Update configServer for 2023

Author: PeterJohnson

deps/tools/configServer/Makefile

@@ -1,6 +1,20 @@
 IMG_VERSION?=$(shell git describe)
-DEPS_CFLAGS?=$(shell pkg-config --cflags cscore wpiutil) -std=c++17
-DEPS_LIBS?=$(shell pkg-config --libs --static cscore wpiutil)
+
+# For a desktop build with the allwpilib source tree:
+#ALLWPILIB=/home/peter/project/frc/allwpilib
+#DEPS_CFLAGS= \
+	-I${ALLWPILIB}/wpiutil/src/main/native/include \
+	-I${ALLWPILIB}/wpinet/src/main/native/include \
+	-I${ALLWPILIB}/cscore/src/main/native/include \
+	-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/llvm/include \
+	-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/sigslot/include \
+	-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/fmtlib/include \
+	-I${ALLWPILIB}/wpiutil/src/main/native/thirdparty/json/include \
+	-I${ALLWPILIB}/wpinet/src/main/native/thirdparty/libuv/include
+#DEPS_LIBS=-L${ALLWPILIB}/build-ninja/lib -lcscored -lwpinetd -lwpiutild
+
+DEPS_CFLAGS?=$(shell pkg-config --cflags cscore wpinet wpiutil)
+DEPS_LIBS?=$(shell pkg-config --libs --static cscore wpinet wpiutil)
 EXEC_HOME?=/home/pi
 FRC_JSON?=/boot/frc.json
 DHCPCD_CONF?=/boot/dhcpcd.conf
@@ -11,6 +25,7 @@ APP_UID?=1000
 APP_GID?=1000
 ROMI_JSON?=/boot/romi.json
 NODE_HOME?=/home/pi/.nvm/versions/node/v14.15.0/bin
+CXXFLAGS?=-std=c++20
 
 .PHONY: all clean install
 .SUFFIXES:

deps/tools/configServer/src/Application.cpp

@@ -9,7 +9,9 @@
 #include <unistd.h>
 
 #include <fmt/format.h>
+#include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
+#include <wpi/fmt/raw_ostream.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
 #include <wpi/raw_istream.h>
@@ -56,11 +58,7 @@ void Application::Set(std::string_view appType,
   } else if (appType == "custom") {
     return;
   } else {
-    wpi::SmallString<64> msg;
-    msg = "unrecognized application type '";
-    msg += appType;
-    msg += "'";
-    onFail(msg);
+    onFail(fmt::format("unrecognized application type '{}'", appType));
     return;
   }
 
@@ -72,13 +70,13 @@ void Application::Set(std::string_view appType,
       onFail("could not write " EXEC_HOME "/runCamera");
       return;
     }
-    os << "#!/bin/sh\n";
-    os << TYPE_TAG << ' ' << appType << '\n';
-    os << "echo \"Waiting 5 seconds...\"\n";
-    os << "sleep 5\n";
-    if (!appDir.empty()) os << "cd " << appDir << '\n';
-    if (!appEnv.empty()) os << appEnv << '\n';
-    os << "exec " << appCommand << '\n';
+    fmt::print(os, "#!/bin/sh\n");
+    fmt::print(os, "{} {}\n", TYPE_TAG, appType);
+    fmt::print(os, "echo \"Waiting 5 seconds...\"\n");
+    fmt::print(os, "sleep 5\n");
+    if (!appDir.empty()) fmt::print(os, "cd {}\n", appDir);
+    if (!appEnv.empty()) fmt::print(os, "{}\n", appEnv);
+    fmt::print(os, "exec {}\n", appCommand);
   }
 
   // terminate vision process so it reloads
@@ -97,18 +95,11 @@ void Application::FinishUpload(std::string_view appType, UploadHelper& helper,
   } else if (appType == "upload-python") {
     filename = "/uploaded.py";
   } else {
-    wpi::SmallString<64> msg;
-    msg = "cannot upload application type '";
-    msg += appType;
-    msg += "'";
-    onFail(msg);
+    onFail(fmt::format("cannot upload application type '{}'", appType));
     helper.Close();
     return;
   }
 
