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Rio discovery slowdown (#444)

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* Only send rio IPs on settings button click

* Wpiformat
This commit is contained in:
Matt
2022-03-14 20:44:14 -07:00
committed by GitHub
parent e62f6419b5
commit 1805785cc6
5 changed files with 126 additions and 77 deletions
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3
photon-client/src/store/index.js
View File

@@ -19,6 +19,8 @@ export default new Vuex.Store({
connected: false,
address: "",
clients: 0,
},
networkInfo: {
possibleRios: ["Loading..."],
deviceips: ["Loading..."],
},
@@ -155,6 +157,7 @@ export default new Vuex.Store({
calibrationData: set('calibrationData'),
metrics: set('metrics'),
ntConnectionInfo: set('ntConnectionInfo'),
networkInfo: set('networkInfo'),
backendConnected: set('backendConnected'),
logString: (state, newStr) => {
const str = state.logMessages;

4
photon-client/src/views/SettingsViews/Networking.vue
View File

@@ -87,7 +87,7 @@
</thead>
<tbody>
<tr
v-for="(value, index) in $store.state.ntConnectionInfo.deviceips"
v-for="(value, index) in $store.state.networkInfo.deviceips"
:key="index"
>
<td>{{ value }}</td>
@@ -115,7 +115,7 @@
</thead>
<tbody>
<tr
v-for="(value, index) in $store.state.ntConnectionInfo.possibleRios"
v-for="(value, index) in $store.state.networkInfo.possibleRios"
:key="index"
>
<td>{{ value }}</td>

76
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
View File

@@ -17,20 +17,12 @@
package org.photonvision.common.dataflow.networktables;
import edu.wpi.first.cscore.CameraServerJNI;
import edu.wpi.first.networktables.LogMessage;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.io.IOException;
import java.net.InetAddress;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.function.Consumer;
import org.photonvision.PhotonVersion;
import org.photonvision.common.configuration.ConfigManager;
import org.photonvision.common.configuration.NetworkConfig;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
@@ -87,6 +79,7 @@ public class NetworkTablesManager {
private void broadcastConnectedStatusImpl() {
HashMap<String, Object> map = new HashMap<>();
var subMap = new HashMap<String, Object>();
subMap.put("connected", ntInstance.isConnected());
if (ntInstance.isConnected()) {
var connections = getInstance().ntInstance.getConnections();
@@ -99,73 +92,6 @@ public class NetworkTablesManager {
map.put("ntConnectionInfo", subMap);
DataChangeService.getInstance()
.publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
// Seperate from the above so we don't hold stuff up
System.setProperty("java.net.preferIPv4Stack", "true");
subMap.put(
"deviceips",
Arrays.stream(CameraServerJNI.getNetworkInterfaces())
.filter(it -> !it.equals("0.0.0.0"))
.toArray());
logger.info("Searching for rios");
List<String> possibleRioList = new ArrayList<>();
for (var ip : CameraServerJNI.getNetworkInterfaces()) {
logger.info("Trying " + ip);
var possibleRioAddr = getPossibleRioAddress(ip);
if (possibleRioAddr != null) {
logger.info("Maybe found " + ip);
searchForHost(possibleRioList, possibleRioAddr);
} else {
logger.info("Didn't match RIO IP");
}
}
String name =
"roboRIO-"
+ ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+ "-FRC.local";
searchForHost(possibleRioList, name);
name =
"roboRIO-"
+ ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+ "-FRC.lan";
searchForHost(possibleRioList, name);
name =
"roboRIO-"
+ ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
+ "-FRC.frc-field.local";
searchForHost(possibleRioList, name);
subMap.put("possibleRios", possibleRioList.toArray());
DataChangeService.getInstance()
.publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
}
String getPossibleRioAddress(String ip) {
try {
InetAddress addr = InetAddress.getByName(ip);
var address = addr.getAddress();
if (address[0] != (byte) (10 & 0xff)) return null;
address[3] = (byte) (2 & 0xff);
return InetAddress.getByAddress(address).getHostAddress();
} catch (UnknownHostException e) {
e.printStackTrace();
}
return null;
}
void searchForHost(List<String> list, String hostname) {
try {
logger.info("Looking up " + hostname);
InetAddress testAddr = InetAddress.getByName(hostname);
logger.info("Pinging " + hostname);
var canContact = testAddr.isReachable(500);
if (canContact) {
logger.info("Was able to connect to " + hostname);
if (!list.contains(hostname)) list.add(hostname);
} else {
logger.info("Unable to reach " + hostname);
}
} catch (IOException ignored) {
}
}
private void broadcastVersion() {

