added timing
This commit is contained in:
Ayzen
@@ -0,0 +1,208 @@
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#include "locator/payload_builder.hpp"
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#include <chrono>
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#include <cmath>
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#include <cstdint>
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#include <cstring>
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#include <ctime>
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#include <iomanip>
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#include <sstream>
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#include <string>
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#include <nlohmann/json.hpp>
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namespace radar::locator {
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namespace {
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using Json = nlohmann::json;
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constexpr const char* kGprPointsName = "gpr_points";
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constexpr const char* kGprRegionCentersName = "gpr_region_centers";
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constexpr std::uint32_t kMinTableColumns = 3U; // [x_m, z_m, score, ...]
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// Locate the first TableF32 payload matching one of the GPR object names.
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// Returns nullptr if no usable payload is present in the collection.
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[[nodiscard]] auto find_object_table(const ipc::ResultCollection& collection)
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-> const ipc::ResultPayload* {
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const ipc::ResultPayload* fallback = nullptr;
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for (const auto& payload : collection.collection_payloads) {
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if (payload.kind != ipc::ResultKind::TableF32) {
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continue;
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}
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if (payload.table_columns < kMinTableColumns) {
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continue;
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}
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if (payload.processing_name == kGprPointsName) {
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return &payload;
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}
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if (fallback == nullptr && payload.processing_name == kGprRegionCentersName) {
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fallback = &payload;
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}
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}
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return fallback;
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}
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// Quantise to two decimal places. Equivalent to Python's `round(value, 2)`
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// but explicit so behaviour does not silently depend on the local C library.
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[[nodiscard]] auto quantise_to_centimetres(float value) -> float {
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return std::round(value * 100.0F) / 100.0F;
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}
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[[nodiscard]] auto passes_basic_filter(
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float x_m,
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float z_m,
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float score,
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float min_score
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) -> bool {
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if (!std::isfinite(x_m) || !std::isfinite(z_m) || !std::isfinite(score)) {
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return false;
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}
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return score >= min_score;
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}
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[[nodiscard]] auto passes_visible_bounds(
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float x_m,
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float z_m,
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const VisibleBounds& bounds
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) -> bool {
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return x_m >= bounds.x_min
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&& x_m <= bounds.x_max
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&& z_m >= bounds.z_min
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&& z_m <= bounds.z_max;
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}
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// Render the current wall-clock time as "HH:MM:SS.mmm". Uses localtime to match
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// the Python reference behaviour (which calls datetime.now() with no tz info).
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[[nodiscard]] auto format_timestamp_now() -> std::string {
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using Clock = std::chrono::system_clock;
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const auto now = Clock::now();
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const auto seconds = std::chrono::time_point_cast<std::chrono::seconds>(now);
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const auto millis = std::chrono::duration_cast<std::chrono::milliseconds>(
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now - seconds
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).count();
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const std::time_t epoch_seconds = Clock::to_time_t(seconds);
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std::tm broken_down{};
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#if defined(_WIN32)
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localtime_s(&broken_down, &epoch_seconds);
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#else
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localtime_r(&epoch_seconds, &broken_down);
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#endif
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std::ostringstream stream;
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stream << std::put_time(&broken_down, "%H:%M:%S")
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<< '.' << std::setw(3) << std::setfill('0') << millis;
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return stream.str();
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}
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void append_u32_little_endian(std::vector<std::uint8_t>& buffer, std::uint32_t value) {
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buffer.push_back(static_cast<std::uint8_t>(value & 0xFFU));
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buffer.push_back(static_cast<std::uint8_t>((value >> 8U) & 0xFFU));
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buffer.push_back(static_cast<std::uint8_t>((value >> 16U) & 0xFFU));
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buffer.push_back(static_cast<std::uint8_t>((value >> 24U) & 0xFFU));
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}
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} // namespace
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auto observations_from_collection(
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const ipc::ResultCollection& collection,
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const FilterParams& filter
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) -> std::vector<Observation> {
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const auto* payload = find_object_table(collection);
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if (payload == nullptr) {
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return {};
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}
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const std::uint32_t columns = payload->table_columns;
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if (columns == 0U) {
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return {};
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}
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const std::size_t row_count = payload->table_values.size() / columns;
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if (row_count == 0U) {
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return {};
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}
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std::vector<Observation> visible;
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visible.reserve(row_count);
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for (std::size_t row = 0; row < row_count; ++row) {
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const std::size_t base = row * static_cast<std::size_t>(columns);
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const float x_m = payload->table_values[base + 0U];
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const float z_m = payload->table_values[base + 1U];
