Add feature to bind to specific network interfaces via Thunderscope

docs/getting-started.md

@@ -230,13 +230,11 @@ Now that you're setup, if you can run it on the command line, you can run it in
 
     - If we want to run it with real robots:
         - Open your terminal, `cd` into `Software/src` and run `ifconfig`.
-            - Pick the network interface you would like to use:
-                1. If you are running things locally, you can pick any interface that is not `lo`
-                2. If you would like to communicate with robots on the network, make sure to select the interface that is connected to the same network as the robots.
+            - Pick the network interface you would like to use. If you would like to communicate with robots on the network, make sure to select the interface that is connected to the same network as the robots.
             - For example, on a sample machine, the output may look like this:
 
                 ```
-                enp0s5: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
+                wlp3s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
                         ...
                         [omitted]
                         ...
@@ -247,22 +245,30 @@ Now that you're setup, if you can run it on the command line, you can run it in
                         ...
                 ```
 
-            - An appropriate interface we could choose is `enp0s5`
+            - An appropriate interface we could choose is `wlp3s0`
+            - Hint: If you are using a wired connection, the interface will likely start with `e-`. If you are using a WiFi connection, the interface will likely start with `w-`.
         - If we are running the AI as "blue": `./tbots.py run thunderscope_main --interface=[interface_here] --run_blue`
         - If we are running the AI as "yellow": `./tbots.py run thunderscope_main --interface=[interface_here] --run_yellow`
         - `[interface_here]` corresponds to the `ifconfig` interfaces seen in the previous step
-            - For instance, a call to run the AI as blue on wifi could be: `./tbots.py run thunderscope_main --interface=enp0s5 --run_blue`
+            - For instance, a call to run the AI as blue on WiFi could be: `./tbots.py run thunderscope_main --interface=wlp3s0 --run_blue`. This will start Thunderscope and set up communication with robots over the wifi interface. It will also listen for referee and vision messages on the same interface.
+        - **Note: You do not need to include the `--interface=[interface_here]` argument!** You can run Thunderscope without it and use the dynamic configuration widget to set the interfaces for communication to send and receive robot, vision and referee messages.
+            - If you choose to include `--interface=[interface_here]` argument, Thunderscope will listen for and send robot messages on this port as well as receive vision and referee messages.
+            - Using the dynamic configuration widget is recommended at Robocup. To reduce latencies, it is recommended to connect the robot router to the AI computer via ethernet and use a separate ethernet connection to receive vision and referee messages. In this configuration, Thunderscope will need to bind to two different interfaces, each likely starting with a "e-".
+            - If you have specified `--run_blue` or `--run_yellow`, navigate to the "Parameters" widget. In "ai_config" > "ai_control_config" > "network_config", you can set the appropriate interface using the dropdowns for robot, vision and referee message communication.
         - This command will set up robot communication and the Unix full system binary context manager. The Unix full system context manager hooks up our AI, Backend and SensorFusion
 2. Run AI along with Robot Diagnostics:
     - The Mechanical and Electrical sub-teams use Robot Diagnostics to test specific parts of the Robot.
     - If we want to run with one AI and Diagnostics
-        - `./tbots.py run thunderscope_main [--run_blue | --run_yellow] --run_diagnostics` will start Thunderscope
+        - `./tbots.py run thunderscope_main [--run_blue | --run_yellow] --run_diagnostics --interface=[interface_here]` will start Thunderscope
             - `[--run_blue | --run_yellow]` indicate which FullSystem to run
             - `--run_diagnostics` indicates if diagnostics should be loaded as well
         - Initially, the robots are all connected to the AI and only receive input from it
         - To change the input source for the robot, use the drop-down menu of that robot to change it between None, AI, and Manual
         - None means the robots are receiving no commands
         - More info about Manual control below
+        - `--interface=[interface_here]` corresponds to the `ifconfig` interfaces seen in the previous step
+            - For instance, a call to run the AI as blue on WiFi could be: `./tbots.py run thunderscope_main --interface=wlp3s0 --run_blue --run_diagnostics`
+            - The `--interface` flag is optional. If you do not include it, you can set the interface in the dynamic configuration widget. See above for how to set the interface in the dynamic configuration widget.
 3. Run only Diagnostics
     - To run just Diagnostics
         - `./tbots.py run thunderscope --run_diagnostics --interface <network_interface>`

src/proto/parameters.proto

@@ -53,6 +53,9 @@ message AiControlConfig
 
     // Override the existing play with the Play enum provided
     required PlayName override_ai_play = 2 [default = UseAiSelection];
+
+    // Interfaces for various network listeners
+    required NetworkConfig network_config = 3;
 }
 
 message AiParameterConfig
@@ -618,6 +621,18 @@ message PossessionTrackerConfig
     ];
 }
 
