From 28ef7a68932cb74f202f5d71eeb9a0ff2e0d301e Mon Sep 17 00:00:00 2001
From: kassam <kassam@yslootahtech.com>
Date: Thu, 23 Jul 2026 11:13:09 +0400
Subject: [PATCH] Update 2026-07-23 11:13:07

---
 .gitignore                                |   2 +
 maps/.current.json                        |   2 +-
 maps/pudu_modified/annotations.yaml       |  11 ++
 maps/pudu_modified/map.pgm                | Bin 0 -> 54182 bytes
 maps/pudu_modified/map.pgm.orig           | Bin 0 -> 54127 bytes
 maps/pudu_modified/map.yaml               |   7 +
 maps/pudu_modified/map_keepout_baked.pgm  | Bin 0 -> 54127 bytes
 maps/pudu_modified/map_keepout_baked.yaml |   7 +
 pudu_gui.py                               | 165 +++++++++++++++++++++-
 start.sh                                  |  16 ++-
 10 files changed, 202 insertions(+), 8 deletions(-)
 create mode 100644 maps/pudu_modified/annotations.yaml
 create mode 100644 maps/pudu_modified/map.pgm
 create mode 100644 maps/pudu_modified/map.pgm.orig
 create mode 100644 maps/pudu_modified/map.yaml
 create mode 100644 maps/pudu_modified/map_keepout_baked.pgm
 create mode 100644 maps/pudu_modified/map_keepout_baked.yaml

diff --git a/.gitignore b/.gitignore
index c02264b..ef96b82 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,5 @@ __pycache__/
 *.pyc
 Logs/
 *.log
+.pudu_token
+access.log
diff --git a/maps/.current.json b/maps/.current.json
index 685cacd..c250317 100644
--- a/maps/.current.json
+++ b/maps/.current.json
@@ -1 +1 @@
-{"yaml": "/home/zedx/Robotics_workspace/yslootahtech/Project/G1/Nav2_Projects/sanad_nav3/maps/pudu_modified/map.yaml"}
\ No newline at end of file
+{"yaml": "/home/zedx/Robotics_workspace/yslootahtech/Project/Other/pudu_map_gui/maps/pudu_modified/map.yaml"}
\ No newline at end of file
diff --git a/maps/pudu_modified/annotations.yaml b/maps/pudu_modified/annotations.yaml
new file mode 100644
index 0000000..fd2b31a
--- /dev/null
+++ b/maps/pudu_modified/annotations.yaml
@@ -0,0 +1,11 @@
+home_points:
+- name: W
+  x: 0
+  y: 0.01
+  yaw: 0.00999633
+- name: N
+  x: 1.27
+  y: -4.19
+  yaw: -0.38
+charge_stations: []
+areas: []
diff --git a/maps/pudu_modified/map.pgm b/maps/pudu_modified/map.pgm
new file mode 100644
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diff --git a/maps/pudu_modified/map.pgm.orig b/maps/pudu_modified/map.pgm.orig
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diff --git a/maps/pudu_modified/map.yaml b/maps/pudu_modified/map.yaml
new file mode 100644
index 0000000..b93387c
--- /dev/null
+++ b/maps/pudu_modified/map.yaml
@@ -0,0 +1,7 @@
+image: map.pgm
+mode: trinary
+resolution: 0.05
+origin: [-5.85, -11.8, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
diff --git a/maps/pudu_modified/map_keepout_baked.pgm b/maps/pudu_modified/map_keepout_baked.pgm
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/maps/pudu_modified/map_keepout_baked.yaml b/maps/pudu_modified/map_keepout_baked.yaml
new file mode 100644
index 0000000..4cfe823
--- /dev/null
+++ b/maps/pudu_modified/map_keepout_baked.yaml
@@ -0,0 +1,7 @@
+image: map_keepout_baked.pgm
+mode: trinary
+resolution: 0.05
+origin: [-5.85, -11.8, 0.0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
diff --git a/pudu_gui.py b/pudu_gui.py
index b3e74f5..ebfe8cc 100644
--- a/pudu_gui.py
+++ b/pudu_gui.py
@@ -17,12 +17,14 @@ Pipeline (all local, per user click):
                 exactly like start_r1_nav.sh; G1/Go2 = plain RViz on the local ROS).
 
