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[sim] WebSockets: don't override HAL_Main

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Also clean up some other implementation aspects for cleaner shutdown and
reduce peak memory allocation.
This commit is contained in:
Peter Johnson
2020-09-04 10:57:05 -07:00
parent f1b1bdb121
commit f86a5f9b09
19 changed files with 780 additions and 851 deletions
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126
simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
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@@ -19,15 +19,12 @@
#include <wpi/raw_uv_ostream.h>
#include <wpi/uv/Request.h>
#include "HALSimWSServer.h"
namespace uv = wpi::uv;
namespace wpilibws {
using namespace wpilibws;
bool HALSimHttpConnection::IsValidWsUpgrade(wpi::StringRef protocol) {
auto hws = HALSimWeb::GetInstance();
if (m_request.GetUrl() != hws->GetServerUri()) {
if (m_request.GetUrl() != m_server->GetServerUri()) {
MySendError(404, "invalid websocket address");
return false;
}
@@ -39,21 +36,7 @@ void HALSimHttpConnection::ProcessWsUpgrade() {
m_websocket->open.connect_extended([this](auto conn, wpi::StringRef) {
conn.disconnect(); // one-shot
m_buffers = std::make_unique<BufferPool>();
m_exec =
UvExecFunc::Create(m_stream.GetLoop(), [](auto out, LoopFunc func) {
func();
out.set_value();
});
auto hws = HALSimWeb::GetInstance();
if (!hws) {
Log(503);
m_websocket->Fail(503, "HALSimWeb unavailable");
return;
}
if (!hws->RegisterWebsocket(shared_from_this())) {
if (!m_server->RegisterWebsocket(shared_from_this())) {
Log(409);
m_websocket->Fail(409, "Only a single simulation websocket is allowed");
return;
@@ -66,8 +49,7 @@ void HALSimHttpConnection::ProcessWsUpgrade() {
// parse incoming JSON, dispatch to parent
m_websocket->text.connect([this](wpi::StringRef msg, bool) {
auto hws = HALSimWeb::GetInstance();
if (!m_isWsConnected || !hws) {
if (!m_isWsConnected) {
return;
}
@@ -80,7 +62,7 @@ void HALSimHttpConnection::ProcessWsUpgrade() {
m_websocket->Fail(400, err);
return;
}
hws->OnNetValueChanged(j);
m_server->OnNetValueChanged(j);
});
m_websocket->closed.connect([this](uint16_t, wpi::StringRef) {
@@ -89,10 +71,7 @@ void HALSimHttpConnection::ProcessWsUpgrade() {
wpi::errs() << "HALWebSim: websocket disconnected\n";
m_isWsConnected = false;
auto hws = HALSimWeb::GetInstance();
if (hws) {
hws->CloseWebsocket(shared_from_this());
}
m_server->CloseWebsocket(shared_from_this());
}
});
}
@@ -102,84 +81,27 @@ void HALSimHttpConnection::OnSimValueChanged(const wpi::json& msg) {
wpi::SmallVector<uv::Buffer, 4> sendBufs;
wpi::raw_uv_ostream os{sendBufs, [this]() -> uv::Buffer {
std::lock_guard lock(m_buffers_mutex);
return m_buffers->Allocate();
return m_buffers.Allocate();
}};
os << msg;
// call the websocket send function on the uv loop
m_exec->Call([this, sendBufs]() mutable {
m_websocket->SendText(sendBufs, [this](auto bufs, wpi::uv::Error err) {
{
std::lock_guard lock(m_buffers_mutex);
m_buffers->Release(bufs);
}
m_server->GetExec().Send([self = shared_from_this(), sendBufs] {
self->m_websocket->SendText(sendBufs,
[self](auto bufs, wpi::uv::Error err) {
{
std::lock_guard lock(self->m_buffers_mutex);
self->m_buffers.Release(bufs);
}
if (err) {
wpi::errs() << err.str() << "\n";
wpi::errs().flush();
}
});
if (err) {
wpi::errs() << err.str() << "\n";
wpi::errs().flush();
}
});
});
}
class SendfileReq : public uv::RequestImpl<SendfileReq, uv_fs_t> {
public:
SendfileReq(uv_file out, uv_file in, int64_t inOffset, size_t len)
: m_out(out), m_in(in), m_inOffset(inOffset), m_len(len) {
error = [this](uv::Error err) { GetLoop().error(err); };
}
uv::Loop& GetLoop() const {
return *static_cast<uv::Loop*>(GetRaw()->loop->data);
}
int Send(uv::Loop& loop) {
int err = uv_fs_sendfile(loop.GetRaw(), GetRaw(), m_out, m_in, m_inOffset,
m_len, [](uv_fs_t* req) {
auto& h = *static_cast<SendfileReq*>(req->data);
if (req->result < 0) {
h.ReportError(req->result);
h.complete();
h.Release();
return;
}
h.m_inOffset += req->result;
h.m_len -= req->result;
if (h.m_len == 0) {
// done
h.complete();
h.Release(); // this is always a one-shot
return;
}
// need to send more
h.Send(h.GetLoop());
});
if (err < 0) {
ReportError(err);
complete();
}
return err;
}
wpi::sig::Signal<> complete;
private:
uv_file m_out;
uv_file m_in;
int64_t m_inOffset;
size_t m_len;
};
void Sendfile(uv::Loop& loop, uv_file out, uv_file in, int64_t inOffset,
size_t len, std::function<void()> complete) {
auto req = std::make_shared<SendfileReq>(out, in, inOffset, len);
if (complete) req->complete.connect(complete);
int err = req->Send(loop);
if (err >= 0) req->Keep();
}
void HALSimHttpConnection::SendFileResponse(int code,
const wpi::Twine& codeText,
const wpi::Twine& contentType,
@@ -262,10 +184,12 @@ void HALSimHttpConnection::ProcessRequest() {
std::string prefix = (wpi::sys::path::get_separator() + "user" +
wpi::sys::path::get_separator())
.str();
wpi::sys::path::replace_path_prefix(nativePath, prefix, m_webroot_user);
wpi::sys::path::replace_path_prefix(nativePath, prefix,
m_server->GetWebrootUser());
} else {
wpi::sys::path::replace_path_prefix(
nativePath, wpi::sys::path::get_separator(), m_webroot_sys);
wpi::sys::path::replace_path_prefix(nativePath,
wpi::sys::path::get_separator(),
m_server->GetWebrootSys());
}
if (wpi::sys::fs::is_directory(nativePath)) {
@@ -295,5 +219,3 @@ void HALSimHttpConnection::Log(int code) {
<< m_request.GetMajor() << "." << m_request.GetMinor() << " "
<< code << "\n";
}
} // namespace wpilibws