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const float score = payload->table_values[base + 2U];
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if (!passes_basic_filter(x_m, z_m, score, filter.min_score)) {
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continue;
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}
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if (filter.visible_bounds.has_value()
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&& !passes_visible_bounds(x_m, z_m, *filter.visible_bounds)) {
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continue;
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}
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visible.push_back({.crs = x_m, .dst = z_m});
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}
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if (!filter.draw_limits.has_value()) {
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std::vector<Observation> quantised;
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quantised.reserve(visible.size());
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for (const auto& observation : visible) {
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quantised.push_back({
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.crs = quantise_to_centimetres(observation.crs),
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.dst = quantise_to_centimetres(observation.dst),
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});
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}
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return quantised;
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}
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const auto& limits = *filter.draw_limits;
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if (visible.size() > limits.max_detected_objects) {
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return {};
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}
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const std::size_t kept = std::min<std::size_t>(visible.size(), limits.draw_top_objects);
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std::vector<Observation> result;
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result.reserve(kept);
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for (std::size_t index = 0; index < kept; ++index) {
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result.push_back({
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.crs = quantise_to_centimetres(visible[index].crs),
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.dst = quantise_to_centimetres(visible[index].dst),
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});
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}
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return result;
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}
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auto build_payload_json(
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const std::vector<Observation>& observations,
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std::uint32_t protocol_version,
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std::uint32_t status
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) -> std::string {
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Json obs_array = Json::array();
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for (const auto& observation : observations) {
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obs_array.push_back({
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{"dst", observation.dst},
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{"crs", observation.crs},
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});
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}
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const Json root{
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{"ver", protocol_version},
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{"tim", format_timestamp_now()},
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{"sts", status},
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{"obs", std::move(obs_array)},
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};
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return root.dump();
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}
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auto encode_packet(
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const std::string& payload_json,
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std::uint32_t device_id
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) -> std::vector<std::uint8_t> {
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const auto payload_size = static_cast<std::uint32_t>(payload_json.size());
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std::vector<std::uint8_t> packet;
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packet.reserve(static_cast<std::size_t>(8U) + payload_json.size());
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append_u32_little_endian(packet, device_id);
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append_u32_little_endian(packet, payload_size);
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const auto* bytes = reinterpret_cast<const std::uint8_t*>(payload_json.data());
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packet.insert(packet.end(), bytes, bytes + payload_json.size());
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return packet;
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}
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} // namespace radar::locator
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@@ -0,0 +1,496 @@
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#include "locator/tcp_server.hpp"
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#include <algorithm>
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#include <array>
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#include <cerrno>
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#include <chrono>
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#include <cmath>
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#include <cstdint>
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#include <cstring>
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#include <iostream>
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#include <limits>
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#include <mutex>
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#include <stdexcept>
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#include <string>
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#include <system_error>
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#include <utility>
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#include <arpa/inet.h>
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#include <fcntl.h>
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#include <netdb.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include <sys/socket.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <nlohmann/json.hpp>
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namespace radar::locator {
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namespace {
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using Json = nlohmann::json;
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constexpr std::size_t kPacketHeaderSize = 8U; // device_id u32 LE + payload_len u32 LE.
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// Best-effort full-write helper: loops over write() until everything is sent
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// or an error occurs. Returns false on socket error or peer disconnect.
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[[nodiscard]] auto write_all(int socket_fd, const std::uint8_t* data, std::size_t size) -> bool {
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std::size_t written = 0;
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while (written < size) {
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const auto chunk = ::send(
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socket_fd,
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data + written,
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size - written,
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MSG_NOSIGNAL
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);
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if (chunk < 0) {
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if (errno == EINTR) {
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continue;
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}
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return false;
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}
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if (chunk == 0) {
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return false;
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}
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written += static_cast<std::size_t>(chunk);
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}
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return true;
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}
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// Best-effort exact-read helper. Returns false if the peer closed the socket
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// or an unrecoverable error occurred before all bytes were read.
