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jhhjhh
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Merge branch 'feature/deadeye'
2 parents a88db33 + 504490e commit 6c7a47c

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10 files changed

+405
-10
lines changed

10 files changed

+405
-10
lines changed

‎build.gradle‎

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@@ -10,26 +10,19 @@ buildscript {
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}
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}
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subprojects {
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configure(subprojects) {
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group = 'org.strykeforce.thirdcoast'
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version = '18.7.4'
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version = '18.7.5'
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apply plugin: 'java-library'
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apply plugin: 'idea'
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apply plugin: 'groovy'
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apply plugin: 'jaci.openrio.gradle.GradleRIO'
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repositories {
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jcenter()
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}
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wpi {
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ctreVersion = "5.7.1.0"
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}
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dependencies {
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implementation wpilib()
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implementation ctre()
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implementation 'org.slf4j:slf4j-api:1.7.25'
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compileOnly 'com.google.code.findbugs:jsr305:3.0.2'
@@ -47,3 +40,16 @@ subprojects {
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}
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}
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}
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configure(subprojects - project(":deadeye")) {
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apply plugin: 'jaci.openrio.gradle.GradleRIO'
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wpi {
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ctreVersion = "5.7.1.0"
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}
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dependencies {
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implementation wpilib()
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implementation ctre()
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}
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}

‎deadeye/build.gradle‎

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apply plugin: 'com.diffplug.gradle.spotless'
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sourceCompatibility = 1.8
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dependencies {
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// https://mvnrepository.com/artifact/io.reactivex.rxjava2/rxjava
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implementation group: 'io.reactivex.rxjava2', name: 'rxjava', version: '2.2.4'
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// https://mvnrepository.com/artifact/com.jakewharton.rxrelay2/rxrelay
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implementation group: 'com.jakewharton.rxrelay2', name: 'rxrelay', version: '2.1.0'
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implementation 'javax.inject:javax.inject:1'
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}
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task javadocJar(type: Jar, dependsOn: javadoc) {
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classifier = 'javadoc'
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from javadoc.destinationDir
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}
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spotless {
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java {
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googleJavaFormat()
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}
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}
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apply from: "${rootDir}/gradle/publish.gradle" // needs to come after javadocJar
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‎deadeye/gradle.properties‎

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projectDescription=Third Coast Deadeye library

‎deadeye/src/main/java/org/strykeforce/thirdcoast/deadeye/ConnectionEvent.java‎

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package org.strykeforce.thirdcoast.deadeye;
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public enum ConnectionEvent {
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CONNECTED,
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DISCONNECTED;
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}

‎deadeye/src/main/java/org/strykeforce/thirdcoast/deadeye/DeadeyeMessage.java‎

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package org.strykeforce.thirdcoast.deadeye;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import java.nio.ByteBuffer;
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import java.nio.ByteOrder;
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import java.util.Arrays;
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public class DeadeyeMessage {
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public static final ByteOrder BYTE_ORDER = ByteOrder.LITTLE_ENDIAN;
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public static final byte ERROR_BYTE = (byte) 0;
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public static final byte HEARTBEAT_BYTE = (byte) 1;
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public static final byte[] HEARTBEAT_BYTES = {HEARTBEAT_BYTE};
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public static final byte DATA_BYTE = (byte) 2;
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public static final byte NODATA_BYTE = (byte) 3;
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public final Type type;
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public final int latency;
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public final double[] data = new double[4];
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private final Logger logger = LoggerFactory.getLogger(this.getClass());
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public DeadeyeMessage(byte[] bytes) {
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byte type = bytes.length > 0 ? bytes[0] : ERROR_BYTE;
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switch (type) {
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case HEARTBEAT_BYTE:
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this.type = Type.HEARTBEAT;
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break;
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case DATA_BYTE:
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this.type = Type.DATA;
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ByteBuffer buffer = ByteBuffer.wrap(bytes);
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buffer.order(BYTE_ORDER);
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buffer.position(Integer.BYTES); // skip over 1 integer
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latency = buffer.getInt();
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for (int i = 0; i < 4; i++) {
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data[i] = buffer.getDouble();
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}
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return;
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case NODATA_BYTE:
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this.type = Type.NODATA;
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break;
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default:
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this.type = Type.ERROR;
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}
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latency = 0;
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}
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@Override
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public String toString() {
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return "DeadeyeMessage{"
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+ "type="
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+ type
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+ ", latency="
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+ latency
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+ ", data="
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+ Arrays.toString(data)
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+ '}';
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}
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public enum Type {
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HEARTBEAT,
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DATA,
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NODATA,
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ERROR
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}
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}

