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time::Duration}; +use image::{io::Reader, DynamicImage, Rgb, RgbImage}; +use ipnet::{Ipv4Net,PrefixLenError}; +use log::{trace,debug,warn,error,info}; +//use crate::vdma_facade::feedthrough::VdmaHandle; + +///RIT owns the subnet 129.21.0.0/16; probing by attempting to open thousands of TCP streams +///simultaneously is unwise. +const UNSAFE_SUBNET:Result = Ipv4Net::new(Ipv4Addr::new(129,21,0,0),16); + +///This subnet is universally considered the "local" subnet. This results in 256 addresses, and can +///be probed both safely and efficiently, and as long as the world server on the LAN is running it +///is functionally guaranteeed to be found. +const HOME_SUBNET:Result = Ipv4Net::new(Ipv4Addr::new(192,168,0,0),24); + +///Current communications takes place on custom port. +///Fix me: RTSP port is 554; prepare for real world situations +const PORT_NUMBER:u16 = 55001; +///Port probe timeout, for +const PORT_PROBE_TIMEOUT:Duration = Duration::new(5,0); +///The standard subnet is a /24 +const SUBNET_SIZE:u8 = 24; + +const RADIANS_TO_DEGREES:f64 = 180.0 / PI; + +///Storage of all world serve connection information +pub struct WorldServerConnection{ + ///Store all open TcpStreams + port_list:Vec<(TcpStream,BufReader)>, + ///Unique image identifier + image_index:u64, + //VDMA instance + //vdma:Option, +} +impl WorldServerConnection{ + pub fn new() -> Result{ + //Import ref images + let host_ip = local_ip().expect("No real IP address!"); + trace!("Host IP: {:?}",host_ip); + let mut thread_list:Vec>> = Vec::new(); + let mut port_list:Vec<(TcpStream,BufReader)> = Vec::new(); + if let IpAddr::V4(host_v4_ip) = host_ip{ + //Check current subnet + let net = Ipv4Net::new(host_v4_ip,SUBNET_SIZE); + + if let Ok(net) = net{ + //RIT owns 129.21.0.0/16; DO NOT SPAM THIS NETWORK + if UNSAFE_SUBNET.unwrap().contains(&net){ + //Request world server address from user + let address = manual_address_prompt(); + if let Ok(real_address) = address{ + let reader = BufReader::new(real_address.try_clone().expect("Failed clone")); + port_list.push((real_address,reader)); + //thread_list won't be added to, so the thread for loop won't execute + } + } else if net.contains(&HOME_SUBNET.unwrap()){ + //Collect all Hosts on the current subnet + info!("aggregating all IPs... This may take several minutes..."); + for net_address in net.hosts(){ + thread_list.push( + thread::spawn(move ||{ + let ip_port = std::net::SocketAddr::V4(SocketAddrV4::new(net_address, PORT_NUMBER)); + //Attempt to open a TCP stream with this IP address, exit the thread + //returning the open TcpStream, or an error + return TcpStream::connect_timeout(&ip_port, PORT_PROBE_TIMEOUT); + }) + ); + } + } + } + } + + //Multithread the port-sniffing, only save sucessful connections + for thread in thread_list{ + let output = thread.join().unwrap(); + if let Ok(real_output) = output{ + let reader = BufReader::new(real_output.try_clone().expect("Failed clone")); + port_list.push((real_output,reader)); + } + } + + return Ok(Self{port_list, image_index:0});// vdma:None}); + } + + ///Gets the next image, returns how long it took in milliseconds to process the image + pub fn get_next_images(&mut self,input_name:&str) -> i64{ + let filename = "distributed/".to_string() + input_name + ".csv"; + debug!("Filename to be opened: {:?}", filename); + let mut coords_file = File::open(filename).expect("bad filename!"); + let mut all_lines = String::default(); + let _ = coords_file.read_to_string(&mut all_lines); + let linecount = all_lines.lines().count(); + let mut meta_finish_times = Vec::new(); + for line in 0..linecount{ + let mut finish_times = Vec::new(); + for (ref mut stream,ref mut reader) in self.port_list.iter_mut(){ + info!