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[[nodiscard]] auto read_exact(int socket_fd, std::uint8_t* data, std::size_t size) -> bool {
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std::size_t consumed = 0;
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while (consumed < size) {
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const auto chunk = ::recv(socket_fd, data + consumed, size - consumed, 0);
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if (chunk < 0) {
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if (errno == EINTR) {
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continue;
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}
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return false;
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}
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if (chunk == 0) {
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return false;
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}
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consumed += static_cast<std::size_t>(chunk);
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}
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return true;
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}
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[[nodiscard]] auto decode_u32_little_endian(const std::uint8_t* bytes) -> std::uint32_t {
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return static_cast<std::uint32_t>(bytes[0])
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| (static_cast<std::uint32_t>(bytes[1]) << 8U)
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| (static_cast<std::uint32_t>(bytes[2]) << 16U)
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| (static_cast<std::uint32_t>(bytes[3]) << 24U);
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}
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[[nodiscard]] auto format_peer(const sockaddr_storage& addr) -> std::string {
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std::array<char, INET6_ADDRSTRLEN> host_buffer{};
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std::array<char, NI_MAXSERV> port_buffer{};
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const auto err = ::getnameinfo(
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reinterpret_cast<const sockaddr*>(&addr),
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sizeof(addr),
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host_buffer.data(),
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host_buffer.size(),
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port_buffer.data(),
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port_buffer.size(),
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NI_NUMERICHOST | NI_NUMERICSERV
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);
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if (err != 0) {
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return "unknown";
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}
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return std::string(host_buffer.data()) + ':' + port_buffer.data();
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}
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void apply_socket_keepalive(int socket_fd) {
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int yes = 1;
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(void)::setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &yes, sizeof(yes));
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(void)::setsockopt(socket_fd, SOL_SOCKET, SO_KEEPALIVE, &yes, sizeof(yes));
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}
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void shutdown_and_close(int& socket_fd) {
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if (socket_fd < 0) {
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return;
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}
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(void)::shutdown(socket_fd, SHUT_RDWR);
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(void)::close(socket_fd);
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socket_fd = -1;
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}
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void log_warning(const std::string& message) {
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std::cerr << "locator: " << message << '\n';
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}
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} // namespace
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// ----- ClientQueue ----------------------------------------------------------
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ClientQueue::ClientQueue(std::size_t capacity) : capacity_(std::max<std::size_t>(1U, capacity)) {}
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auto ClientQueue::try_push(std::vector<std::uint8_t> packet) -> bool {
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{
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std::lock_guard<std::mutex> guard(mutex_);
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if (closed_ || queue_.size() >= capacity_) {
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return false;
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}
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queue_.push_back(std::move(packet));
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}
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not_empty_.notify_one();
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return true;
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}
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auto ClientQueue::wait_pop() -> std::optional<std::vector<std::uint8_t>> {
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std::unique_lock<std::mutex> guard(mutex_);
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not_empty_.wait(guard, [this]() { return closed_ || !queue_.empty(); });
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if (queue_.empty()) {
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return std::nullopt;
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}
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auto packet = std::move(queue_.front());
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queue_.pop_front();
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return packet;
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}
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void ClientQueue::close() {
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{
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std::lock_guard<std::mutex> guard(mutex_);
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if (closed_) {
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return;
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}
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closed_ = true;
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}
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not_empty_.notify_all();
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}
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auto ClientQueue::is_closed() const -> bool {
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std::lock_guard<std::mutex> guard(mutex_);
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return closed_;
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}
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// ----- ClientSession --------------------------------------------------------
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ClientSession::ClientSession(
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int socket_fd,
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std::string peer_name,
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std::size_t queue_capacity,
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std::uint32_t max_payload_bytes
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)
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: socket_fd_(socket_fd),
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peer_name_(std::move(peer_name)),
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queue_(queue_capacity),
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max_payload_bytes_(max_payload_bytes) {}
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ClientSession::~ClientSession() {
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request_stop();
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join();
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shutdown_and_close(socket_fd_);
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}
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void ClientSession::start(std::atomic<double>& shared_vlc_slot) {
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writer_thread_ = std::thread([this]() { writer_loop(); });
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reader_thread_ = std::thread([this, &shared_vlc_slot]() { reader_loop(shared_vlc_slot); });
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}
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void ClientSession::enqueue(std::vector<std::uint8_t> packet) {
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if (stop_requested_.load(std::memory_order_acquire)) {
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return;
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}
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if (!queue_.try_push(std::move(packet))) {
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log_warning("disconnecting client " + peer_name_ + " after outbound queue overflow");
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||||
request_stop();
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}
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}
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||||
void ClientSession::request_stop() {
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if (stop_requested_.exchange(true, std::memory_order_acq_rel)) {
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return;
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||||
}
|
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queue_.close();
|
||||
// Wake any blocking recv() in the reader thread.