‎deadeye/src/main/java/org/strykeforce/thirdcoast/deadeye/DeadeyeService.java‎

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package org.strykeforce.thirdcoast.deadeye;
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import io.reactivex.Observable;
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import io.reactivex.disposables.Disposable;
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import io.reactivex.schedulers.Timed;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import org.strykeforce.thirdcoast.deadeye.rx.RxUdp;
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import java.net.DatagramPacket;
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import java.net.InetSocketAddress;
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import static java.util.concurrent.TimeUnit.MILLISECONDS;
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import static org.strykeforce.thirdcoast.deadeye.ConnectionEvent.CONNECTED;
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import static org.strykeforce.thirdcoast.deadeye.ConnectionEvent.DISCONNECTED;
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import static org.strykeforce.thirdcoast.deadeye.DeadeyeMessage.Type.HEARTBEAT;
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public class DeadeyeService {
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private static final int PING_INTERVAL = 100;
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private static final int PONG_LIMIT = PING_INTERVAL * 4;
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private static final int PORT = 5555;
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private final Logger logger = LoggerFactory.getLogger(this.getClass());
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// this IP address is hardcoded for tethering in Android 6.0 Marshmallow
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private final InetSocketAddress ADDRESS = new InetSocketAddress("192.168.42.129", PORT);
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private final Observable<Timed<DeadeyeMessage>> pongs;
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private final Observable<DeadeyeMessage> messageObservable;
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private final Observable<Timed<Long>> heartbeat;
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private final Observable<ConnectionEvent> connectionEventObservable;
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// private final Disposable disposable;
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private Disposable connectionEventDisposable;
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public DeadeyeService() {
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logger.info("starting pings to {}:{} every {} ms", ADDRESS.getHostName(), PORT, PING_INTERVAL);
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// send pings
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Observable.interval(PING_INTERVAL, MILLISECONDS)
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.map(i -> DeadeyeMessage.HEARTBEAT_BYTES)
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.subscribe(RxUdp.observerSendingTo(ADDRESS));
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// monitor pongs
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logger.info("listening for pongs on port {} with limit {} ms.", PORT, PONG_LIMIT);
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// TODO: make defensive copy of byte[] in RxUDP, debug print sizeof(Data)
49+
messageObservable =
50+
RxUdp.observableReceivingFrom(PORT)
51+
.map(DatagramPacket::getData)
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.map(DeadeyeMessage::new)
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.share();
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pongs =
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messageObservable
57+
.filter(deadeyeMessage -> deadeyeMessage.type == HEARTBEAT)
58+
.timestamp(MILLISECONDS);
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heartbeat = Observable.interval(PING_INTERVAL / 2, MILLISECONDS).timestamp(MILLISECONDS);
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connectionEventObservable =
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Observable.combineLatest(pongs, heartbeat, (p, h) -> h.time() - p.time())
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.distinctUntilChanged(time -> time > PONG_LIMIT)
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.map(time -> time > PONG_LIMIT ? DISCONNECTED : CONNECTED)
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.startWith(DISCONNECTED)
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.share();
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}
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public void enableConnectionEventLogging(boolean enable) {
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if (connectionEventDisposable != null) connectionEventDisposable.dispose();
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if (enable) {
74+
connectionEventDisposable =
75+
connectionEventObservable
76+
.map(ConnectionEvent::toString)
77+
.subscribe(logger::info, t -> logger.error("connection event logging", t));
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}
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}
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public Observable<ConnectionEvent> getConnectionEventObservable() {
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return connectionEventObservable;
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}
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public Observable<DeadeyeMessage> getMessageObservable() {
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return messageObservable;
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}
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}

‎deadeye/src/main/java/org/strykeforce/thirdcoast/deadeye/Debug.java‎

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package org.strykeforce.thirdcoast.deadeye;
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import java.net.DatagramPacket;
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import java.nio.ByteBuffer;
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import java.util.Arrays;
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public class Debug {
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private static void debugDatagramPacket(DatagramPacket p) {
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byte[] b = Arrays.copyOf(p.getData(), p.getLength());
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debugByteArray(b);
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}
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private static void debugByteBuffer(ByteBuffer b) {
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b.rewind();
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byte[] bytes = new byte[b.remaining()];
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b.get(bytes);
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debugByteArray(bytes);
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}
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private static void debugByteArray(byte[] b) {
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System.out.println("Bytes = " + Arrays.toString(b));
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}
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}

‎deadeye/src/main/java/org/strykeforce/thirdcoast/deadeye/rx/RxBus.java‎

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package org.strykeforce.thirdcoast.deadeye.rx;
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import com.jakewharton.rxrelay2.PublishRelay;
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import com.jakewharton.rxrelay2.Relay;
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import io.reactivex.BackpressureStrategy;
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import io.reactivex.Flowable;
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import javax.inject.Inject;
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import javax.inject.Singleton;
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// courtesy: https://github.com/kaushikgopal/RxJava-Android-Samples
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@Singleton
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public class RxBus {
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private final Relay<Object> bus = PublishRelay.create().toSerialized();
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@Inject
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public RxBus() {}
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public void send(Object o) {
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bus.accept(o);
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}
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public Flowable<Object> asFlowable() {
24+
return bus.toFlowable(BackpressureStrategy.LATEST);
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}
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public boolean hasObservers() {
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return bus.hasObservers();
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}
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}

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