("Stream connected to address: {:?}",stream.peer_addr()); + send_processing_time(stream, line.try_into().expect("Number too big to cast!")); + let start_time = Utc::now().time(); + + match input_name.to_lowercase(){ + name if name.contains("serve1") => _ = stream.write(&0u32.to_le_bytes()), + name if name.contains("serve2") => _ = stream.write(&1u32.to_le_bytes()), + name if name.contains("serve3") => _ = stream.write(&2u32.to_le_bytes()), + name if name.contains("serve4") => _ = stream.write(&3u32.to_le_bytes()), + name if name.contains("serve5") => _ = stream.write(&4u32.to_le_bytes()), + name if name.contains("volley1") => _ = stream.write(&5u32.to_le_bytes()), + name if name.contains("volley2") => _ = stream.write(&6u32.to_le_bytes()), + name if name.contains("volley3") => _ = stream.write(&7u32.to_le_bytes()), + name if name.contains("volley4") => _ = stream.write(&8u32.to_le_bytes()), + name if name.contains("volley5") => _ = stream.write(&9u32.to_le_bytes()), + _ => _ = stream.write(&0u32.to_le_bytes()) + } + + //Storage for (x,y) vals for top and side; + //how to define which is which? + for _ in 0..2{ + let header_values = read_image_header(stream, reader, &mut self.image_index); + let image = read_image(reader, header_values.3); + let image_length = image.len(); + let centroids = Self::build_image(image,header_values); + //TODO: Contour shenanigans to get the sole midpoint + //info!("Centroids: {:?}", centroids); + } + //pixel_to_3d_coords() here + //Dump coords to file (based off input name?) in `generated/` + let end_time = Utc::now().time(); + finish_times.push((end_time - start_time).num_milliseconds()); + self.image_index += 1; + } + let mut final_result = 0; + let val_count = finish_times.len(); + for val in finish_times{ + final_result += val; + } + final_result = ((final_result as usize) / val_count) as i64; + meta_finish_times.push(final_result); + } + let mut final_result = 0; + let val_count = meta_finish_times.len(); + for val in meta_finish_times{ + final_result += val; + } + final_result = ((final_result as usize) / val_count) as i64; + info!("Processing time: {:?}ms", final_result); + final_result + } + fn build_image(recieved_bytes:Vec, header_info:(u32,u32,u32,u64,String)) -> (u32,u32){ + let image_width = header_info.0; + let image_height = header_info.1; + let byte_depth = header_info.2; + let image_name = header_info.4; + + //Create a blank pane on which to store the read in pixels + let mut img = RgbImage::new(image_width,image_height); + + //Create a temporary storage point for u8s when generating pixels + //Pixels are definitionally [u8;3], so this can be hardcoded to preserve space + let mut temp:[u8;3] = [0;3]; + + //Iterate over bytes + info!("Building image..."); + for i in 0..recieved_bytes.len(){ + let byte = recieved_bytes.get(i).expect("Index does not exist!"); + + //Each pixel is composed of [byte_depth] u8s + if ((i as u32)+1) % byte_depth == 0{ + temp[2] = *byte; + //Coordinate in the pane = i/3 + let pixel_number:u32 = ((i as u32) /byte_depth).try_into().unwrap(); + //Insert the pixel into the pane + img.put_pixel( + //Pixels coming directly from Unity are sent in reference to Unity; that is, + //starting at the bottom left, and iterating horizontally, then vertically. + //This line compensates and creates a properly-oriented image + pixel_number%image_width, (image_height-1)-(pixel_number / image_width), + //Extract image from temporary storage, ang generate pixel + Rgb::{0:temp.try_into().expect("bad vector length!")