+message NetworkConfig
+{
+    // The robot communication interface
+    required string robot_communication_interface = 1 [default = "lo"];
+
+    // The referee interface
+    required string referee_interface = 2 [default = "lo"];
+
+    // The vision interface
+    required string vision_interface = 3 [default = "lo"];
+}
+
 message CreaseDefenderConfig
 {
     // The additional buffer length for each side of the goal

src/software/embedded/services/network/network.cpp

@@ -2,16 +2,27 @@
 
 NetworkService::NetworkService(const std::string& ip_address,
                                unsigned short primitive_listener_port,
-                               unsigned short robot_status_sender_port, bool multicast)
+                               unsigned short robot_status_sender_port,
+                               const std::string& interface, bool multicast)
     : primitive_tracker(ProtoTracker("primitive set"))
 {
+    std::optional<std::string> error;
     sender = std::make_unique<ThreadedProtoUdpSender<TbotsProto::RobotStatus>>(
-        ip_address, robot_status_sender_port, multicast);
+        ip_address, robot_status_sender_port, interface, multicast, error);
+    if (error)
+    {
+        LOG(FATAL) << *error;
+    }
 
     udp_listener_primitive_set =
         std::make_unique<ThreadedProtoUdpListener<TbotsProto::PrimitiveSet>>(
-            ip_address, primitive_listener_port,
-            boost::bind(&NetworkService::primitiveSetCallback, this, _1), multicast);
+            ip_address, primitive_listener_port, interface,
+            boost::bind(&NetworkService::primitiveSetCallback, this, _1), multicast,
+            error);
+    if (error)
+    {
+        LOG(FATAL) << *error;
+    }
 
     radio_listener_primitive_set =
         std::make_unique<ThreadedProtoRadioListener<TbotsProto::PrimitiveSet>>(

src/software/embedded/services/network/network.h

@@ -24,11 +24,13 @@ class NetworkService
      * @param ip_address The IP Address the service should connect to
      * @param primitive_listener_port The port to listen for primitive protos
      * @param robot_status_sender_port The port to send robot status
+     * @param interface the interface to listen and send on
      * @param multicast  If true, then the provided IP address is a multicast address and
      * we should join the group
      */
     NetworkService(const std::string& ip_address, unsigned short primitive_listener_port,
-                   unsigned short robot_status_sender_port, bool multicast);
+                   unsigned short robot_status_sender_port, const std::string& interface,
+                   bool multicast);
 
     /**
      * When the network service is polled, it sends the robot_status and returns

src/software/embedded/thunderloop.cpp

@@ -57,10 +57,10 @@ extern "C"
         crash_msg.set_exit_signal(g3::signalToStr(signal_num));
         *(crash_msg.mutable_status()) = *robot_status;
 
+        std::optional<std::string> error;
         auto sender = std::make_unique<ThreadedProtoUdpSender<TbotsProto::RobotCrash>>(
-            std::string(ROBOT_MULTICAST_CHANNELS.at(channel_id)) + "%" +
-                network_interface,
-            ROBOT_CRASH_PORT, true);
+            std::string(ROBOT_MULTICAST_CHANNELS.at(channel_id)), ROBOT_CRASH_PORT,
+            network_interface, true, error);
         sender->sendProto(crash_msg);
         std::cerr << "Broadcasting robot crash msg";
 
@@ -110,8 +110,8 @@ Thunderloop::Thunderloop(const RobotConstants_t& robot_constants, bool enable_lo
         << "THUNDERLOOP: Network Logger initialized! Next initializing Network Service";
 
     network_service_ = std::make_unique<NetworkService>(
-        std::string(ROBOT_MULTICAST_CHANNELS.at(channel_id_)) + "%" + network_interface_,
-        PRIMITIVE_PORT, ROBOT_STATUS_PORT, true);
+        std::string(ROBOT_MULTICAST_CHANNELS.at(channel_id_)), PRIMITIVE_PORT,
+        ROBOT_STATUS_PORT, network_interface, true);
     LOG(INFO)
         << "THUNDERLOOP: Network Service initialized! Next initializing Power Service";
 
