001/*
002 * Copyright (C) Photon Vision.
003 *
004 * This program is free software: you can redistribute it and/or modify
005 * it under the terms of the GNU General Public License as published by
006 * the Free Software Foundation, either version 3 of the License, or
007 * (at your option) any later version.
008 *
009 * This program is distributed in the hope that it will be useful,
010 * but WITHOUT ANY WARRANTY; without even the implied warranty of
011 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
012 * GNU General Public License for more details.
013 *
014 * You should have received a copy of the GNU General Public License
015 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
016 */
017
018package org.photonvision.common.dataflow.networktables;
019
020import edu.wpi.first.apriltag.AprilTagFieldLayout;
021import edu.wpi.first.networktables.LogMessage;
022import edu.wpi.first.networktables.NetworkTable;
023import edu.wpi.first.networktables.NetworkTableEvent;
024import edu.wpi.first.networktables.NetworkTableEvent.Kind;
025import edu.wpi.first.networktables.NetworkTableInstance;
026import edu.wpi.first.networktables.StringSubscriber;
027import java.io.IOException;
028import java.util.EnumSet;
029import java.util.HashMap;
030import org.photonvision.PhotonVersion;
031import org.photonvision.common.configuration.ConfigManager;
032import org.photonvision.common.configuration.NetworkConfig;
033import org.photonvision.common.dataflow.DataChangeService;
034import org.photonvision.common.dataflow.events.OutgoingUIEvent;
035import org.photonvision.common.dataflow.websocket.UIPhotonConfiguration;
036import org.photonvision.common.hardware.HardwareManager;
037import org.photonvision.common.logging.LogGroup;
038import org.photonvision.common.logging.LogLevel;
039import org.photonvision.common.logging.Logger;
040import org.photonvision.common.scripting.ScriptEventType;
041import org.photonvision.common.scripting.ScriptManager;
042import org.photonvision.common.util.TimedTaskManager;
043import org.photonvision.common.util.file.JacksonUtils;
044
045public class NetworkTablesManager {
046    private static final Logger logger =
047            new Logger(NetworkTablesManager.class, LogGroup.NetworkTables);
048
049    private final NetworkTableInstance ntInstance = NetworkTableInstance.getDefault();
050    private final String kRootTableName = "/photonvision";
051    private final String kFieldLayoutName = "apriltag_field_layout";
052    public final NetworkTable kRootTable = ntInstance.getTable(kRootTableName);
053
054    private boolean m_isRetryingConnection = false;
055
056    private StringSubscriber m_fieldLayoutSubscriber =
057            kRootTable.getStringTopic(kFieldLayoutName).subscribe("");
058
059    private final TimeSyncManager m_timeSync = new TimeSyncManager(kRootTable);
060
061    private NetworkTablesManager() {
062        ntInstance.addLogger(
063                LogMessage.kInfo, LogMessage.kCritical, this::logNtMessage); // to hide error messages
064        ntInstance.addConnectionListener(true, this::checkNtConnectState); // to hide error messages
065
066        ntInstance.addListener(
067                m_fieldLayoutSubscriber, EnumSet.of(Kind.kValueAll), this::onFieldLayoutChanged);
068
069        // Get the UI state in sync with the backend. NT should fire a callback when it first connects
070        // to the robot
071        broadcastConnectedStatus();
072    }
073
074    public void registerTimedTasks() {
075        m_timeSync.start();
076        TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
077    }
078
079    private static NetworkTablesManager INSTANCE;
080
081    public static NetworkTablesManager getInstance() {
082        if (INSTANCE == null) INSTANCE = new NetworkTablesManager();
083        return INSTANCE;
084    }
085
086    private void logNtMessage(NetworkTableEvent event) {
087        String levelmsg = "DEBUG";
088        LogLevel pvlevel = LogLevel.DEBUG;
089        if (event.logMessage.level >= LogMessage.kCritical) {
090            pvlevel = LogLevel.ERROR;
091            levelmsg = "CRITICAL";
092        } else if (event.logMessage.level >= LogMessage.kError) {
093            pvlevel = LogLevel.ERROR;
094            levelmsg = "ERROR";
095        } else if (event.logMessage.level >= LogMessage.kWarning) {
096            pvlevel = LogLevel.WARN;
097            levelmsg = "WARNING";
098        } else if (event.logMessage.level >= LogMessage.kInfo) {
099            pvlevel = LogLevel.INFO;
100            levelmsg = "INFO";
101        }
102
103        logger.log(
104                "NT: "
105                        + levelmsg
106                        + " "
107                        + event.logMessage.level
108                        + ": "
109                        + event.logMessage.message
110                        + " ("
111                        + event.logMessage.filename
112                        + ":"
113                        + event.logMessage.line
114                        + ")",
115                pvlevel);
116    }
117
118    public void checkNtConnectState(NetworkTableEvent event) {
119        var isConnEvent = event.is(Kind.kConnected);
120        var isDisconnEvent = event.is(Kind.kDisconnected);
121
122        if (isDisconnEvent) {
123            var msg =
124                    String.format(
125                            "NT lost connection to %s:%d! (NT version %d). Will retry in background.",
126                            event.connInfo.remote_ip,
127                            event.connInfo.remote_port,
