commit 343bc11b0ac5260c6f0401680e3bbfbdeb9a9e78
author brians <brians@f308d9b7-e957-4cde-b6ac-9a88185e7312> Sun Feb 10 01:53:46 2013 +0000
committer brians <brians@f308d9b7-e957-4cde-b6ac-9a88185e7312> Sun Feb 10 01:53:46 2013 +0000
tree f2d0b37e78ed5a4f6396a5de3b7ef1bc7b0fc24b
parent f1579336bbb728e9596db3b3f90c291886bd7fbf

copied everything over from 2012 and removed all of the actual robot code except the drivetrain stuff


git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4078 f308d9b7-e957-4cde-b6ac-9a88185e7312

frc971/output/CameraServer.cc

diff --git a/frc971/output/CameraServer.cc b/frc971/output/CameraServer.cc
new file mode 100644
index 0000000..96f698d
--- /dev/null
+++ b/frc971/output/CameraServer.cc
@@ -0,0 +1,81 @@
+#include <string.h>
+
+#include "aos/aos_core.h"
+#include "aos/atom_code/output/HTTPServer.h"
+#include "aos/atom_code/output/evhttp_ctemplate_emitter.h"
+#include "ctemplate/template.h"
+
+#include "frc971/constants.h"
+
+RegisterTemplateFilename(ROBOT_HTML, "robot.html.tpl");
+
+namespace frc971 {
+
+const char *const kPath = "/home/driver/robot_code/bin/";
+//const char *const kPath = "/home/brians/Desktop/git_frc971/2012/trunk/src/frc971/output";
+
+class CameraServer : public aos::http::HTTPServer {
+ public:
+  CameraServer() : HTTPServer(kPath, 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));
+
+    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 (!ctemplate::ExpandTemplate(ROBOT_HTML, ctemplate::STRIP_WHITESPACE,
+                                   &dict, &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
+
+AOS_RUN_NRT(frc971::CameraServer)
+