 Requires: pillow numpy pyyaml (same as the original converter). Server binds
-127.0.0.1 only. Conversion logic is vendored from pudu_to_ros2_map.py (verified
+127.0.0.1 by default; set PUDU_BIND (an address, or 0.0.0.0) to expose it on the
+LAN — it has NO auth and can drive the robots, so only on a trusted network. Conversion logic is vendored from pudu_to_ros2_map.py (verified
 against real exports: origin = bottom-left meters, PNG row 0 = top, 0/128/255).
 """
 import base64
 import io
 import json
+import hmac
 import os
 import shutil
 import subprocess
@@ -2255,9 +2257,119 @@ def open_rviz(robot, ip):
 
 # ───────────────────────── http plumbing ─────────────────────────
 
+# ── AUTH ─────────────────────────────────────────────────────────────────────
+# This dashboard ssh's into the robots, starts/stops their nav stacks, deletes
+# maps, opens RViz on THIS machine's X display and (G1) arms the gait. Exposed on
+# a LAN with no auth, anyone on the wifi can do all of that — which is exactly
+# what happened: a stranger drove this dashboard and it looked like the laptop
+# being remote-controlled. So: no token, no LAN.
+#   PUDU_TOKEN=<secret>  required whenever PUDU_BIND is not loopback.
+# Loopback stays open with no token: a local browser is already the trust boundary.
+AUTH_TOKEN = os.environ.get("PUDU_TOKEN", "").strip()
+BIND_ADDR = os.environ.get("PUDU_BIND", "127.0.0.1").strip() or "127.0.0.1"
+# PUDU_OPEN=1 = deliberately serve the LAN with NO key (operator's explicit choice).
+# Without it, exposing the port with no token FAILS CLOSED rather than silently
+# handing the robots to the network — an accident should never open the door.
+AUTH_OPEN = os.environ.get("PUDU_OPEN", "").strip() in ("1", "true", "yes")
+AUTH_REQUIRED = (BIND_ADDR not in ("127.0.0.1", "localhost", "::1")) and not AUTH_OPEN
+
+
+def _client_ok(headers, path, cookie_hdr):
+    """Token from the Authorization header, ?t=, or the pudu_t cookie."""
+    if not AUTH_REQUIRED:
+        return True
+    if not AUTH_TOKEN:
+        return False                      # exposed without a token: refuse everything
+    got = ""
+    auth = headers.get("Authorization", "")
+    if auth.startswith("Bearer "):
+        got = auth[7:].strip()
+    if not got and "t=" in (path or ""):
+        from urllib.parse import urlparse, parse_qs
+        got = (parse_qs(urlparse(path).query).get("t") or [""])[0]
+    if not got and cookie_hdr:
+        for part in cookie_hdr.split(";"):
+            k, _, v = part.strip().partition("=")
+            if k == "pudu_t":
+                got = v
+                break
+    return bool(got) and hmac.compare_digest(got, AUTH_TOKEN)
+
+
+LOGIN_PAGE = """<!doctype html><meta charset=utf-8>
+<title>Pudu Map GUI - sign in</title>
+<meta name=viewport content="width=device-width,initial-scale=1">
+<style>
+ body{background:#14161a;color:#e8e6e3;font:14px/1.5 system-ui,sans-serif;
+      display:grid;place-items:center;height:100vh;margin:0}
+ form{background:#1c1f24;border:1px solid #2a2f36;border-radius:10px;padding:26px 28px;
+      width:min(90vw,340px)}
+ h1{font-size:15px;margin:0 0 4px} p{color:#8b939e;font-size:12px;margin:0 0 16px}
+ input{width:100%;box-sizing:border-box;background:#0f1114;border:1px solid #2a2f36;
+       color:#e8e6e3;border-radius:6px;padding:9px 11px;font-size:14px}
+ button{width:100%;margin-top:11px;background:#e8a33d;color:#14161a;border:0;
+        border-radius:6px;padding:9px;font-weight:600;font-size:14px;cursor:pointer}
+ .err{color:#e05c5c;font-size:12px;margin-top:10px;display:none}
+</style>
+<form onsubmit="go(event)">
+ <h1>Pudu Map GUI</h1>
+ <p>This dashboard can drive the robots. Enter the access key.</p>
+ <input id=k type=password autofocus autocomplete=current-password placeholder="access key">
+ <button>Sign in</button>
+ <div class=err id=e>Wrong key.</div>
+</form>
+<script>
+async function go(ev){
+  ev.preventDefault();
+  const k = document.getElementById('k').value.trim();
+  if(!k) return;
+  // Ask the server to validate + set the cookie, then land on the clean URL.
+  const r = await fetch('/login', {method:'POST', headers:{'Content-Type':'application/json'},
+                                   body: JSON.stringify({key:k})});
+  if(r.ok){ location.replace('/'); }
+  else { document.getElementById('e').style.display='block'; }
+}
+</script>"""
+
+
 class Handler(BaseHTTPRequestHandler):
-    def log_message(self, *a):
-        pass
+    def log_message(self, fmt, *a):
+        # ACCESS LOG. The container runs --rm, so an in-memory-only log dies with
+        # it — that is why "who was pressing my buttons?" was unanswerable. Write
+        # to the project dir so it survives.
+        try:
+            line = "%s %s %s\n" % (time.strftime("%Y-%m-%d %H:%M:%S"),
+                                    self.client_address[0], fmt % a)
+            with open(os.path.join(HERE, "access.log"), "a") as f:
+                f.write(line)
+        except Exception:
+            pass
+
+    def _deny(self):
+        # A BROWSER asking for a PAGE gets the login form, so the plain
+        # http://<host>:8777/ URL works — type the key once, the cookie carries it
+        # from then on. Anything else (fetch/XHR/curl) gets a clean 401.
+        wants_page = ("text/html" in (self.headers.get("Accept") or "")
+                      and self.command == "GET")
+        if wants_page:
+            body = LOGIN_PAGE.encode()
+            self.send_response(401)
+            self.send_header("Content-Type", "text/html; charset=utf-8")
+            self.send_header("Cache-Control", "no-store")
+            self.send_header("Content-Length", str(len(body)))
+            self.end_headers()
+            self.wfile.write(body)
+        else:
+            body = b'{"error":"unauthorized - open the dashboard and sign in"}'
+            self.send_response(401)
+            self.send_header("Content-Type", "application/json")
+            self.send_header("Content-Length", str(len(body)))
+            self.end_headers()
+            self.wfile.write(body)
+        self.log_message("DENIED %s", self.path)
+
+    def _authed(self):
+        return _client_ok(self.headers, self.path, self.headers.get("Cookie", ""))
 
