffff",
- "display": "standalone"
-}
diff --git a/.devcontainer/caddy/srv/manifests/manifest.json b/.devcontainer/caddy/srv/manifests/manifest.json
deleted file mode 100644
index 84bdd22d8ab..00000000000
--- a/.devcontainer/caddy/srv/manifests/manifest.json
+++ /dev/null
@@ -1,8 +0,0 @@
-{
- "name": "Nav2: {{placeholder "http.request.hostport"}}",
- "short_name": "Nav2: {{placeholder "http.request.hostport"}}",
- "start_url": "/",
- "theme_color": "#ffffff",
- "background_color": "#ffffff",
- "display": "standalone"
-}
diff --git a/.devcontainer/caddy/srv/github-markdown.css b/.devcontainer/caddy/srv/nav2/github-markdown.css
similarity index 100%
rename from .devcontainer/caddy/srv/github-markdown.css
rename to .devcontainer/caddy/srv/nav2/github-markdown.css
diff --git a/.devcontainer/caddy/srv/index.html b/.devcontainer/caddy/srv/nav2/index.html
similarity index 92%
rename from .devcontainer/caddy/srv/index.html
rename to .devcontainer/caddy/srv/nav2/index.html
index da489d9c0c3..4bebe27f4c7 100644
--- a/.devcontainer/caddy/srv/index.html
+++ b/.devcontainer/caddy/srv/nav2/index.html
@@ -12,6 +12,8 @@
{{$title}}
+
+