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Add FRC Driver Station connection support.

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The 2017 FRC Driver Station supports getting the robot IP via a TCP
connection that returns JSON.  Use this to support overriding the
server IP address used for client connections.

Default to using this approach for client connections in the NetworkTable
interfaces.

Add support for setting the server address without stopping and
restarting the client.

SetTeam now also round-robins by default.
This commit is contained in:
Peter Johnson
2016-11-04 16:01:42 -07:00
parent 34acd9d47c
commit 77edf1e103
15 changed files with 538 additions and 66 deletions
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59
src/Dispatcher.cpp
View File

@@ -26,16 +26,16 @@ void Dispatcher::StartServer(llvm::StringRef persist_filename,
static_cast<int>(port), listen_address, Logger::GetInstance())));
}
void Dispatcher::StartClient(const char* server_name, unsigned int port) {
void Dispatcher::SetServer(const char* server_name, unsigned int port) {
std::string server_name_copy(server_name);
DispatcherBase::StartClient([=]() -> std::unique_ptr<wpi::NetworkStream> {
SetConnector([=]() -> std::unique_ptr<wpi::NetworkStream> {
return wpi::TCPConnector::connect(server_name_copy.c_str(),
static_cast<int>(port),
Logger::GetInstance(), 1);
});
}
void Dispatcher::StartClient(
void Dispatcher::SetServer(
ArrayRef<std::pair<StringRef, unsigned int>> servers) {
std::vector<Connector> connectors;
for (const auto& server : servers) {
@@ -47,9 +47,20 @@ void Dispatcher::StartClient(
Logger::GetInstance(), 1);
});
}
DispatcherBase::StartClient(std::move(connectors));
SetConnector(std::move(connectors));
}
void Dispatcher::SetServerOverride(const char* server_name, unsigned int port) {
std::string server_name_copy(server_name);
SetConnectorOverride([=]() -> std::unique_ptr<wpi::NetworkStream> {
return wpi::TCPConnector::connect(server_name_copy.c_str(),
static_cast<int>(port),
Logger::GetInstance(), 1);
});
}
void Dispatcher::ClearServerOverride() { ClearConnectorOverride(); }
Dispatcher::Dispatcher()
: Dispatcher(Storage::GetInstance(), Notifier::GetInstance()) {}
@@ -98,18 +109,11 @@ void DispatcherBase::StartServer(
m_clientserver_thread = std::thread(&Dispatcher::ServerThreadMain, this);
}
void DispatcherBase::StartClient(Connector connector) {
std::vector<Connector> connectors;
connectors.push_back(connector);
StartClient(std::move(connectors));
}
void DispatcherBase::StartClient(std::vector<Connector>&& connectors) {
void DispatcherBase::StartClient() {
{
std::lock_guard<std::mutex> lock(m_user_mutex);
if (m_active) return;
m_active = true;
m_client_connectors = std::move(connectors);
}
m_server = false;
using namespace std::placeholders;
@@ -195,6 +199,27 @@ void DispatcherBase::NotifyConnections(
for (const auto& conn : m_connections) conn->NotifyIfActive(callback);
}
void DispatcherBase::SetConnector(Connector connector) {
std::vector<Connector> connectors;
connectors.push_back(connector);
SetConnector(std::move(connectors));
}
void DispatcherBase::SetConnector(std::vector<Connector>&& connectors) {
std::lock_guard<std::mutex> lock(m_user_mutex);
m_client_connectors = std::move(connectors);
}
void DispatcherBase::SetConnectorOverride(Connector connector) {
std::lock_guard<std::mutex> lock(m_user_mutex);
m_client_connector_override = std::move(connector);
}
void DispatcherBase::ClearConnectorOverride() {
std::lock_guard<std::mutex> lock(m_user_mutex);
m_client_connector_override = nullptr;
}
void DispatcherBase::DispatchThreadMain() {
auto timeout_time = std::chrono::steady_clock::now();
@@ -320,9 +345,13 @@ void DispatcherBase::ClientThreadMain() {
// get next server to connect to
{
std::lock_guard<std::mutex> lock(m_user_mutex);
if (m_client_connectors.empty()) continue;
if (i >= m_client_connectors.size()) i = 0;
connect = m_client_connectors[i++];
if (m_client_connector_override) {
connect = m_client_connector_override;
} else {
if (m_client_connectors.empty()) continue;
if (i >= m_client_connectors.size()) i = 0;
connect = m_client_connectors[i++];
}
}
// try to connect (with timeout)