|
||||
if (socket_fd_ >= 0) {
|
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(void)::shutdown(socket_fd_, SHUT_RDWR);
|
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}
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||||
}
|
||||
|
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void ClientSession::join() {
|
||||
if (writer_thread_.joinable()) {
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||||
writer_thread_.join();
|
||||
}
|
||||
if (reader_thread_.joinable()) {
|
||||
reader_thread_.join();
|
||||
}
|
||||
}
|
||||
|
||||
auto ClientSession::has_exited() const -> bool {
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||||
return exited_.load(std::memory_order_acquire);
|
||||
}
|
||||
|
||||
auto ClientSession::peer_name() const -> const std::string& {
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||||
return peer_name_;
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||||
}
|
||||
|
||||
void ClientSession::writer_loop() {
|
||||
while (!stop_requested_.load(std::memory_order_acquire)) {
|
||||
auto packet = queue_.wait_pop();
|
||||
if (!packet.has_value()) {
|
||||
break;
|
||||
}
|
||||
if (!write_all(socket_fd_, packet->data(), packet->size())) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
request_stop();
|
||||
// Exited flag is set once both threads finish; reader_loop sets it.
|
||||
}
|
||||
|
||||
void ClientSession::reader_loop(std::atomic<double>& shared_vlc_slot) {
|
||||
std::array<std::uint8_t, kPacketHeaderSize> header_buffer{};
|
||||
std::vector<std::uint8_t> payload_buffer;
|
||||
|
||||
while (!stop_requested_.load(std::memory_order_acquire)) {
|
||||
if (!read_exact(socket_fd_, header_buffer.data(), header_buffer.size())) {
|
||||
break;
|
||||
}
|
||||
const auto payload_len = decode_u32_little_endian(header_buffer.data() + 4U);
|
||||
if (payload_len > max_payload_bytes_) {
|
||||
log_warning(
|
||||
"closing client " + peer_name_ + " after payload size "
|
||||
+ std::to_string(payload_len) + " exceeded the configured limit"
|
||||
);
|
||||
break;
|
||||
}
|
||||
|
||||
payload_buffer.assign(payload_len, std::uint8_t{0});
|
||||
if (payload_len > 0U && !read_exact(socket_fd_, payload_buffer.data(), payload_len)) {
|
||||
break;
|
||||
}
|
||||
|
||||
try {
|
||||
const auto json = Json::parse(payload_buffer.begin(), payload_buffer.end());
|
||||
if (json.is_object()) {
|
||||
const auto found = json.find("vlc");
|
||||
if (found != json.end() && found->is_number()) {
|
||||
const double value = found->get<double>();
|
||||
if (std::isfinite(value)) {
|
||||
shared_vlc_slot.store(value, std::memory_order_release);
|
||||
}
|
||||
}
|
||||
}
|
||||
} catch (const Json::parse_error& error) {
|
||||
log_warning(
|
||||
"ignoring malformed packet from " + peer_name_ + ": " + error.what()
|
||||
);
|
||||
}
|
||||
}
|
||||
request_stop();
|
||||
exited_.store(true, std::memory_order_release);
|
||||
}
|
||||
|
||||
// ----- TcpServer ------------------------------------------------------------
|
||||
|
||||
TcpServer::TcpServer(LocatorServerConfig config) : config_(std::move(config)) {
|
||||
latest_socket_speed_.store(
|
||||