} + ); + //Clear temporary storage + temp = [0;3]; + } else if ((i as u32)+1) % byte_depth == 2{ + temp[1] = *byte; + } else if ((i as u32)+1) % byte_depth == 1{ + temp[0] = *byte; + } + } + let a:RgbImage; + let file_name:&str; + if image_name.contains("Top") { + file_name = "Top_Ref.png"; + } else if image_name.contains("Side") { + file_name = "Side_Ref.png"; + } else { + file_name = "Bad_name.png"; + } + let temp = Reader::open(file_name).expect("Bad import of reference file!").decode(); + match temp { + Ok(file) => { + a = file.into_rgb8(); + }, + Err(error) => panic!("{:?}",error) + } + let centroids = Self::img_proc(&a, &img); + info!("Image centroids: {:?}", centroids); + //TODO: Figure out which centroid is which + centroids[0] + } + + fn img_proc(a: &RgbImage, b: &RgbImage) -> Vec<(u32,u32)>{ + let width = a.dimensions().0; + let height = a.dimensions().1; + + let a_samples = a.as_flat_samples().samples; + let b_samples = b.as_flat_samples().samples; + + let mut diff_image = RgbImage::new(width, height); + let mut x = 0; + let mut y = 0; + + for (a_pixel,b_pixel) in a_samples.chunks_exact(3).zip(b_samples.chunks_exact(3)){ + diff_image.put_pixel(x, y, Rgb::{0:[ + a_pixel[0].abs_diff(b_pixel[0]), + a_pixel[1].abs_diff(b_pixel[1]), + a_pixel[2].abs_diff(b_pixel[2]) + ]}); + x += 1; + if x >= width{ + x = 0; + y += 1; + } + } + let converted_image = DynamicImage::ImageRgb8(diff_image).to_luma8(); + let result= find_contours::(&converted_image); + let mut return_val = Vec::new(); + for contour in result{ + let mut avg_x = 0; + let mut avg_y = 0; + for point in &contour.points{ + avg_x += point.x; + avg_y += point.y; + } + avg_x = ((avg_x as usize) / contour.points.len()) as u32; + avg_y = ((avg_y as usize) / contour.points.len()) as u32; + return_val.push((avg_x, avg_y)); + } + return_val + } +} +///Borrows an iterator over the bytes in a buffered-reader of a TcpStream; reads the next 4 bytes, +///outputs the generated u32 +fn bytes_to_u32(iter:&mut Bytes<&mut BufReader>) -> u32{ + let mut array:[u8;4] = [0;4]; + for i in 0..4{ + let possible_result:Option> = iter.next(); + match possible_result{ + None => {}, + Some(result) => { + match result{ + Ok(value) => { + array[i] = value; + }, + Err(error) => { + error!("Error converting byte to u32! {:?}", error); + } + } + } + } + } + return u32::from_le_bytes(array); +} + +fn bytes_to_u64(iter:&mut Bytes<&mut BufReader>) -> u64{ + let mut array:[u8;8] = [0;8]; + for i in 0..8{ + let possible_result:Option> = iter.next(); + match possible_result{ + None => {}, + Some(result) => { + match result{ + Ok(value) => { + array[i] = value; + }, + Err(error) => { + error!("Error converting byte to u32! {:?}", error); + } + } + } + } + } + return u64::from_le_bytes(array); +} +///Request the user to input the world server's address into stdin +fn manual_address_prompt() -> Result{ + let return_val:Result = Err(Error::new(ErrorKind::AddrNotAvailable,"Invalid Address")); + while return_val.is_err(){ + let mut user_input:String = String::default(); + match stdin().read_line(&mut user_input){ + Ok(_) => { + match user_input.trim().parse::(){ + Ok(address) => { + //Test if the address is accurate + let stream = TcpStream::connect_timeout(&std::net::SocketAddr::V4(address), PORT_PROBE_TIMEOUT); + match stream{ + Ok(stream) => return Ok(stream), + Err(error) => { + warn!("Address unavailable!"); + debug!("{:?}",error); + } + } + }, + Err(error) => { + error!("Unable to properly parse user input!"); + debug!("{:?}",error); + } + } + }, + Err(error) => { + error!("Unable to read user input!"); + debug!("{:?}",error); + } + } + } + return return_val; +} + +//Used to send the calculated time value to the world server +fn send_processing_time(stream:&mut TcpStream ,input_name:u32){ + debug!("Begin handshake; sending timestamp float..."); + //Write the f64 value, in bytes, to the stream, and ensure it has been sent + _ = stream.write(&input_name.to_le_bytes()); + _ = stream.flush(); + debug!