149 lines
4.1 KiB
C++
149 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Application.h"
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#include <wpi/FileSystem.h>
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#include <wpi/json.h>
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#include <wpi/raw_istream.h>
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#include <wpi/raw_ostream.h>
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#include "VisionStatus.h"
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#define TYPE_TAG "### TYPE:"
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std::shared_ptr<Application> Application::GetInstance() {
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static auto inst = std::make_shared<Application>(private_init{});
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return inst;
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}
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void Application::Set(wpi::StringRef appType,
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std::function<void(wpi::StringRef)> onFail) {
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wpi::StringRef appDir;
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wpi::StringRef appCommand;
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if (appType == "builtin") {
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appCommand = "./multiCameraServer";
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} else if (appType == "example-java") {
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appDir = "java-multiCameraServer";
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appCommand =
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"env LD_LIBRARY_PATH=/usr/local/frc/lib java -jar "
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"build/libs/java-multiCameraServer-all.jar";
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} else if (appType == "example-cpp") {
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appDir = "cpp-multiCameraServer";
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appCommand = "./multiCameraServerExample";
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} else if (appType == "example-python") {
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appDir = "python-multiCameraServer";
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appCommand = "./multiCameraServer.py";
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} else if (appType == "upload-java") {
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appCommand =
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"env LD_LIBRARY_PATH=/usr/local/frc/lib java -jar uploaded.jar";
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} else if (appType == "upload-cpp") {
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appCommand = "./uploaded";
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} else if (appType == "upload-python") {
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appCommand = "./uploaded.py";
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} else if (appType == "custom") {
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return;
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} else {
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wpi::SmallString<64> msg;
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msg = "unrecognized application type '";
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msg += appType;
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msg += "'";
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onFail(msg);
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return;
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}
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{
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// write file
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std::error_code ec;
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wpi::raw_fd_ostream os(EXEC_HOME "/runCamera", ec, wpi::sys::fs::F_Text);
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if (ec) {
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onFail("could not write " EXEC_HOME "/runCamera");
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return;
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}
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os << "#!/bin/sh\n";
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os << TYPE_TAG << ' ' << appType << '\n';
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os << "echo \"Waiting 5 seconds...\"\n";
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os << "sleep 5\n";
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if (!appDir.empty()) os << "cd " << appDir << '\n';
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os << "exec " << appCommand << '\n';
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}
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m_appType = appType;
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// terminate vision process so it reloads
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VisionStatus::GetInstance()->Terminate(onFail);
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UpdateStatus();
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}
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void Application::Upload(wpi::ArrayRef<uint8_t> contents,
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std::function<void(wpi::StringRef)> onFail) {
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wpi::StringRef filename;
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if (m_appType == "upload-java") {
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filename = "/uploaded.jar";
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} else if (m_appType == "upload-cpp") {
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filename = "/uploaded";
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} else if (m_appType == "upload-python") {
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filename = "/uploaded.py";
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} else {
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wpi::SmallString<64> msg;
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msg = "cannot upload application type '";
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msg += m_appType;
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msg += "'";
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onFail(msg);
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return;
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}
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wpi::SmallString<64> pathname;
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pathname = EXEC_HOME;
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pathname += filename;
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{
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// write file
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std::error_code ec;
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wpi::raw_fd_ostream os(pathname, ec, wpi::sys::fs::F_None);
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if (ec) {
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wpi::SmallString<64> msg;
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msg = "could not write ";
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msg += pathname;
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onFail(msg);
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return;
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}
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os << contents;
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}
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// terminate vision process so it reloads
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VisionStatus::GetInstance()->Terminate(onFail);
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}
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void Application::UpdateStatus() { status(GetStatusJson()); }
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wpi::json Application::GetStatusJson() {
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wpi::json j = {{"type", "applicationSettings"},
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{"applicationType", "custom"}};
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std::error_code ec;
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wpi::raw_fd_istream is(EXEC_HOME "/runCamera", ec);
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if (ec) {
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wpi::errs() << "could not read " EXEC_HOME "/runCamera\n";
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return j;
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}
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// scan file
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wpi::SmallString<256> lineBuf;
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while (!is.has_error()) {
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wpi::StringRef line = is.getline(lineBuf, 256).trim();
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if (line.startswith(TYPE_TAG)) {
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j["applicationType"] = line.substr(strlen(TYPE_TAG)).trim();
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break;
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}
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}
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return j;
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}
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