mirror of
https://github.com/wpilibsuite/allwpilib
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1fc098e696
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
108 lines
2.9 KiB
C++
108 lines
2.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpinet/DsClient.h"
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#include <fmt/format.h>
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#include <wpi/Logger.h>
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#include <wpi/StringExtras.h>
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#include <wpi/json.h>
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#include "wpinet/uv/Tcp.h"
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#include "wpinet/uv/Timer.h"
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using namespace wpi;
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static constexpr uv::Timer::Time kReconnectTime{500};
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DsClient::DsClient(wpi::uv::Loop& loop, wpi::Logger& logger,
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const private_init&)
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: m_logger{logger},
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m_tcp{uv::Tcp::Create(loop)},
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m_timer{uv::Timer::Create(loop)} {
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m_tcp->end.connect([this] {
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WPI_DEBUG4(m_logger, "DS connection closed");
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clearIp();
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// try to connect again
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m_tcp->Reuse([this] { m_timer->Start(kReconnectTime); });
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});
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m_tcp->data.connect([this](wpi::uv::Buffer buf, size_t len) {
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HandleIncoming({buf.base, len});
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});
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m_timer->timeout.connect([this] { Connect(); });
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Connect();
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}
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DsClient::~DsClient() = default;
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void DsClient::Close() {
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m_tcp->Close();
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m_timer->Close();
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clearIp();
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}
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void DsClient::Connect() {
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auto connreq = std::make_shared<uv::TcpConnectReq>();
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connreq->connected.connect([this] {
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m_json.clear();
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m_tcp->StopRead();
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m_tcp->StartRead();
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});
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connreq->error = [this](uv::Error err) {
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WPI_DEBUG4(m_logger, "DS connect failure: {}", err.str());
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// try to connect again
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m_tcp->Reuse([this] { m_timer->Start(kReconnectTime); });
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};
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WPI_DEBUG4(m_logger, "Starting DS connection attempt");
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m_tcp->Connect("127.0.0.1", 1742, connreq);
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}
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void DsClient::HandleIncoming(std::string_view in) {
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// this is very bare-bones, as there are never nested {} in these messages
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while (!in.empty()) {
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// if json is empty, look for the first { (and discard)
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if (m_json.empty()) {
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auto start = in.find('{');
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in = wpi::slice(in, start, std::string_view::npos);
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}
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// look for the terminating } (and save)
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auto end = in.find('}');
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if (end == std::string_view::npos) {
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m_json.append(in);
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return; // nothing left to read
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}
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// have complete json message
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++end;
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m_json.append(wpi::slice(in, 0, end));
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in = wpi::slice(in, end, std::string_view::npos);
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ParseJson();
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m_json.clear();
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}
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}
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void DsClient::ParseJson() {
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WPI_DEBUG4(m_logger, "DsClient JSON: {}", m_json);
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unsigned int ip = 0;
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try {
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ip = wpi::json::parse(m_json).at("robotIP").get<unsigned int>();
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} catch (wpi::json::exception& e) {
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WPI_INFO(m_logger, "DsClient JSON error: {}", e.what());
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return;
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}
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if (ip == 0) {
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clearIp();
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} else {
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// Convert number into dotted quad
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auto newip = fmt::format("{}.{}.{}.{}", (ip >> 24) & 0xff,
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(ip >> 16) & 0xff, (ip >> 8) & 0xff, ip & 0xff);
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WPI_INFO(m_logger, "DS received server IP: {}", newip);
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setIp(newip);
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}
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}
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