burrow-pi-img/deps/tools/configServer/src/Application.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 "Application.h"
#include <stdlib.h>
#include <sys/stat.h>
#include <unistd.h>
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#include <wpi/FileSystem.h>
#include <wpi/json.h>
#include <wpi/raw_istream.h>
#include <wpi/raw_ostream.h>
#include "VisionStatus.h"
#define TYPE_TAG "### TYPE:"
std::shared_ptr<Application> Application::GetInstance() {
static auto inst = std::make_shared<Application>(private_init{});
return inst;
}
void Application::Set(wpi::StringRef appType,
std::function<void(wpi::StringRef)> onFail) {
wpi::StringRef appDir;
wpi::StringRef appEnv;
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wpi::StringRef appCommand;
if (appType == "builtin") {
appCommand = "/usr/local/frc/bin/multiCameraServer";
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} else if (appType == "example-java") {
appDir = "examples/java-multiCameraServer";
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appCommand =
"env LD_LIBRARY_PATH=/usr/local/frc/lib java -jar "
"build/libs/java-multiCameraServer-all.jar";
} else if (appType == "example-cpp") {
appDir = "examples/cpp-multiCameraServer";
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appCommand = "./multiCameraServerExample";
} else if (appType == "example-python") {
appDir = "examples/python-multiCameraServer";
appEnv = "export PYTHONUNBUFFERED=1";
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appCommand = "./multiCameraServer.py";
} else if (appType == "upload-java") {
appCommand =
"env LD_LIBRARY_PATH=/usr/local/frc/lib java -jar uploaded.jar";
} else if (appType == "upload-cpp") {
appCommand = "./uploaded";
} else if (appType == "upload-python") {
appEnv = "export PYTHONUNBUFFERED=1";
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appCommand = "./uploaded.py";
} else if (appType == "custom") {
return;
} else {
wpi::SmallString<64> msg;
msg = "unrecognized application type '";
msg += appType;
msg += "'";
onFail(msg);
return;
}
{
// write file
std::error_code ec;
wpi::raw_fd_ostream os(EXEC_HOME "/runCamera", ec, wpi::sys::fs::F_Text);
if (ec) {
onFail("could not write " EXEC_HOME "/runCamera");
return;
}
os << "#!/bin/sh\n";
os << TYPE_TAG << ' ' << appType << '\n';
os << "echo \"Waiting 5 seconds...\"\n";
os << "sleep 5\n";
if (!appDir.empty()) os << "cd " << appDir << '\n';
if (!appEnv.empty()) os << appEnv << '\n';
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os << "exec " << appCommand << '\n';
}
// terminate vision process so it reloads
VisionStatus::GetInstance()->Terminate(onFail);
UpdateStatus();
}
int Application::StartUpload(wpi::StringRef appType, char* filename,
std::function<void(wpi::StringRef)> onFail) {
int fd = mkstemp(filename);
if (fd < 0) {
wpi::SmallString<64> msg;
msg = "could not open temporary file: ";
msg += std::strerror(errno);
onFail(msg);
}
return fd;
}
void Application::Upload(int fd, bool text, wpi::ArrayRef<uint8_t> contents) {
// write contents
wpi::raw_fd_ostream out(fd, false);
if (text) {
wpi::StringRef str(reinterpret_cast<const char*>(contents.data()),
contents.size());
// convert any Windows EOL to Unix
for (;;) {
size_t idx = str.find("\r\n");
if (idx == wpi::StringRef::npos) break;
out << str.slice(0, idx) << '\n';
str = str.slice(idx + 2, wpi::StringRef::npos);
}
out << str;
// ensure file ends with EOL
if (!str.empty() && str.back() != '\n') out << '\n';
} else {
out << contents;
}
}
void Application::FinishUpload(wpi::StringRef appType, int fd,
const char* tmpFilename,
std::function<void(wpi::StringRef)> onFail) {
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wpi::StringRef filename;
if (appType == "upload-java") {
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filename = "/uploaded.jar";
} else if (appType == "upload-cpp") {
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filename = "/uploaded";
} else if (appType == "upload-python") {
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filename = "/uploaded.py";
} else {
wpi::SmallString<64> msg;
msg = "cannot upload application type '";
msg += appType;
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msg += "'";
onFail(msg);
::close(fd);
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return;
}
wpi::SmallString<64> pathname;
pathname = EXEC_HOME;
pathname += filename;
// change ownership
if (fchown(fd, APP_UID, APP_GID) == -1) {
wpi::errs() << "could not change app ownership: " << std::strerror(errno)
<< '\n';
}
// set file to be executable
if (fchmod(fd, 0775) == -1) {
wpi::errs() << "could not change app permissions: " << std::strerror(errno)
<< '\n';
}
// close temporary file
::close(fd);
// remove old file (need to do this as we can't overwrite a running exe)
if (unlink(pathname.c_str()) == -1) {
wpi::errs() << "could not remove app executable: " << std::strerror(errno)
<< '\n';
}
// rename temporary file to new file
if (rename(tmpFilename, pathname.c_str()) == -1) {
wpi::errs() << "could not rename to app executable: "
<< std::strerror(errno) << '\n';
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}
// terminate vision process so it reloads
VisionStatus::GetInstance()->Terminate(onFail);
}
void Application::UpdateStatus() { status(GetStatusJson()); }
wpi::json Application::GetStatusJson() {
wpi::json j = {{"type", "applicationSettings"},
{"applicationType", "custom"}};
std::error_code ec;
wpi::raw_fd_istream is(EXEC_HOME "/runCamera", ec);
if (ec) {
wpi::errs() << "could not read " EXEC_HOME "/runCamera\n";
return j;
}
// scan file
wpi::SmallString<256> lineBuf;
while (!is.has_error()) {
wpi::StringRef line = is.getline(lineBuf, 256).trim();
if (line.startswith(TYPE_TAG)) {
j["applicationType"] = line.substr(strlen(TYPE_TAG)).trim();
break;
}
}
return j;
}