webserver.py

#!/usr/bin/python

import rospy
from std_msgs.msg import String
from diagnostic_msgs.msg import DiagnosticArray
from std_msgs.msg import Float32MultiArray

from flask import Flask, render_template
from flask_socketio import SocketIO, emit

import json
import yaml

app = Flask(__name__)
app.config['SECRET_KEY'] = 'pepper'
socketio = SocketIO(app)

@socketio.on('connect')
def test_connect():
    print("Connected")
    emit('res', {'text': 'Connected'})

@socketio.on('disconnect')
def test_disconnect():
    print('Client disconnected')

@app.route('/')
def index():
    return render_template('index.html')

@app.route('/diagnostics')
def diagnostics():
    return render_template('diagnostics.html')

@app.route('/audio')
def audio():
    return render_template('audio.html')


def callback(data):
    new_data = dict()
    new_data['data'] = data.data
    socketio.emit('ros_msg', new_data)

def diagnostics(data):
    y = yaml.load(str(data))
    j = json.dumps(y, indent=4)
    socketio.emit('ros_diagnostics', j)

def audio(data):
    socketio.emit('ros_audio', json.dumps(data.data))

if __name__ == '__main__':
    rospy.init_node('webserver', anonymous=True)
    rospy.Subscriber("/speech", String, callback)
    rospy.Subscriber("/diagnostics", DiagnosticArray, diagnostics)
    rospy.Subscriber('/audio_localization', Float32MultiArray, audio)

    try:
        app.run(host='0.0.0.0', port=5010)
    except KeyboardInterrupt:
        pass
    # rospy.spin()