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.networking;
019
020import edu.wpi.first.cscore.CameraServerJNI;
021import java.io.IOException;
022import java.net.InetAddress;
023import java.net.UnknownHostException;
024import java.util.ArrayList;
025import java.util.Arrays;
026import java.util.HashMap;
027import java.util.List;
028import org.photonvision.common.dataflow.DataChangeService;
029import org.photonvision.common.dataflow.events.OutgoingUIEvent;
030import org.photonvision.common.logging.LogGroup;
031import org.photonvision.common.logging.Logger;
032
033public class RoborioFinder {
034    private static RoborioFinder instance;
035    private static final Logger logger = new Logger(RoborioFinder.class, LogGroup.General);
036
037    public static RoborioFinder getInstance() {
038        if (instance == null) instance = new RoborioFinder();
039        return instance;
040    }
041
042    public void findRios() {
043        HashMap<String, Object> map = new HashMap<>();
044        var subMap = new HashMap<String, Object>();
045        // Separate from the above so we don't hold stuff up
046        System.setProperty("java.net.preferIPv4Stack", "true");
047        subMap.put(
048                "deviceIps",
049                Arrays.stream(CameraServerJNI.getNetworkInterfaces())
050                        .filter(it -> !it.equals("0.0.0.0"))
051                        .toArray());
052        logger.info("Searching for rios");
053        List<String> possibleRioList = new ArrayList<>();
054        for (var ip : CameraServerJNI.getNetworkInterfaces()) {
055            logger.info("Trying " + ip);
056            var possibleRioAddr = getPossibleRioAddress(ip);
057            if (possibleRioAddr != null) {
058                logger.info("Maybe found " + ip);
059                searchForHost(possibleRioList, possibleRioAddr);
060            } else {
061                logger.info("Didn't match RIO IP");
062            }
063        }
064
065        //        String name =
066        //                "roboRIO-"
067        //                        +
068        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
069        //                        + "-FRC.local";
070        //        searchForHost(possibleRioList, name);
071        //        name =
072        //                "roboRIO-"
073        //                        +
074        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
075        //                        + "-FRC.lan";
076        //        searchForHost(possibleRioList, name);
077        //        name =
078        //                "roboRIO-"
079        //                        +
080        // ConfigManager.getInstance().getConfig().getNetworkConfig().teamNumber
081        //                        + "-FRC.frc-field.local";
082        //        searchForHost(possibleRioList, name);
083        //        subMap.put("possibleRios", possibleRioList.toArray());
084
085        subMap.put("possibleRios", possibleRioList.toArray());
086        map.put("networkInfo", subMap);
087        DataChangeService.getInstance().publishEvent(new OutgoingUIEvent<>("deviceIpInfo", map));
088    }
089
090    String getPossibleRioAddress(String ip) {
091        try {
092            InetAddress addr = InetAddress.getByName(ip);
093            var address = addr.getAddress();
094            if (address[0] != (byte) (10 & 0xff)) return null;
095            address[3] = (byte) (2 & 0xff);
096            return InetAddress.getByAddress(address).getHostAddress();
097        } catch (UnknownHostException e) {
098            e.printStackTrace();
099        }
100        return null;
101    }
102
103    void searchForHost(List<String> list, String hostname) {
104        try {
105            logger.info("Looking up " + hostname);
106            InetAddress testAddr = InetAddress.getByName(hostname);
107            logger.info("Pinging " + hostname);
108            var canContact = testAddr.isReachable(500);
109            if (canContact) {
110                logger.info("Was able to connect to " + hostname);
111                if (!list.contains(hostname)) list.add(hostname);
112            } else {
113                logger.info("Unable to reach " + hostname);
114            }
115        } catch (IOException ignored) {
116        }
117    }
118}