std::numeric_limits<double>::quiet_NaN(),
|
||||
std::memory_order_relaxed
|
||||
);
|
||||
}
|
||||
|
||||
TcpServer::~TcpServer() {
|
||||
stop();
|
||||
}
|
||||
|
||||
void TcpServer::start() {
|
||||
if (running_.exchange(true, std::memory_order_acq_rel)) {
|
||||
return;
|
||||
}
|
||||
|
||||
addrinfo hints{};
|
||||
hints.ai_family = AF_UNSPEC;
|
||||
hints.ai_socktype = SOCK_STREAM;
|
||||
hints.ai_flags = AI_PASSIVE;
|
||||
|
||||
addrinfo* resolved = nullptr;
|
||||
const auto port_str = std::to_string(config_.port);
|
||||
const auto gai = ::getaddrinfo(
|
||||
config_.host.c_str(),
|
||||
port_str.c_str(),
|
||||
&hints,
|
||||
&resolved
|
||||
);
|
||||
if (gai != 0 || resolved == nullptr) {
|
||||
running_.store(false, std::memory_order_release);
|
||||
throw std::runtime_error(
|
||||
"locator: getaddrinfo failed for " + config_.host + ":" + port_str
|
||||
+ " (" + ::gai_strerror(gai) + ")"
|
||||
);
|
||||
}
|
||||
|
||||
int fd = -1;
|
||||
for (addrinfo* candidate = resolved; candidate != nullptr; candidate = candidate->ai_next) {
|
||||
fd = ::socket(candidate->ai_family, candidate->ai_socktype, candidate->ai_protocol);
|
||||
if (fd < 0) {
|
||||
continue;
|
||||
}
|
||||
int yes = 1;
|
||||
(void)::setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(yes));
|
||||
if (::bind(fd, candidate->ai_addr, candidate->ai_addrlen) == 0) {
|
||||
break;
|
||||
}
|
||||
::close(fd);
|
||||
fd = -1;
|
||||
}
|
||||
::freeaddrinfo(resolved);
|
||||
|
||||
if (fd < 0) {
|
||||
running_.store(false, std::memory_order_release);
|
||||
throw std::runtime_error(
|
||||
"locator: failed to bind " + config_.host + ":" + port_str
|
||||
+ " (" + std::string(std::strerror(errno)) + ")"
|
||||
);
|
||||
}
|
||||
|
||||
if (::listen(fd, 16) < 0) {
|
||||
::close(fd);
|
||||
running_.store(false, std::memory_order_release);
|
||||
throw std::runtime_error(
|
||||
"locator: listen() failed (" + std::string(std::strerror(errno)) + ")"
|
||||
);
|
||||
}
|
||||
|
||||
listen_fd_ = fd;
|
||||
acceptor_thread_ = std::thread([this]() { acceptor_loop(); });
|
||||
}
|
||||
|
||||
void TcpServer::stop() {
|
||||
if (!running_.exchange(false, std::memory_order_acq_rel)) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (listen_fd_ >= 0) {
|
||||
(void)::shutdown(listen_fd_, SHUT_RDWR);
|
||||
(void)::close(listen_fd_);
|
||||
listen_fd_ = -1;
|
||||
}
|
||||
|
||||
if (acceptor_thread_.joinable()) {
|
||||
acceptor_thread_.join();
|
||||
}
|
||||
|
||||
std::vector<std::unique_ptr<ClientSession>> sessions;
|
||||
{
|
||||
std::lock_guard<std::mutex> guard(clients_mutex_);
|
||||
sessions = std::move(clients_);
|
||||
clients_.clear();
|
||||
}
|
||||
for (auto& session : sessions) {
|
||||
session->request_stop();
|
||||
}
|
||||
for (auto& session : sessions) {
|
||||
session->join();
|
||||
}
|
||||
}
|
||||
|
||||
auto TcpServer::is_running() const -> bool {
|
||||
return running_.load(std::memory_order_acquire);
|
||||
}
|
||||
|
||||
void TcpServer::publish(const ipc::ResultCollection& collection, const FilterParams& filter) {
|
||||
if (!running_.load(std::memory_order_acquire)) {
|
||||
return;
|
||||
}
|
||||
|
||||
