mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-26 01:51:40 +00:00
106 lines
2.6 KiB
C++
106 lines
2.6 KiB
C++
/*
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* Copyright (C) Photon Vision.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <atomic>
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#include <chrono>
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#include <cstdlib>
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#include <cstring>
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#include <ctime>
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#include <functional>
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#include <iostream>
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#include <memory>
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#include <mutex>
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#include <string>
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#include <thread>
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#include <frc/filter/MedianFilter.h>
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#include <wpi/Logger.h>
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#include <wpi/print.h>
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#include <wpi/static_circular_buffer.h>
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#include <wpi/struct/Struct.h>
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#include <wpinet/EventLoopRunner.h>
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#include <wpinet/UDPClient.h>
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#include <wpinet/uv/Buffer.h>
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#include <wpinet/uv/Timer.h>
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#include <wpinet/uv/Udp.h>
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#include "TimeSyncStructs.h"
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#include "ntcore_cpp.h"
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namespace wpi {
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namespace tsp {
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class TimeSyncClient {
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public:
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struct Metadata {
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int64_t offset{0};
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int64_t rtt2{0};
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size_t pingsSent{0};
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size_t pongsReceived{0};
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uint64_t lastPongTime{0};
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};
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private:
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using SharedUdpPtr = std::shared_ptr<uv::Udp>;
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using SharedTimerPtr = std::shared_ptr<uv::Timer>;
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EventLoopRunner m_loopRunner{};
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wpi::Logger m_logger;
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std::function<uint64_t()> m_timeProvider;
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SharedUdpPtr m_udp;
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SharedTimerPtr m_pingTimer;
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std::string m_serverIP;
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int m_serverPort;
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std::chrono::milliseconds m_loopDelay;
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std::mutex m_offsetMutex{};
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Metadata m_metadata{};
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// We only allow the most recent ping to stay alive, so only keep track of it
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TspPing m_lastPing{};
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// 30s is a reasonable guess
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frc::MedianFilter<int64_t> m_lastOffsets{30};
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void Tick();
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void UdpCallback(uv::Buffer& buf, size_t nbytes, const sockaddr& sender,
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unsigned flags);
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public:
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TimeSyncClient(std::string_view server, int remote_port,
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std::chrono::milliseconds ping_delay);
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void Start();
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void Stop();
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int64_t GetOffset();
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Metadata GetMetadata();
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// public for testability
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void UpdateStatistics(uint64_t pong_local_time, wpi::tsp::TspPing ping,
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wpi::tsp::TspPong pong);
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};
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} // namespace tsp
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} // namespace wpi
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