("Timestamp sent!"); +} + +//Used to recieve images from the world server +fn read_image_header(stream:&mut TcpStream, reader:&mut BufReader, image_index:&mut u64) -> (u32,u32,u32,u64,String){ + //Create an iterator over the stream's bytes + let mut iter = reader.bytes(); + + debug!("Continue handshake, read back image packet length..."); + //The first values sent will always be a u32 containing the length of the message (without the + //length counted), followed by the image width and height + let length = bytes_to_u64(&mut iter); + debug!("Image packet length read as {:?}!",length); + + debug!("Continue handshake, read back image width..."); + let image_width = bytes_to_u32(&mut iter); + debug!("Image width read as {:?}!",image_width); + + debug!("Continue handshake, read back image height..."); + let image_height = bytes_to_u32(&mut iter); + debug!("Image height read as {:?}!",image_height); + + //The length of the image is the total number of bytes + let byte_depth = (length / ((image_width * image_height) as u64)) as u32; + debug!("Image bitdepth calculated as {:?}!", byte_depth); + + //Confirm to world server the correct number of bytes + _ = stream.write(&byte_depth.to_le_bytes()); + _ = stream.flush(); + + debug!("Reading camera source info..."); + let camera_source = bytes_to_u32(&mut iter); + let camera_name:&str; + let top_cam_img = "./Top".to_owned() + &image_index.to_string() + ".png"; + let side_cam_img = "./Side".to_owned() + &image_index.to_string() + ".png"; + if camera_source == u32::MIN{ + debug!("Image source defined as \"Top\"!"); + camera_name = &top_cam_img; + } else if camera_source == u32::MAX { + debug!("Image source defined as \"Side\"!"); + camera_name = &side_cam_img; + } else { + error!("Unknown camera value!!!"); + camera_name = "./unknown.png"; + } + + debug!("Writing {:?} to stream...", camera_source.to_le_bytes()); + _ = stream.write(&byte_depth.to_le_bytes()); + _ = stream.flush(); + (image_width,image_height,byte_depth,length,camera_name.to_string()) +} + +fn read_image(reader:&mut BufReader, image_length:u64)-> Vec{ + //Create a storage point for the bytes + let mut recieved_bytes:Vec = Vec::new(); + //Create an iterator over the stream's bytes + let mut iter = reader.bytes(); + //TODO: Remove assumption + //Always assumes world server will send image + info!("Start reading..."); + //Recieve the rest of the message + for index in 0..image_length{ + let possible_result:Option> = iter.next(); + match possible_result{ + None => {}, + Some(result) => { + match result{ + Ok(value) => { + recieved_bytes.push(value); + }, + Err(error) => { + error!("Error reading image from buffer! {:?}", error); + } + } + } + } + } + + info!("Image successfully recieved"); + + recieved_bytes +} + + +fn pixel_to_3d_coords(top_x:u32, top_y:u32, side_y:u32) -> (f64,f64,f64) { + todo!(); + const TOP_CAM_FOV_H:f64 = 90.0; + const TOP_CAM_FOV_V:f64 = 58.72538; + const TOP_CAM_IMG_W:f64 = 3840.0; + const TOP_CAM_IMG_H:f64 = 2160.0; + const TOP_CAM_H:f64 = 13.0; + + //const SIDE_CAM_FOV_H:f64 = 90.0; + const SIDE_CAM_FOV_V:f64 = 120.0; + //const SIDE_CAM_IMG_W:f64 = 3840.0; + const SIDE_CAM_IMG_H:f64 = 2160.0; + const SIDE_CAM_H:f64 = 0.0; + const SIDE_CAM_Y:f64 = 9.5; + + let theta_x:f64 = ((top_y as f64) - (TOP_CAM_IMG_W/2.0)) * (TOP_CAM_FOV_H / TOP_CAM_IMG_W); + let x_ball = TOP_CAM_H * (theta_x.tan() * RADIANS_TO_DEGREES); + + let theta_y:f64 = ((top_y as f64) - (TOP_CAM_IMG_H/2.0)) * (TOP_CAM_FOV_V / TOP_CAM_IMG_H); + let y_ball = TOP_CAM_H * (theta_y.tan() * RADIANS_TO_DEGREES); + + let theta_h:f64 = ((SIDE_CAM_IMG_H / 2.0) - (side_y as f64)) * (SIDE_CAM_FOV_V / SIDE_CAM_IMG_H); + let mut h_ball = TOP_CAM_H * (theta_h.tan() * RADIANS_TO_DEGREES); + + let