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Code cleanup and reducing compile time
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| #include "frc846/base/fserver.h" | ||
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| #include <string.h> | ||
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| #include <algorithm> | ||
| #include <thread> | ||
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| namespace frc846::base { | ||
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| LoggingServer::LoggingServer() : messages{}, clients{} { | ||
| #ifdef _WIN32 | ||
| /* | ||
| Configuring Windows Socket API. | ||
| */ | ||
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| WSADATA wsaData; | ||
| int result = WSAStartup(MAKEWORD(2, 2), &wsaData); | ||
| if (result != 0) { | ||
| std::cerr << "WSAStartup failed: " << result << std::endl; | ||
| exit(EXIT_FAILURE); | ||
| } | ||
| #endif | ||
| } | ||
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| LoggingServer::~LoggingServer() { | ||
| #ifdef _WIN32 | ||
| WSACleanup(); | ||
| #endif | ||
| } | ||
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| void LoggingServer::Start(int port) { | ||
| len = sizeof(cliaddr); | ||
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| sockfd = socket(AF_INET, SOCK_DGRAM, 0); | ||
| if (sockfd < 0) throw std::runtime_error("Socket creation failed"); | ||
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| memset(&servaddr, 0, sizeof(servaddr)); | ||
| servaddr.sin_family = AF_INET; | ||
| servaddr.sin_addr.s_addr = INADDR_ANY; | ||
| servaddr.sin_port = htons(port); | ||
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| if (bind(sockfd, reinterpret_cast<const struct sockaddr *>(&servaddr), | ||
| sizeof(servaddr)) < 0) | ||
| throw std::runtime_error("Socket bind failed"); | ||
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| std::thread sender([&]() { | ||
| while (true) { | ||
| do { | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(50)); | ||
| } while (messages.empty() || clients.empty()); | ||
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| msg_mtx.lock(); | ||
| auto msg = messages.front(); | ||
| messages.pop(); | ||
| msg_mtx.unlock(); | ||
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| cli_mtx.lock(); | ||
| for (const auto &client : clients) { | ||
| sendto(sockfd, reinterpret_cast<const char *>(msg.data()), msg.size(), | ||
| 0, reinterpret_cast<const struct sockaddr *>(&(client.addr)), | ||
| sizeof(client.addr)); | ||
| } | ||
| cli_mtx.unlock(); | ||
| } | ||
| }); | ||
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| std::thread receiver([&]() { | ||
| char buffer[1024]; | ||
| std::chrono::milliseconds lastPruneTime{getTime()}; | ||
| for (std::chrono::milliseconds t{lastPruneTime};; t = getTime()) { | ||
| if (recvfrom(sockfd, buffer, sizeof(buffer), 0, | ||
| reinterpret_cast<struct sockaddr *>(&cliaddr), &len) > 0) { | ||
| cli_mtx.lock(); | ||
| auto it = std::find_if( | ||
| clients.begin(), clients.end(), [&](const LoggingClient &client) { | ||
| return client.addr.sin_addr.s_addr == cliaddr.sin_addr.s_addr; | ||
| }); | ||
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| if (it != clients.end()) { | ||
| it->addr.sin_port = cliaddr.sin_port; | ||
| it->lastKeepAlive = getTime(); | ||
| } else { | ||
| clients.push_back({cliaddr, getTime()}); | ||
| } | ||
| cli_mtx.unlock(); | ||
| } | ||
| if (t - lastPruneTime > std::chrono::milliseconds(500)) { | ||
| cli_mtx.lock(); | ||
| for (size_t i = 0; i < clients.size(); i++) { | ||
| if (getTime() - clients[i].lastKeepAlive > | ||
| std::chrono::milliseconds(5000)) { | ||
| clients.erase(clients.begin() + i); | ||
| } | ||
| } | ||
| cli_mtx.unlock(); | ||
| lastPruneTime = t; | ||
| } | ||
| } | ||
| }); | ||
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| sender.detach(); | ||
| receiver.detach(); | ||
| } | ||
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| } // namespace frc846::base |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,5 @@ | ||
| #include "frc846/math/DoubleSyncBuffer.h" | ||
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| #include <iostream> | ||
| #include <stdexcept> | ||
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| namespace frc846::math { | ||
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