Prepare ntcore for merge into allwpilib.

2026-06-19 00:41:43 +00:00 · 2017-12-20 19:21:42 -08:00
parent 3025a182cc
commit 7210a8fd28
223 changed files with 0 additions and 355 deletions
--- a/ntcore/src/main/native/cpp/DsClient.cpp
+++ b/ntcore/src/main/native/cpp/DsClient.cpp
@@ -0,0 +1,153 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2018. 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 "DsClient.h"
+
+#include <llvm/SmallString.h>
+#include <llvm/raw_ostream.h>
+#include <support/raw_socket_istream.h>
+
+#include "Dispatcher.h"
+#include "Log.h"
+#include "tcpsockets/TCPConnector.h"
+
+using namespace nt;
+
+class DsClient::Thread : public wpi::SafeThread {
+ public:
+  Thread(Dispatcher& dispatcher, wpi::Logger& logger, unsigned int port)
+      : m_dispatcher(dispatcher), m_logger(logger), m_port(port) {}
+
+  void Main();
+
+  Dispatcher& m_dispatcher;
+  wpi::Logger& m_logger;
+  unsigned int m_port;
+  std::unique_ptr<wpi::NetworkStream> m_stream;
+};
+
+DsClient::DsClient(Dispatcher& dispatcher, wpi::Logger& logger)
+    : m_dispatcher(dispatcher), m_logger(logger) {}
+
+void DsClient::Start(unsigned int port) {
+  auto thr = m_owner.GetThread();
+  if (!thr)
+    m_owner.Start(new Thread(m_dispatcher, m_logger, port));
+  else
+    thr->m_port = port;
+}
+
+void DsClient::Stop() {
+  {
+    // Close the stream so the read (if any) terminates.
+    auto thr = m_owner.GetThread();
+    if (thr) {
+      thr->m_active = false;
+      if (thr->m_stream) thr->m_stream->close();
+    }
+  }
+  m_owner.Stop();
+}
+
+void DsClient::Thread::Main() {
+  unsigned int oldip = 0;
+  wpi::Logger nolog;  // to silence log messages from TCPConnector
+
+  while (m_active) {
+    // wait for periodic reconnect or termination
+    auto timeout_time =
+        std::chrono::steady_clock::now() + std::chrono::milliseconds(500);
+    unsigned int port;
+    {
+      std::unique_lock<wpi::mutex> lock(m_mutex);
+      m_cond.wait_until(lock, timeout_time, [&] { return !m_active; });
+      port = m_port;
+    }
+    if (!m_active) goto done;
+
+    // Try to connect to DS on the local machine
+    m_stream = wpi::TCPConnector::connect("127.0.0.1", 1742, nolog, 1);
+    if (!m_active) goto done;
+    if (!m_stream) continue;
+
+    DEBUG3("connected to DS");
+    wpi::raw_socket_istream is(*m_stream);
+
+    while (m_active && !is.has_error()) {
+      // Read JSON "{...}".  This is very limited, does not handle quoted "}" or
+      // nested {}, but is sufficient for this purpose.
+      llvm::SmallString<128> json;
+      char ch;
+
+      // Throw away characters until {
+      do {
+        is.read(ch);
+        if (is.has_error()) break;
+        if (!m_active) goto done;
+      } while (ch != '{');
+      json += '{';
+
+      if (is.has_error()) {
+        m_stream = nullptr;
+        break;
+      }
+
+      // Read characters until }
+      do {
+        is.read(ch);
+        if (is.has_error()) break;
+        if (!m_active) goto done;
+        json += ch;
+      } while (ch != '}');
+
+      if (is.has_error()) {
+        m_stream = nullptr;
+        break;
+      }
+      DEBUG3("json=" << json);
+
+      // Look for "robotIP":12345, and get 12345 portion
+      size_t pos = json.find("\"robotIP\"");
+      if (pos == llvm::StringRef::npos) continue;  // could not find?
+      pos += 9;
+      pos = json.find(':', pos);
+      if (pos == llvm::StringRef::npos) continue;  // could not find?
+      size_t endpos = json.find_first_not_of("0123456789", pos + 1);
+      DEBUG3("found robotIP=" << json.slice(pos + 1, endpos));
+
+      // Parse into number
+      unsigned int ip = 0;
+      if (json.slice(pos + 1, endpos).getAsInteger(10, ip)) continue;  // error
+
+      // If zero, clear the server override
+      if (ip == 0) {
+        m_dispatcher.ClearServerOverride();
+        oldip = 0;
+        continue;
+      }
+
+      // If unchanged, don't reconnect
+      if (ip == oldip) continue;
+      oldip = ip;
+
+      // Convert number into dotted quad
+      json.clear();
+      llvm::raw_svector_ostream os{json};
+      os << ((ip >> 24) & 0xff) << "." << ((ip >> 16) & 0xff) << "."
+         << ((ip >> 8) & 0xff) << "." << (ip & 0xff);
+      INFO("client: DS overriding server IP to " << os.str());
+      m_dispatcher.SetServerOverride(json.c_str(), port);
+    }
+
+    // We disconnected from the DS, clear the server override
+    m_dispatcher.ClearServerOverride();
+    oldip = 0;
+  }
+
+done:
+  m_dispatcher.ClearServerOverride();
+}