x_comp:f64 = x_ball * (1.0 - (h_ball/TOP_CAM_H)); + let y_comp:f64 = y_ball * (1.0 - (h_ball/TOP_CAM_H)); + + let mut error = 0.38*h_ball; + h_ball = h_ball + error; + error = 0.15*h_ball; + h_ball = h_ball + error; + (x_comp,y_comp,h_ball) +} diff --git a/src/main.rs b/src/main.rs index 8c30842..35132f8 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,211 +1,17 @@ -use std::{ fs, io::{Bytes, stdin, BufReader, Error, ErrorKind, Read, Write}, net::{IpAddr, Ipv4Addr, SocketAddrV4, TcpStream}, path::Path, thread::{self, JoinHandle}, time::Duration}; +pub mod cam_comm; +pub mod rest_api; +use std::{ fs, path::Path}; use chrono::{DateTime, Local}; -use image::{Rgb, RgbImage}; -use ipnet::{Ipv4Net,PrefixLenError}; -use local_ip_address::linux::local_ip; -use log::{LevelFilter, trace,debug,warn,error,info}; +use log::LevelFilter; use fern::{log_file, Dispatch}; -//RTSP port is 554; prepare for real world situations -const PORT_NUMBER:u16 = 55001; -const PORT_PROBE_TIMEOUT:Duration = Duration::new(5,0); -const SUBNET_SIZE:u8 = 24; -//These subnets are well documented; -///RIT owns the subnet 129.21.0.0/16; probing by attempting to open thousands of TCP streams -///simultaneously is unwise. -const UNSAFE_SUBNET:Result = Ipv4Net::new(Ipv4Addr::new(129,21,0,0),16); - -///This subnet is universally considered the "local" subnet. This results in 256 addresses, and can -///be probed both safely and efficiently, and as long as the world server on the LAN is running it -///is functionally guaranteeed to be found. -const HOME_SUBNET:Result = Ipv4Net::new(Ipv4Addr::new(192,168,0,0),24); - -fn main() { +#[rocket::main] +async fn main() { setup_logs(&true); - //Get host IP - let host_ip = local_ip().expect("No real IP address!"); - trace!("Host IP: {:?}",host_ip); - - let mut thread_list:Vec>> = Vec::new(); - let mut port_list:Vec = Vec::new(); - if let IpAddr::V4(host_v4_ip) = host_ip{ - //Check current subnet - let net = Ipv4Net::new(host_v4_ip,SUBNET_SIZE); - - if let Ok(net) = net{ - //RIT owns 129.21.0.0/16; DO NOT SPAM THIS NETWORK - if UNSAFE_SUBNET.unwrap().contains(&net){ - //Request world server address from user - let address = manual_address_prompt(); - if address.is_ok(){ - port_list.push(address.unwrap()); - //thread_list won't be added to, so the thread for loop won't execute - } - } else if net.contains(&HOME_SUBNET.unwrap()){ - //Collect all Hosts on the current subnet - info!("aggregating all IPs... This may take several minutes..."); - for net_address in net.hosts(){ - thread_list.push( - thread::spawn(move ||{ - let ip_port = std::net::SocketAddr::V4(SocketAddrV4::new(net_address, PORT_NUMBER)); - //Attempt to open a TCP stream with this IP address, exit the thread - //returning the open TcpStream, or an error - return TcpStream::connect_timeout(&ip_port, PORT_PROBE_TIMEOUT); - }) - ); - } - } - } - } - - //Multithread the port-sniffing block, only save sucessful connections - for thread in thread_list{ - let output = thread.join().unwrap(); - if let Ok(real_output) = output{ - port_list.push(real_output); - } - } - - //For all available ports, try the custom communication protocol - for mut stream in port_list{ - info!("Stream connected to address: {:?}",stream.peer_addr()); - send_processing_time(&mut stream, 2.7f64); - read_response(&mut stream); - } - //TODO: Document/implement RTSP client-side comms - //Currently using custom port and custom protocol, but if real-world cameras will - //be in use, we will likely need to be portable to the RTSP protocol, or similar + rest_api::start_rest_endpoint().await; } -//Used to send the calculated time value to the world server -pub fn send_processing_time(stream:&mut TcpStream ,sent_value:f64){ - debug!