@@ -478,9 +478,15 @@ void Thunderloop::updateErrorCodes()
 
 void Thunderloop::waitForNetworkUp()
 {
-    ThreadedUdpSender network_test(
-        std::string(ROBOT_MULTICAST_CHANNELS.at(channel_id_)) + "%" + network_interface_,
-        NETWORK_COMM_TEST_PORT, true);
+    std::optional<std::string> error;
+    ThreadedUdpSender network_test(std::string(ROBOT_MULTICAST_CHANNELS.at(channel_id_)),
+                                   NETWORK_COMM_TEST_PORT, network_interface_, true,
+                                   error);
+    if (error.has_value())
+    {
+        LOG(FATAL) << "Thunderloop cannot connect to the network. Error: "
+                   << error.value();
+    }
 
     // Send an empty packet on the specific network interface to
     // ensure wifi is connected. Keeps trying until successful

src/software/logger/network_sink.cpp

@@ -11,9 +11,15 @@ NetworkSink::NetworkSink(unsigned int channel, const std::string& interface, int
                          bool enable_log_merging)
     : robot_id(robot_id), log_merger(LogMerger(enable_log_merging))
 {
+    std::optional<std::string> error;
     log_output.reset(new ThreadedProtoUdpSender<TbotsProto::RobotLog>(
-        std::string(ROBOT_MULTICAST_CHANNELS.at(channel)) + "%" + interface,
-        ROBOT_LOGS_PORT, true));
+        std::string(ROBOT_MULTICAST_CHANNELS.at(channel)), ROBOT_LOGS_PORT, interface,
+        true, error));
+    if (error)
+    {
+        std::cerr << error.value() << std::endl;
+        std::terminate();
+    }
 }
 
 void NetworkSink::sendToNetwork(g3::LogMessageMover log_entry)

src/software/logger/plotjuggler_sink.cpp

@@ -1,13 +1,18 @@
-
 #include "software/logger/plotjuggler_sink.h"
 
 #include <google/protobuf/util/json_util.h>
 
 #include "shared/constants.h"
 
-PlotJugglerSink::PlotJugglerSink()
-    : udp_sender(PLOTJUGGLER_GUI_DEFAULT_HOST, PLOTJUGGLER_GUI_DEFAULT_PORT, false)
+PlotJugglerSink::PlotJugglerSink(const std::string& interface)
+    : udp_sender(PLOTJUGGLER_GUI_DEFAULT_HOST, PLOTJUGGLER_GUI_DEFAULT_PORT, interface,
+                 false, error)
 {
+    if (error.has_value())
+    {
+        std::cerr << "Error setting up UDP sender for PlotJugglerSink: " << error.value();
+        std::terminate();
+    }
 }
 
 void PlotJugglerSink::sendToPlotJuggler(g3::LogMessageMover log_entry)

src/software/logger/plotjuggler_sink.h

@@ -16,8 +16,10 @@ class PlotJugglerSink
    public:
     /**
      * Creates a PlotJugglerSink that sends udp packets to the PlotJuggler server
+     *
+     * @param interface The interface to send Plotjuggler UDP packets on
      */
-    PlotJugglerSink();
+    PlotJugglerSink(const std::string& interface = "lo");
 
     ~PlotJugglerSink() = default;
 
@@ -30,6 +32,9 @@ class PlotJugglerSink
     void sendToPlotJuggler(g3::LogMessageMover log_entry);
 
    private:
+    // Any error that occurs during the creation of the UDP sender will be stored here
+    std::optional<std::string> error;
+
     ThreadedUdpSender udp_sender;
 };
 

src/software/network_log_listener_main.cpp

@@ -93,9 +93,14 @@ int main(int argc, char **argv)
         logFromNetworking(log);
     };
 
+    std::optional<std::string> error;
     auto log_input = std::make_unique<ThreadedProtoUdpListener<TbotsProto::RobotLog>>(
-        std::string(ROBOT_MULTICAST_CHANNELS.at(args.channel)) + "%" + args.interface,
-        ROBOT_LOGS_PORT, robot_log_callback, true);
+        std::string(ROBOT_MULTICAST_CHANNELS.at(args.channel)), ROBOT_LOGS_PORT,
+        args.interface, robot_log_callback, true, error);
+    if (error)
+    {
+        LOG(FATAL) << *error;
+    }
 