const auto observations = observations_from_collection(collection, filter);
|
||||
const auto payload_json = build_payload_json(observations, config_.protocol_version);
|
||||
auto packet = encode_packet(payload_json, config_.device_id);
|
||||
cache_latest_packet(packet);
|
||||
broadcast_packet(packet);
|
||||
}
|
||||
|
||||
auto TcpServer::latest_socket_speed() const -> std::optional<double> {
|
||||
const double value = latest_socket_speed_.load(std::memory_order_acquire);
|
||||
if (std::isnan(value)) {
|
||||
return std::nullopt;
|
||||
}
|
||||
return value;
|
||||
}
|
||||
|
||||
void TcpServer::acceptor_loop() {
|
||||
while (running_.load(std::memory_order_acquire)) {
|
||||
sockaddr_storage peer_addr{};
|
||||
socklen_t peer_len = sizeof(peer_addr);
|
||||
const int client_fd = ::accept(
|
||||
listen_fd_,
|
||||
reinterpret_cast<sockaddr*>(&peer_addr),
|
||||
&peer_len
|
||||
);
|
||||
if (client_fd < 0) {
|
||||
if (errno == EINTR) {
|
||||
continue;
|
||||
}
|
||||
// Listening socket closed during shutdown produces EBADF/EINVAL; bail.
|
||||
break;
|
||||
}
|
||||
|
||||
reap_finished_clients();
|
||||
|
||||
apply_socket_keepalive(client_fd);
|
||||
auto session = std::make_unique<ClientSession>(
|
||||
client_fd,
|
||||
format_peer(peer_addr),
|
||||
config_.client_queue_size,
|
||||
config_.max_payload_bytes
|
||||
);
|
||||
const auto snapshot = latest_packet_copy();
|
||||
if (snapshot.has_value()) {
|
||||
session->enqueue(*snapshot);
|
||||
}
|
||||
session->start(latest_socket_speed_);
|
||||
enroll_client(std::move(session));
|
||||
}
|
||||
}
|
||||
|
||||
void TcpServer::enroll_client(std::unique_ptr<ClientSession> session) {
|
||||
std::lock_guard<std::mutex> guard(clients_mutex_);
|
||||
clients_.push_back(std::move(session));
|
||||
}
|
||||
|
||||
void TcpServer::broadcast_packet(const std::vector<std::uint8_t>& packet) {
|
||||
std::lock_guard<std::mutex> guard(clients_mutex_);
|
||||
for (auto& client : clients_) {
|
||||
client->enqueue(packet);
|
||||
}
|
||||
}
|
||||
|
||||
void TcpServer::reap_finished_clients() {
|
||||
std::vector<std::unique_ptr<ClientSession>> to_join;
|
||||
{
|
||||
std::lock_guard<std::mutex> guard(clients_mutex_);
|
||||
auto first_dead = std::partition(
|
||||
clients_.begin(),
|
||||
clients_.end(),
|
||||
[](const std::unique_ptr<ClientSession>& session) {
|
||||
return !session->has_exited();
|
||||
}
|
||||
);
|
||||
for (auto it = first_dead; it != clients_.end(); ++it) {
|
||||
to_join.push_back(std::move(*it));
|
||||
}
|
||||
clients_.erase(first_dead, clients_.end());
|
||||
}
|
||||
for (auto& session : to_join) {
|
||||
session->request_stop();
|
||||
session->join();
|
||||
}
|
||||
}
|
||||
|
||||
void TcpServer::cache_latest_packet(std::vector<std::uint8_t> packet) {
|
||||
std::lock_guard<std::mutex> guard(latest_packet_mutex_);
|
||||
latest_packet_ = std::move(packet);
|
||||
}
|
||||
|
||||
auto TcpServer::latest_packet_copy() const -> std::optional<std::vector<std::uint8_t>> {
|
||||
std::lock_guard<std::mutex> guard(latest_packet_mutex_);
|
||||
return latest_packet_;
|
||||
}
|
||||
|
||||
} // namespace radar::locator
|
||||
Reference in New Issue
Block a user