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