-  wpi::SmallString<64> pathname;
-  pathname = EXEC_HOME;
-  pathname += filename;
   int fd = helper.GetFD();
 
   // change ownership
@@ -126,6 +117,8 @@ void Application::FinishUpload(std::string_view appType, UploadHelper& helper,
   // close temporary file
   helper.Close();
 
+  auto pathname = fmt::format("{}{}", EXEC_HOME, filename);
+
   // remove old file (need to do this as we can't overwrite a running exe)
   if (unlink(pathname.c_str()) == -1) {
     fmt::print(stderr, "could not remove app executable: {}\n",
@@ -151,7 +144,7 @@ wpi::json Application::GetStatusJson() {
   std::error_code ec;
   wpi::raw_fd_istream is(EXEC_HOME "/runCamera", ec);
   if (ec) {
-    fmt::print(stderr, "{}", "could not read " EXEC_HOME "/runCamera\n");
+    fmt::print(stderr, "could not read {}/runCamera\n", EXEC_HOME);
     return j;
   }
 

deps/tools/configServer/src/MyHttpConnection.cpp

@@ -9,11 +9,12 @@
 
 #include <fmt/format.h>
 #include <wpi/SmallVector.h>
-#include <wpi/UrlParser.h>
+#include <wpi/StringExtras.h>
 #include <wpi/fs.h>
 #include <wpi/raw_ostream.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/Request.h>
+#include <wpinet/UrlParser.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Request.h>
 
 #include "WebSocketHandlers.h"
 
@@ -40,7 +41,7 @@ MyHttpConnection::MyHttpConnection(std::shared_ptr<wpi::uv::Stream> stream)
     : HttpServerConnection(stream), m_websocketHelper(m_request) {
   // Handle upgrade event
   m_websocketHelper.upgrade.connect([this] {
-    //fmt::print(stderr, "{}", "got websocket upgrade\n");
+    //fmt::print(stderr, "got websocket upgrade\n");
     // Disconnect HttpServerConnection header reader
     m_dataConn.disconnect();
     m_messageCompleteConn.disconnect();
@@ -55,7 +56,7 @@ MyHttpConnection::MyHttpConnection(std::shared_ptr<wpi::uv::Stream> stream)
     // Connect the websocket open event to our connected event.
     // Pass self to delay destruction until this callback happens
     ws->open.connect_extended([self, s = ws.get()](auto conn, auto) {
-      fmt::print(stderr, "{}", "websocket connected\n");
+      fmt::print(stderr, "websocket connected\n");
       InitWs(*s);
       conn.disconnect();  // one-shot
     });
@@ -132,11 +133,17 @@ void MyHttpConnection::SendFileResponse(int code, std::string_view codeText,
                                         std::string_view extraHeader) {
   // open file
   std::error_code ec;
-  int infd = fs::OpenFileForRead(filename, ec);
+  auto infile = fs::OpenFileForRead(filename, ec);
   if (ec) {
     SendError(404);
     return;
   }
+  int infd = fs::FileToFd(infile, ec, fs::OF_None);
+  if (ec) {
+    fs::CloseFile(infile);
+    SendError(404);
+    return;
+  }
 
   // get file size
   auto size = fs::file_size(filename, ec);

deps/tools/configServer/src/MyHttpConnection.h

@@ -8,9 +8,9 @@
 #include <memory>
 #include <string_view>
 
-#include <wpi/HttpServerConnection.h>
-#include <wpi/WebSocketServer.h>
-#include <wpi/uv/Stream.h>
+#include <wpinet/HttpServerConnection.h>
+#include <wpinet/WebSocketServer.h>
+#include <wpinet/uv/Stream.h>
 
 class MyHttpConnection : public wpi::HttpServerConnection,
                          public std::enable_shared_from_this<MyHttpConnection> {