118
photon-core/src/main/java/org/photonvision/common/networking/RoborioFinder.java Normal file
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@@ -0,0 +1,118 @@
/*
* Copyright (C) Photon Vision.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
package org.photonvision.common.networking;
import edu.wpi.first.cscore.CameraServerJNI;
import java.io.IOException;
import java.net.InetAddress;
import java.net.UnknownHostException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import org.photonvision.common.dataflow.DataChangeService;
import org.photonvision.common.dataflow.events.OutgoingUIEvent;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
public class RoborioFinder {
private static RoborioFinder instance;
private static final Logger logger = new Logger(RoborioFinder.class, LogGroup.General);
public static RoborioFinder getInstance() {
if (instance == null) instance = new RoborioFinder();
return instance;
}
public void findRios() {
HashMap<String, Object> map = new HashMap<>();
var subMap = new HashMap<String, Object>();
// Seperate from the above so we don't hold stuff up
System.setProperty("java.net.preferIPv4Stack", "true");
subMap.put(
"deviceips",
Arrays.stream(CameraServerJNI.getNetworkInterfaces())
.filter(it -> !it.equals("0.0.0.0"))
.toArray());
logger.info("Searching for rios");
List<String> possibleRioList = new ArrayList<>();
for (var ip : CameraServerJNI.getNetworkInterfaces()) {
logger.info("Trying " + ip);
var possibleRioAddr = getPossibleRioAddress(ip);
if (possibleRioAddr != null) {
logger.info("Maybe found " + ip);
searchForHost(possibleRioList, possibleRioAddr);
} else {
logger.info("Didn't match RIO IP");
}
}
// String name =
// "roboRIO-"
// +
// ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
// + "-FRC.local";
// searchForHost(possibleRioList, name);
// name =
// "roboRIO-"
// +
// ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
// + "-FRC.lan";
// searchForHost(possibleRioList, name);
// name =
// "roboRIO-"
// +
// ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
// + "-FRC.frc-field.local";
// searchForHost(possibleRioList, name);
// subMap.put("possibleRios", possibleRioList.toArray());
subMap.put("possibleRios", possibleRioList.toArray());
map.put("networkInfo", subMap);
DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("deviceIpInfo", map));
}
String getPossibleRioAddress(String ip) {
try {
InetAddress addr = InetAddress.getByName(ip);
var address = addr.getAddress();
if (address[0] != (byte) (10 & 0xff)) return null;
address[3] = (byte) (2 & 0xff);
return InetAddress.getByAddress(address).getHostAddress();
} catch (UnknownHostException e) {
e.printStackTrace();
}
return null;
}
void searchForHost(List<String> list, String hostname) {
try {
logger.info("Looking up " + hostname);
InetAddress testAddr = InetAddress.getByName(hostname);
logger.info("Pinging " + hostname);
var canContact = testAddr.isReachable(500);
if (canContact) {
logger.info("Was able to connect to " + hostname);
if (!list.contains(hostname)) list.add(hostname);
} else {
logger.info("Unable to reach " + hostname);
}
} catch (IOException ignored) {
}
}
}

2
photon-server/src/main/java/org/photonvision/server/RequestHandler.java
View File

@@ -40,6 +40,7 @@ import org.photonvision.common.hardware.metrics.MetricsPublisher;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.common.networking.NetworkManager;
import org.photonvision.common.networking.RoborioFinder;
import org.photonvision.common.util.ShellExec;
import org.photonvision.common.util.TimedTaskManager;
import org.photonvision.common.util.file.ProgramDirectoryUtilities;
@@ -280,6 +281,7 @@ public class RequestHandler {
public static void sendMetrics(Context ctx) {
MetricsPublisher.getInstance().publish();
TimedTaskManager.getInstance().addOneShotTask(() -> RoborioFinder.getInstance().findRios(), 0);
ctx.status(200);
}