burrow-pi-img/deps/tools/rpiConfigServer_src/main.cpp

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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include <chrono>
#include <thread>
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#include <wpi/ArrayRef.h>
#include <wpi/StringRef.h>
#include <wpi/raw_ostream.h>
#include <wpi/raw_uv_ostream.h>
#include <wpi/timestamp.h>
#include <wpi/uv/Loop.h>
#include <wpi/uv/Process.h>
#include <wpi/uv/Tcp.h>
#include <wpi/uv/Timer.h>
#include <wpi/uv/Udp.h>
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#include "MyHttpConnection.h"
#include "NetworkSettings.h"
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#include "SystemStatus.h"
#include "VisionStatus.h"
namespace uv = wpi::uv;
static uint64_t startTime = wpi::Now();
int main(int argc, char* argv[]) {
int port = 80;
if (argc == 2) port = std::atoi(argv[1]);
uv::Process::DisableStdioInheritance();
SystemStatus::GetInstance();
auto loop = uv::Loop::Create();
NetworkSettings::GetInstance()->SetLoop(loop);
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VisionStatus::GetInstance()->SetLoop(loop);
loop->error.connect(
[](uv::Error err) { wpi::errs() << "uv ERROR: " << err.str() << '\n'; });
auto tcp = uv::Tcp::Create(loop);
// bind to listen address and port
tcp->Bind("", port);
// when we get a connection, accept it and start reading
tcp->connection.connect([srv = tcp.get()] {
auto tcp = srv->Accept();
if (!tcp) return;
// wpi::errs() << "Got a connection\n";
// Close on error
tcp->error.connect([s = tcp.get()](wpi::uv::Error err) {
wpi::errs() << "stream error: " << err.str() << '\n';
s->Close();
});
auto conn = std::make_shared<MyHttpConnection>(tcp);
tcp->SetData(conn);
});
// start listening for incoming connections
tcp->Listen();
wpi::errs() << "Listening on port " << port << '\n';
// start timer to collect system and vision status
auto timer = uv::Timer::Create(loop);
timer->Start(std::chrono::seconds(1), std::chrono::seconds(1));
timer->timeout.connect([&loop] {
SystemStatus::GetInstance()->UpdateAll();
VisionStatus::GetInstance()->UpdateStatus();
});
// listen on port 6666 for console logging
auto udpCon = uv::Udp::Create(loop);
udpCon->Bind("127.0.0.1", 6666, UV_UDP_REUSEADDR);
udpCon->StartRecv();
udpCon->received.connect(
[](uv::Buffer& buf, size_t len, const sockaddr&, unsigned) {
VisionStatus::GetInstance()->ConsoleLog(buf, len);
});
// create riolog console port
auto tcpCon = uv::Tcp::Create(loop);
tcpCon->Bind("", 1740);
// when we get a connection, accept it
tcpCon->connection.connect([ srv = tcpCon.get(), udpCon ] {
auto tcp = srv->Accept();
if (!tcp) return;
// close on error
tcp->error.connect([s = tcp.get()](uv::Error err) { s->Close(); });
// copy console log to it with headers
udpCon->received.connect(
[ tcpSeq = std::make_shared<uint16_t>(), tcpPtr = tcp.get() ](
uv::Buffer & buf, size_t len, const sockaddr&, unsigned) {
// build buffers
wpi::SmallVector<uv::Buffer, 4> bufs;
wpi::raw_uv_ostream out(bufs, 4096);
// Header is 2 byte len, 1 byte type, 4 byte timestamp, 2 byte
// sequence num
uint32_t ts = wpi::FloatToBits((wpi::Now() - startTime) * 1.0e-6);
uint16_t pktlen = len + 1 + 4 + 2;
out << wpi::ArrayRef<uint8_t>(
{static_cast<uint8_t>((pktlen >> 8) & 0xff),
static_cast<uint8_t>(pktlen & 0xff), 12,
static_cast<uint8_t>((ts >> 24) & 0xff),
static_cast<uint8_t>((ts >> 16) & 0xff),
static_cast<uint8_t>((ts >> 8) & 0xff),
static_cast<uint8_t>(ts & 0xff),
static_cast<uint8_t>((*tcpSeq >> 8) & 0xff),
static_cast<uint8_t>(*tcpSeq & 0xff)});
out << wpi::StringRef(buf.base, len);
(*tcpSeq)++;
// send output
tcpPtr->Write(bufs, [](auto bufs2, uv::Error) {
for (auto buf : bufs2) buf.Deallocate();
});
},
tcp);
});
// start listening for incoming connections
tcpCon->Listen();
// run loop
loop->Run();
}