y2019/vision/server/server.cc

#include <memory>
#include <set>

#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/time/time.h"
#include "internal/Embedded.h"
#include "seasocks/PrintfLogger.h"
#include "seasocks/Server.h"
#include "seasocks/StringUtil.h"
#include "seasocks/WebSocket.h"

namespace y2019 {
namespace vision {

class WebsocketHandler : public seasocks::WebSocket::Handler {
 public:
  WebsocketHandler();
  void onConnect(seasocks::WebSocket* connection) override;
  void onData(seasocks::WebSocket* connection, const char* data) override;
  void onDisconnect(seasocks::WebSocket* connection) override;

 private:
  std::set<seasocks::WebSocket *> connections_;
};

WebsocketHandler::WebsocketHandler() {
}

void WebsocketHandler::onConnect(seasocks::WebSocket *connection) {
  connections_.insert(connection);
  LOG(INFO, "Connected: %s : %s\n", connection->getRequestUri().c_str(),
      seasocks::formatAddress(connection->getRemoteAddress()).c_str());
}

void WebsocketHandler::onData(seasocks::WebSocket * /*connection*/,
                              const char *data) {
  LOG(INFO, "Got data: %s\n", data);
}

void WebsocketHandler::onDisconnect(seasocks::WebSocket *connection) {
  connections_.erase(connection);
  LOG(INFO, "Disconnected: %s : %s\n", connection->getRequestUri().c_str(),
      seasocks::formatAddress(connection->getRemoteAddress()).c_str());
}

// TODO(Brian): Put this somewhere shared.
class SeasocksLogger : public seasocks::PrintfLogger {
 public:
  SeasocksLogger(Level min_level_to_log) : PrintfLogger(min_level_to_log) {}
  void log(Level level, const char* message) override;
};

void SeasocksLogger::log(Level level, const char *message) {
  // Convert Seasocks error codes to AOS.
  log_level aos_level;
  switch (level) {
    case seasocks::Logger::INFO:
      aos_level = INFO;
      break;
    case seasocks::Logger::WARNING:
      aos_level = WARNING;
      break;
    case seasocks::Logger::ERROR:
    case seasocks::Logger::SEVERE:
      aos_level = ERROR;
      break;
    case seasocks::Logger::DEBUG:
    case seasocks::Logger::ACCESS:
    default:
      aos_level = DEBUG;
      break;
  }
  LOG(aos_level, "Seasocks: %s\n", message);
}

}  // namespace vision
}  // namespace y2019

int main(int, char *[]) {
  // Make sure to reference this to force the linker to include it.
  findEmbeddedContent("");

  aos::InitNRT();

  seasocks::Server server(::std::shared_ptr<seasocks::Logger>(
      new y2019::vision::SeasocksLogger(seasocks::Logger::INFO)));

  auto websocket_handler = std::make_shared<y2019::vision::WebsocketHandler>();

  server.addWebSocketHandler("/ws", websocket_handler);
  server.serve("/home/admin/robot_code/www", 1180);

  return 0;
}