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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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84
src/networktables/NetworkTable.cpp
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@@ -2,6 +2,7 @@
#include <algorithm>
#include "llvm/raw_ostream.h"
#include "llvm/SmallString.h"
#include "llvm/StringMap.h"
#include "tables/ITableListener.h"
@@ -11,20 +12,17 @@
using llvm::StringRef;
const char NetworkTable::PATH_SEPARATOR_CHAR = '/';
std::vector<std::string> NetworkTable::s_ip_addresses;
std::string NetworkTable::s_persistent_filename = "networktables.ini";
bool NetworkTable::s_client = false;
bool NetworkTable::s_enable_ds = true;
bool NetworkTable::s_running = false;
unsigned int NetworkTable::s_port = NT_DEFAULT_PORT;
void NetworkTable::Initialize() {
if (s_running) Shutdown();
if (s_client) {
std::vector<std::pair<StringRef, unsigned int>> servers;
servers.reserve(s_ip_addresses.size());
for (const auto& ip_address : s_ip_addresses)
servers.emplace_back(std::make_pair(ip_address, s_port));
nt::StartClient(servers);
nt::StartClient();
if (s_enable_ds) nt::StartDSClient(s_port);
} else
nt::StartServer(s_persistent_filename, "", s_port);
s_running = true;
@@ -32,9 +30,10 @@ void NetworkTable::Initialize() {
void NetworkTable::Shutdown() {
if (!s_running) return;
if (s_client)
if (s_client) {
nt::StopDSClient();
nt::StopClient();
else
} else
nt::StopServer();
s_running = false;
}
@@ -44,27 +43,74 @@ void NetworkTable::SetClientMode() { s_client = true; }
void NetworkTable::SetServerMode() { s_client = false; }
void NetworkTable::SetTeam(int team) {
char tmp[30];
#ifdef _MSC_VER
sprintf_s(tmp, "roboRIO-%d-FRC.local", team);
#else
using namespace std;
snprintf(tmp, 30, "roboRIO-%d-FRC.local", team);
#endif
SetIPAddress(tmp);
std::pair<StringRef, unsigned int> servers[4];
// 10.te.am.2
llvm::SmallString<32> fixed;
{
llvm::raw_svector_ostream oss{fixed};
oss << "10." << static_cast<int>(team / 100) << '.'
<< static_cast<int>(team % 100) << ".2";
servers[0] = std::make_pair(oss.str(), s_port);
}
// 172.22.11.2
servers[1] = std::make_pair("172.22.11.2", s_port);
// roboRIO-<team>-FRC.local
llvm::SmallString<32> mdns;
{
llvm::raw_svector_ostream oss{mdns};
oss << "roboRIO-" << team << "-FRC.local";
servers[2] = std::make_pair(oss.str(), s_port);
}
// roboRIO-<team>-FRC.lan
llvm::SmallString<32> mdns_lan;
{
llvm::raw_svector_ostream oss{mdns_lan};
oss << "roboRIO-" << team << "-FRC.lan";
servers[3] = std::make_pair(oss.str(), s_port);
}
nt::SetServer(servers);
}
void NetworkTable::SetIPAddress(StringRef address) {
s_ip_addresses.clear();
s_ip_addresses.emplace_back(address);
llvm::SmallString<32> addr_copy{address};
nt::SetServer(addr_copy.c_str(), s_port);
// Stop the DS client if we're explicitly connecting to localhost
if (address == "localhost" || address == "127.0.0.1")
nt::StopDSClient();
else if (s_enable_ds)
nt::StartDSClient(s_port);
}
void NetworkTable::SetIPAddress(llvm::ArrayRef<std::string> addresses) {
s_ip_addresses = addresses;
llvm::SmallVector<std::pair<StringRef, unsigned int>, 8> servers;
for (const auto& ip_address : addresses)
servers.emplace_back(std::make_pair(ip_address, s_port));
nt::SetServer(servers);
// Stop the DS client if we're explicitly connecting to localhost
if (!addresses.empty() &&
(addresses[0] == "localhost" || addresses[0] == "127.0.0.1"))
nt::StopDSClient();
else if (s_enable_ds)
nt::StartDSClient(s_port);
}
void NetworkTable::SetPort(unsigned int port) { s_port = port; }
void NetworkTable::SetDSClientEnabled(bool enabled) {
s_enable_ds = enabled;
if (s_enable_ds)
nt::StartDSClient(s_port);
else
nt::StopDSClient();
}
void NetworkTable::SetPersistentFilename(StringRef filename) {
s_persistent_filename = filename;
}