     def _json(self, obj, code=200):
         body = json.dumps(obj).encode()
@@ -2270,6 +2382,11 @@ class Handler(BaseHTTPRequestHandler):
     def _html(self, body):
         self.send_response(200)
         self.send_header("Content-Type", "text/html; charset=utf-8")
+        # Opening the page as ...:8777/?t=TOKEN stores it, so the app's own
+        # fetch() calls (which cannot know the token) stay authorised.
+        if AUTH_REQUIRED and AUTH_TOKEN and "t=" in self.path:
+            self.send_header("Set-Cookie",
+                             f"pudu_t={AUTH_TOKEN}; Path=/; SameSite=Strict; Max-Age=86400")
         # no-store: a stale cached dashboard once ran OLD JS against a NEW
         # backend — "button does nothing" with zero errors. Never again.
         self.send_header("Cache-Control", "no-store")
@@ -2278,6 +2395,8 @@ class Handler(BaseHTTPRequestHandler):
         self.wfile.write(body)
 
     def do_GET(self):
+        if not self._authed():
+            return self._deny()
         path = self.path.split("?")[0]      # ?v=... cache-busters must still match
         if path in ("/", "/index.html"):
             with open(os.path.join(HERE, "index.html"), "rb") as f:
@@ -2291,6 +2410,28 @@ class Handler(BaseHTTPRequestHandler):
             self._json({"error": "not found"}, 404)
 