("Begin handshake; sending timestamp float..."); - //Write the f64 value, in bytes, to the stream, and ensure it has been sent - stream.write(&sent_value.to_le_bytes()).unwrap(); - stream.flush().unwrap(); - debug!("Timestamp sent!"); -} - -//Used to recieve images from the world server -pub fn read_response(stream:&mut TcpStream){ - //Buffer the incoming stream - let reader = BufReader::new(stream.try_clone().expect("Failed clone")); - //Create a storage point for the bytes - let mut recieved_bytes:Vec = Vec::new(); - //Create an iterator over the stream's bytes - let mut iter = reader.bytes(); - - debug!("Continue handshake, read back image packet length..."); - //The first values sent will always be a u32 containing the length of the message (without the - //length counted), followed by the image width and height - let length = bytes_to_u32(&mut iter); - debug!("Image packet length read as {:?}!",length); - - debug!("Continue handshake, read back image width..."); - let image_width = bytes_to_u32(&mut iter); - debug!("Image width read as {:?}!",image_width); - - debug!("Continue handshake, read back image height..."); - let image_height = bytes_to_u32(&mut iter); - debug!("Image height read as {:?}!",image_height); - - //The length of the image is the total number of bytes - let byte_depth = length / (image_width * image_height); - debug!("Image bitdepth calculated as {:?}!", byte_depth); - - //Confirm to world server the correct number of bytes - stream.write(&byte_depth.to_le_bytes()).unwrap(); - stream.flush().unwrap(); - - //TODO: Remove assumption - //Always assumes world server will send image - info!("Start reading..."); - //Recieve the rest of the message - for _ in 0..length{ - recieved_bytes.push(iter.next().unwrap().unwrap_or(0)); - } - - info!("Image successfully recieved"); - - //Create a blank pane on which to store the read in pixels - let mut img = RgbImage::new(image_width,image_height); - - //Create a temporary storage point for u8s when generating pixels - let mut temp:Vec = Vec::new(); - - //Iterate over bytes - info!("Building image..."); - for i in 0..recieved_bytes.len(){ - let byte = recieved_bytes.get(i).expect("Index does not exist!"); - - temp.push(byte.clone()); - //Each pixel is composed of [byte_depth] u8s - if ((i as u32)+1) % byte_depth == 0{ - //Coordinate in the pane = i/3 - let pixel_number:u32 = (i as u32) /byte_depth; - //Insert the pixel into the pane - img.put_pixel( - //Pixels coming directly from Unity are sent "upside down", that is, - //starting at the bottom right, and iterating horizontally, then vertically. - //This line compensates and creates a properly-oriented image - (image_width-1)-(pixel_number%image_width), (image_height-1)-(pixel_number / image_width), - //Extract image from temporary storage, ang generate pixel - Rgb::{0:temp.clone().try_into().expect("bad vector length!")} - ); - //Clear temporary storage - temp.clear(); - } - } - //Dump image to file - //ONLY FOR EXPERIMENTATION AND TESTING PURPOSES - info!("Image built, saving to file..."); - _ = img.save("./test.png"); - info!("image saved!"); -} - -///Borrows an iterator over the bytes in a buffered-reader of a TcpStream; reads the next 4 bytes, -///outputs the generated u32 -fn bytes_to_u32(iter:&mut Bytes>) -> u32{ - let mut array:[u8;4] = [0;4]; - for i in 0..4{ - array[i] = iter.next().unwrap().unwrap(); - } - return u32::from_le_bytes(array); -} - -///Request the user to input the world server's address into stdin -fn manual_address_prompt() -> Result{ - let return_val:Result = Err(Error::new(ErrorKind::AddrNotAvailable,"Invalid Address")); - while return_val.is_err(){ - let mut user_input:String = String::default(); - match stdin().read_line(&mut user_input){ - Ok(_) => { - match user_input.trim().parse::(){ - Ok(address) => { - //Test if the address is accurate - let stream = TcpStream::connect_timeout(&std::net::SocketAddr::V4(address), PORT_PROBE_TIMEOUT); - if stream.is_ok(){ - return stream; - } else { - warn!