commit 1cb5e333d302bff453b59465530010c69c0972fc
author Daniel Petti <djpetti@me.com> Tue Oct 01 05:05:15 2013 +0000
committer Daniel Petti <djpetti@me.com> Tue Oct 01 05:05:15 2013 +0000
tree b0d9ee08e3253023ed2a40f0dfb52c0eb50aa871
parent 8e38193b3f18cbb6a6cfb374aa89e8557403fad6

Add PWM bounds for victor.

- Rename AtomMotorWriter.cc to be styleguide compliant.
- Make initial modifications to this file for third robot.
- Copy entire output directory from frc971 to bot3.
- Get rid of aos_module.ko.

bot3/output/CameraServer.cc

diff --git a/bot3/output/CameraServer.cc b/bot3/output/CameraServer.cc
new file mode 100644
index 0000000..939731d
--- /dev/null
+++ b/bot3/output/CameraServer.cc
@@ -0,0 +1,93 @@
+#include <string.h>
+
+#include "aos/atom_code/output/HTTPServer.h"
+#include "aos/atom_code/output/evhttp_ctemplate_emitter.h"
+#include "aos/atom_code/output/ctemplate_cache.h"
+#include "aos/common/messages/RobotState.q.h"
+#include "ctemplate/template.h"
+#include "aos/atom_code/init.h"
+#include "aos/common/logging/logging.h"
+#include "aos/atom_code/configuration.h"
+
+#include "frc971/constants.h"
+
+RegisterTemplateFilename(ROBOT_HTML, "robot.html.tpl");
+
+namespace frc971 {
+
+class CameraServer : public aos::http::HTTPServer {
+ public:
+  CameraServer() : HTTPServer(::aos::configuration::GetRootDirectory(), 8080),
+      buf_(NULL) {
+    AddPage<CameraServer>("/robot.html", &CameraServer::RobotHTML, this);
+  }
+
+ private:
+  evbuffer *buf_;
+  bool Setup(evhttp_request *request, const char *content_type) {
+    if (evhttp_add_header(evhttp_request_get_output_headers(request),
+                          "Content-Type", content_type) == -1) {
+      LOG(WARNING, "adding Content-Type failed\n");
+      evhttp_send_error(request, HTTP_INTERNAL, NULL);
+      return false;
+    }
+    if (buf_ == NULL) buf_ = evbuffer_new();
+    if (buf_ == NULL) {
+      LOG(WARNING, "evbuffer_new() failed\n");
+      evhttp_send_error(request, HTTP_INTERNAL, NULL);
+      return false;
+    }
+    return true;
+  }
+  void RobotHTML(evhttp_request *request) {
+    if (!Setup(request, "text/html")) return;
+
+    ctemplate::TemplateDictionary dict(ROBOT_HTML);
+    const char *host = evhttp_find_header(
+        evhttp_request_get_input_headers(request), "Host");
+    if (host == NULL) {
+      evhttp_send_error(request, HTTP_BADREQUEST, "no Host header");
+      return;
+    }
+    const char *separator = strchrnul(host, ':');
+    size_t length = separator - host;
+    // Don't include the last ':' (or the terminating '\0') or anything else
+    // after it.
+    dict.SetValue("HOST", ctemplate::TemplateString(host, length));
+
+    if (!aos::robot_state.FetchLatest()) {
+      LOG(WARNING, "getting a RobotState message failed\n");
+      evhttp_send_error(request, HTTP_INTERNAL, NULL);
+      return;
+    }
+    int center;
+    if (!constants::camera_center(&center)) {
+      evhttp_send_error(request, HTTP_INTERNAL, NULL);
+      return;
+    }
+    dict.SetIntValue("CENTER", center);
+
+    aos::http::EvhttpCtemplateEmitter emitter(buf_);
+    if (!aos::http::get_template_cache()->
+        ExpandWithData(ROBOT_HTML, ctemplate::STRIP_WHITESPACE,
+                       &dict, NULL, &emitter)) {
+      LOG(ERROR, "expanding the template failed\n");
+      evhttp_send_error(request, HTTP_INTERNAL, NULL);
+      return;
+    }
+    if (emitter.error()) {
+      evhttp_send_error(request, HTTP_INTERNAL, NULL);
+      return;
+    }
+    evhttp_send_reply(request, HTTP_OK, NULL, buf_);
+  }
+};
+
+}  // namespace frc971
+
+int main() {
+  ::aos::InitNRT();
+  ::frc971::CameraServer server;
+  server.Run();
+  ::aos::Cleanup();
+}