128                            event.connInfo.protocol_version);
129            logger.error(msg);
130            HardwareManager.getInstance().setNTConnected(false);
131
132            getInstance().broadcastConnectedStatus();
133        } else if (isConnEvent && event.connInfo != null) {
134            var msg =
135                    String.format(
136                            "NT connected to %s:%d! (NT version %d)",
137                            event.connInfo.remote_ip,
138                            event.connInfo.remote_port,
139                            event.connInfo.protocol_version);
140            logger.info(msg);
141            HardwareManager.getInstance().setNTConnected(true);
142
143            ScriptManager.queueEvent(ScriptEventType.kNTConnected);
144            getInstance().broadcastVersion();
145            getInstance().broadcastConnectedStatus();
146
147            m_timeSync.reportNtConnected();
148        } else if (isConnEvent) {
149            logger.warn("Got connection event with no connection info??");
150        } else {
151            logger.warn("Got a non-sensical connection message that is neither connect nor disconnect?");
152        }
153    }
154
155    public NetworkTableInstance getNTInst() {
156        return ntInstance;
157    }
158
159    private void onFieldLayoutChanged(NetworkTableEvent event) {
160        var atfl_json = event.valueData.value.getString();
161        try {
162            System.out.println("Got new field layout!");
163            var atfl = JacksonUtils.deserialize(atfl_json, AprilTagFieldLayout.class);
164            ConfigManager.getInstance().getConfig().setApriltagFieldLayout(atfl);
165            ConfigManager.getInstance().requestSave();
166            DataChangeService.getInstance()
167                    .publishEvent(
168                            new OutgoingUIEvent<>(
169                                    "fullsettings",
170                                    UIPhotonConfiguration.programStateToUi(ConfigManager.getInstance().getConfig())));
171        } catch (IOException e) {
172            logger.error("Error deserializing atfl!");
173            logger.error(atfl_json);
174        }
175    }
176
177    public void broadcastConnectedStatus() {
178        TimedTaskManager.getInstance().addOneShotTask(this::broadcastConnectedStatusImpl, 1000L);
179    }
180
181    private void broadcastConnectedStatusImpl() {
182        HashMap<String, Object> map = new HashMap<>();
183        var subMap = new HashMap<String, Object>();
184
185        subMap.put("connected", ntInstance.isConnected());
186        if (ntInstance.isConnected()) {
187            var connections = ntInstance.getConnections();
188            if (connections.length > 0) {
189                subMap.put("address", connections[0].remote_ip + ":" + connections[0].remote_port);
190            }
191            subMap.put("clients", connections.length);
192        }
193
194        map.put("ntConnectionInfo", subMap);
195        DataChangeService.getInstance()
196                .publishEvent(new OutgoingUIEvent<>("networkTablesConnected", map));
197    }
198
199    private void broadcastVersion() {
200        kRootTable.getEntry("version").setString(PhotonVersion.versionString);
201        kRootTable.getEntry("buildDate").setString(PhotonVersion.buildDate);
202    }
203
204    public void setConfig(NetworkConfig config) {
205        if (config.runNTServer) {
206            setServerMode();
207        } else {
208            setClientMode(config.ntServerAddress);
209        }
210
211        m_timeSync.setConfig(config);
212
213        broadcastVersion();
214    }
215
216    public long getOffset() {
217        return m_timeSync.getOffset();
218    }
219
220    private void setClientMode(String ntServerAddress) {
221        ntInstance.stopServer();
222        ntInstance.startClient4("photonvision");
223        try {
224            int t = Integer.parseInt(ntServerAddress);
225            if (!m_isRetryingConnection) logger.info("Starting NT Client, server team is " + t);
226            ntInstance.setServerTeam(t);
227        } catch (NumberFormatException e) {
228            if (!m_isRetryingConnection)
229                logger.info("Starting NT Client, server IP is \"" + ntServerAddress + "\"");
230            ntInstance.setServer(ntServerAddress);
231        }
232        ntInstance.startDSClient();
233        broadcastVersion();
234    }
235
236    private void setServerMode() {
237        logger.info("Starting NT Server");
238        ntInstance.stopClient();
239        ntInstance.startServer();
240        broadcastVersion();
241    }
242
243    // So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
244    // it'll never connect. This hack works around it by restarting the client/server while the nt
245    // instance
246    // isn't connected, same as clicking the save button in the settings menu (or restarting the
247    // service)
248    private void ntTick() {
249        if (!ntInstance.isConnected()
250                && !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
251            setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
252        }
253
254        if (!ntInstance.isConnected() && !m_isRetryingConnection) {
255            m_isRetryingConnection = true;
256            logger.error(
257                    "[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
258        }
259    }
260
261    public long getTimeSinceLastPong() {
262        return m_timeSync.getTimeSinceLastPong();
263    }
264}