 
     LOG(INFO) << "Network logger listening on channel "

src/software/networking/udp/BUILD

@@ -1,12 +1,34 @@
 package(default_visibility = ["//visibility:public"])
 
+cc_library(
+    name = "network_utils",
+    srcs = [
+        "network_utils.cpp",
+    ],
+    hdrs = [
+        "network_utils.h",
+    ],
+)
+
+cc_test(
+    name = "network_utils_test",
+    srcs = [
+        "network_utils_test.cpp",
+    ],
+    deps = [
+        ":network_utils",
+        "//shared/test_util:tbots_gtest_main",
+    ],
+)
+
 cc_library(
     name = "proto_udp_listener",
     hdrs = [
         "proto_udp_listener.hpp",
     ],
     visibility = ["//visibility:private"],
     deps = [
+        ":network_utils",
         "//software/logger",
         "//software/util/typename",
     ],
@@ -22,6 +44,7 @@ cc_library(
     ],
     visibility = ["//visibility:private"],
     deps = [
+        ":network_utils",
         "@boost//:asio",
     ],
 )
@@ -37,6 +60,17 @@ cc_library(
     ],
 )
 
+cc_test(
+    name = "threaded_proto_udp_listener_test",
+    srcs = [
+        "threaded_proto_udp_listener_test.cpp",
+    ],
+    deps = [
+        ":threaded_proto_udp_listener",
+        "//shared/test_util:tbots_gtest_main",
+    ],
+)
+
 cc_library(
     name = "threaded_proto_udp_sender",
     hdrs = [
@@ -47,6 +81,17 @@ cc_library(
     ],
 )
 
+cc_test(
+    name = "threaded_proto_udp_sender_test",
+    srcs = [
+        "threaded_proto_udp_sender_test.cpp",
+    ],
+    deps = [
+        ":threaded_proto_udp_sender",
+        "//shared/test_util:tbots_gtest_main",
+    ],
+)
+
 cc_library(
     name = "threaded_udp_sender",
     srcs = [
@@ -59,3 +104,10 @@ cc_library(
         ":udp_sender",
     ],
 )
+
+cc_library(
+    name = "udp_network_factory",
+    hdrs = [
+        "udp_network_factory.hpp",
+    ],
+)

src/software/networking/udp/network_utils.cpp

@@ -0,0 +1,42 @@
+#include "software/networking/udp/network_utils.h"
+
+#include <arpa/inet.h>
+
+std::optional<std::string> getLocalIp(const std::string& interface, bool ipv4)
+{
+    struct ifaddrs* ifAddrStruct = nullptr;
+    struct ifaddrs* ifa          = nullptr;
+
+    getifaddrs(&ifAddrStruct);
+
+    for (ifa = ifAddrStruct; ifa != nullptr; ifa = ifa->ifa_next)
+    {
+        if (ifa->ifa_name == interface)
+        {
+            if (ipv4 && ifa->ifa_addr->sa_family == AF_INET)
+            {
+                char addressBuffer[INET_ADDRSTRLEN];
+                struct sockaddr_in* sa = (struct sockaddr_in*)ifa->ifa_addr;
+                inet_ntop(AF_INET, &sa->sin_addr, addressBuffer, INET_ADDRSTRLEN);
+                freeifaddrs(ifAddrStruct);
+                return addressBuffer;
+            }
+            else if (!ipv4 && ifa->ifa_addr->sa_family == AF_INET6)
+            {
+                char addressBuffer[INET6_ADDRSTRLEN];
+                struct sockaddr_in6* sa = (struct sockaddr_in6*)ifa->ifa_addr;
+                inet_ntop(AF_INET6, &sa->sin6_addr, addressBuffer, INET6_ADDRSTRLEN);
+                freeifaddrs(ifAddrStruct);
+                return addressBuffer;
+            }
+        }
+    }
+
+    return std::nullopt;
+}
+
+bool isIpv6(const std::string& ip_address)
+{
+    struct sockaddr_in6 sa;
+    return inet_pton(AF_INET6, ip_address.c_str(), &(sa.sin6_addr)) != 0;
+}