("Address unavailable!"); - debug!("{:?}",stream.unwrap_err()); - } - }, - Err(error) => { - error!("Unable to properly parse user input!"); - debug!("{:?}",error); - } - } - }, - Err(error) => { - error!("Unable to read user input!"); - debug!("{:?}",error); - } - } - } - return return_val; -} ///Set up logging macros to be used throughout the program fn setup_logs(debug:&bool){ diff --git a/src/rest_api.rs b/src/rest_api.rs new file mode 100644 index 0000000..00bb1b9 --- /dev/null +++ b/src/rest_api.rs @@ -0,0 +1,84 @@ +use std::sync::Mutex; +use crate::cam_comm::WorldServerConnection; +use local_ip_address::local_ip; +use rocket::{routes, get, post, figment::Figment, fs::NamedFile, http::Method, response::status, Config, State}; +use rocket_cors::{AllowedOrigins, CorsOptions}; +use log::error; + +#[post("/serve", data = "")] +fn start_serve(raw_index:String,cams:&State>) -> status::Accepted<()> { + println!("{:?}",raw_index); + let parsed_index = raw_index.strip_prefix("file_name=").expect("bad data!"); + let cameras = cams.lock(); + match cameras{ + Ok(mut cameras) => { + cameras.get_next_images(parsed_index); + }, + Err(error) => { + error!("Error getting lock on camera state! {:?}",error); + } + } + status::Accepted(()) +} + +//Get most recently updated file +#[get("/serve")] +async fn get_serve_data() -> Option{ + let last_modified_file = std::fs::read_dir("distributed") //Read in the current directory + .expect("couldn't access local dir") //assume the directory is real + .flatten() //Ignore all the files that have permissions issues + .filter(|file| file.metadata().unwrap().is_file()) //Ignore files that aren't actually files + .max_by_key(|x| x.metadata().unwrap().modified().unwrap()) //Find newest file + .unwrap(); //Assume the newest file actually exists + NamedFile::open(last_modified_file.path()).await.ok() +} + +///Get specific file, as defined by request +#[get("/serve/")] +async fn get_data(file:String) -> Option{ + let filename = "distributed/".to_string() + &file + ".csv"; + NamedFile::open(filename).await.ok() +} + +#[get("/ball-path/")] +async fn get_ball_path(file:String) -> Option{ + let filename = "generated/".to_string() + &file + ".csv"; + NamedFile::open(filename).await.ok() +} + +#[get("/favicon.ico")] +async fn favicon() -> Option{ NamedFile::open("favicon.ico").await.ok() } + +///Initialises the world server connection, spins Rocket into a unique process +pub async fn start_rest_endpoint(){ + //Rocket defaults to using the localhost loopback address. This isn't ideal for prod usage, so + //instead we bind to the host IP address. + let host_ip = local_ip().expect("No real IP address!"); + let figment = Figment::from(Config::default()) + .merge(("address",host_ip)); + + //Allow cross-origin resource sharing + let cors = CorsOptions::default() + .allowed_origins(AllowedOrigins::all()) + .allowed_methods( + vec![Method::Get, Method::Post] + .into_iter() + .map(From::from) + .collect(), + ).allow_credentials(true); + + match WorldServerConnection::new(){ + Ok(world_server) => { + let _rocket = rocket::custom(figment) + .attach(cors.to_cors().expect("CORS init failure!")) + .manage(Mutex::new(world_server)) + .mount("/", routes![favicon,get_ball_path,get_data,start_serve,get_serve_data]) + .launch().await; + }, + Err(error) => { + error!("Cannot open connection to world server! {:?}", error); + panic!(); + } + } + +} diff --git a/vdma_docs.pdf b/vdma_docs.pdf new file mode 100644 index 0000000..3c220ce Binary files /dev/null and b/vdma_docs.pdf differ