     def do_POST(self):
+        if self.path.split("?")[0] == "/login":
+            # the ONE unauthenticated endpoint: it grants the cookie, nothing else
+            try:
+                n = int(self.headers.get("Content-Length", 0))
+                key = (json.loads(self.rfile.read(n) or b"{}").get("key") or "").strip()
+            except Exception:
+                key = ""
+            if AUTH_TOKEN and hmac.compare_digest(key, AUTH_TOKEN):
+                self.send_response(204)
+                self.send_header("Set-Cookie",
+                                 f"pudu_t={AUTH_TOKEN}; Path=/; SameSite=Strict; Max-Age=604800")
+                self.send_header("Content-Length", "0")
+                self.end_headers()
+                self.log_message("LOGIN ok")
+            else:
+                self.log_message("LOGIN FAILED")
+                self.send_response(403)
+                self.send_header("Content-Length", "0")
+                self.end_headers()
+            return
+        if not self._authed():
+            return self._deny()
         n = int(self.headers.get("Content-Length", 0))
         try:
             req = json.loads(self.rfile.read(n) or b"{}")
@@ -2435,9 +2576,21 @@ def main():
     except Exception as e:
         print(f"[pudu_gui] current-map restore skipped: {e}")
     threading.Thread(target=_reap_children, daemon=True).start()
-    srv = ThreadingHTTPServer(("127.0.0.1", PORT), Handler)
-    url = f"http://127.0.0.1:{PORT}"
-    print(f"[pudu_gui] serving {url}  (Ctrl+C to stop)")
+    # BIND: localhost by default. Set PUDU_BIND to expose it on the LAN, e.g.
+    #   PUDU_BIND=10.255.254.83   (this workstation's wifi address)
+    #   PUDU_BIND=0.0.0.0         (every interface)
+    # ⚠ THIS DASHBOARD HAS NO AUTHENTICATION and it can ssh into the robots, start
+    # and stop their nav stacks, delete maps and — on the G1 — arm the gait. Anyone
+    # who can reach this port can do all of that. Only expose it on a network you
+    # trust, and prefer naming ONE interface over 0.0.0.0.
+    bind = os.environ.get("PUDU_BIND", "127.0.0.1").strip() or "127.0.0.1"
+    srv = ThreadingHTTPServer((bind, PORT), Handler)
+    shown = "127.0.0.1" if bind in ("0.0.0.0", "::") else bind
+    url = f"http://{shown}:{PORT}"
+    print(f"[pudu_gui] serving {url}  (bound {bind}:{PORT}; Ctrl+C to stop)")
+    if bind not in ("127.0.0.1", "localhost"):
+        print("[pudu_gui] WARNING: reachable from the network and NOT authenticated — "
+              "it can drive the robots. Keep it on a trusted LAN.")
     threading.Timer(0.8, lambda: webbrowser.open(url)).start()
     try:
         srv.serve_forever()
diff --git a/start.sh b/start.sh
index 116f5e3..1b24adf 100755
--- a/start.sh
+++ b/start.sh
@@ -32,7 +32,18 @@ HERE="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 IMG=pudu-map-gui
 NAME=pudu-map-gui
 PORT=8777
-URL="http://127.0.0.1:$PORT"
+# PUDU_BIND: which address the dashboard listens on. Default localhost-only.
+#   PUDU_BIND=10.255.254.83 ./start.sh restart   -> reachable from the LAN
+#   PUDU_BIND=0.0.0.0       ./start.sh restart   -> every interface
+# The container already runs --net=host, so this is the ONLY thing that decides
+# reachability. NO AUTH: anyone who can reach the port can drive the robots.
+PUDU_BIND="${PUDU_BIND:-127.0.0.1}"
+# health-check a REACHABLE address: 0.0.0.0 is a bind wildcard, not a destination
+case "$PUDU_BIND" in
+  0.0.0.0|::) HOSTADDR=127.0.0.1 ;;
+  *)          HOSTADDR="$PUDU_BIND" ;;
+esac
+URL="http://$HOSTADDR:$PORT"
 
 _stop() {
   # the GUI's own viewer processes live INSIDE the container, so removing it
@@ -62,6 +73,9 @@ RUN=(docker run --rm --net=host --name "$NAME"
      -e DISPLAY="${DISPLAY:-:0}"
      -e HOME="$HOME"
      -e PUDU_GUI_DIR="$HERE"
+     -e PUDU_BIND="$PUDU_BIND"
+     -e PUDU_TOKEN="${PUDU_TOKEN:-}"
+     -e PUDU_OPEN="${PUDU_OPEN:-}"
      -v /tmp/.X11-unix:/tmp/.X11-unix
      -v "$HOME/Robotics_workspace:$HOME/Robotics_workspace"
      -v "$HOME/Downloads:$HOME/Downloads"