RobotArmMiniFirmataHTTPServer.py

import socket    #Needed to send and receive network control communications.
                 #More info: https://wiki.python.org/moin/UdpCommunication
				 
import threading #Used for concurrent robot communication with other processes. 
                 #More info: https://docs.python.org/2/library/threading.html
       
import time      #Used to create delays for proper timing of robot actions.
                 #More info: https://docs.python.org/2/library/time.html

import sys       #Used for certain specific calls to the system.
                 #More info: https://docs.python.org/2/library/sys.html

import asyncio   #Another type of threading for asynchronous multi-processing.
                 #More info: https://docs.python.org/3/library/asyncio-task.html

import json      #Needed to format robot control messages. 
                 #More info: https://docs.python.org/3/library/json.html
                      
import pyfirmata #Needed to talk to Arduino directly with Standard Firmata.
                 #More info on Python: https://pypi.org/project/pyFirmata/
                 #More info on Arduino: https://www.arduino.cc/en/Reference/Firmata
                 #More info on Firmata: http://firmata.org/wiki/Main_Page

from http.server import HTTPServer, BaseHTTPRequestHandler

from io import BytesIO

class SimpleHTTPRequestHandler(BaseHTTPRequestHandler):

    def do_GET(self):
        self.send_response(200)
        self.end_headers()
        self.wfile.write(b'Hello, world!')

    def do_POST(self):
        content_length = int(self.headers['Content-Length'])
        body = self.rfile.read(content_length)
        self.send_response(200)
        self.end_headers()
        response = BytesIO()
        response.write(b'This is POST request. ')
        response.write(b'Received: ')
        response.write(body)
        self.wfile.write(response.getvalue())


httpd = HTTPServer(('localhost', 8000), SimpleHTTPRequestHandler)
httpd.serve_forever()