allwpilib/cscore/src/main/native/cpp/SinkImpl.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "SinkImpl.h"

#include <wpi/SmallString.h>
#include <wpi/json.h>

#include "Instance.h"
#include "Notifier.h"
#include "SourceImpl.h"
#include "c_util.h"

using namespace cs;

SinkImpl::SinkImpl(std::string_view name, wpi::Logger& logger,
                   Notifier& notifier, Telemetry& telemetry)
    : m_logger(logger),
      m_notifier(notifier),
      m_telemetry(telemetry),
      m_name{name} {}

SinkImpl::~SinkImpl() {
  if (m_source) {
    if (m_enabledCount > 0) {
      m_source->DisableSink();
    }
    m_source->RemoveSink();
  }
}

void SinkImpl::SetDescription(std::string_view description) {
  std::scoped_lock lock(m_mutex);
  m_description = description;
}

std::string_view SinkImpl::GetDescription(
    wpi::SmallVectorImpl<char>& buf) const {
  std::scoped_lock lock(m_mutex);
  buf.append(m_description.begin(), m_description.end());
  return {buf.data(), buf.size()};
}

void SinkImpl::Enable() {
  std::scoped_lock lock(m_mutex);
  ++m_enabledCount;
  if (m_enabledCount == 1) {
    if (m_source) {
      m_source->EnableSink();
    }
    m_notifier.NotifySink(*this, CS_SINK_ENABLED);
  }
}

void SinkImpl::Disable() {
  std::scoped_lock lock(m_mutex);
  --m_enabledCount;
  if (m_enabledCount == 0) {
    if (m_source) {
      m_source->DisableSink();
    }
    m_notifier.NotifySink(*this, CS_SINK_DISABLED);
  }
}

void SinkImpl::SetEnabled(bool enabled) {
  std::scoped_lock lock(m_mutex);
  if (enabled && m_enabledCount == 0) {
    if (m_source) {
      m_source->EnableSink();
    }
    m_enabledCount = 1;
    m_notifier.NotifySink(*this, CS_SINK_ENABLED);
  } else if (!enabled && m_enabledCount > 0) {
    if (m_source) {
      m_source->DisableSink();
    }
    m_enabledCount = 0;
    m_notifier.NotifySink(*this, CS_SINK_DISABLED);
  }
}

void SinkImpl::SetSource(std::shared_ptr<SourceImpl> source) {
  {
    std::scoped_lock lock(m_mutex);
    if (m_source == source) {
      return;
    }
    if (m_source) {
      if (m_enabledCount > 0) {
        m_source->DisableSink();
      }
      m_source->RemoveSink();
    }
    m_source = source;
    if (m_source) {
      m_source->AddSink();
      if (m_enabledCount > 0) {
        m_source->EnableSink();
      }
    }
  }
  SetSourceImpl(source);
}

std::string SinkImpl::GetError() const {
  std::scoped_lock lock(m_mutex);
  if (!m_source) {
    return "no source connected";
  }
  return std::string{m_source->GetCurFrame().GetError()};
}

std::string_view SinkImpl::GetError(wpi::SmallVectorImpl<char>& buf) const {
  std::scoped_lock lock(m_mutex);
  if (!m_source) {
    return "no source connected";
  }
  // Make a copy as it's shared data
  std::string_view error = m_source->GetCurFrame().GetError();
  buf.clear();
  buf.append(error.data(), error.data() + error.size());
  return {buf.data(), buf.size()};
}

bool SinkImpl::SetConfigJson(std::string_view config, CS_Status* status) {
  wpi::json j;
  try {
    j = wpi::json::parse(config);
  } catch (const wpi::json::parse_error& e) {
    SWARNING("SetConfigJson: parse error at byte {}: {}", e.byte, e.what());
    *status = CS_PROPERTY_WRITE_FAILED;
    return false;
  }
  return SetConfigJson(j, status);
}

bool SinkImpl::SetConfigJson(const wpi::json& config, CS_Status* status) {
  if (config.count("properties") != 0) {
    SetPropertiesJson(config.at("properties"), m_logger, GetName(), status);
  }

  return true;
}

std::string SinkImpl::GetConfigJson(CS_Status* status) {
  std::string rv;
  wpi::raw_string_ostream os(rv);
  GetConfigJsonObject(status).dump(os, 4);
  os.flush();
  return rv;
}

wpi::json SinkImpl::GetConfigJsonObject(CS_Status* status) {
  wpi::json j;

  wpi::json props = GetPropertiesJsonObject(status);
  if (props.is_array()) {
    j.emplace("properties", props);
  }

  return j;
}

void SinkImpl::NotifyPropertyCreated(int propIndex, PropertyImpl& prop) {
  m_notifier.NotifySinkProperty(*this, CS_SINK_PROPERTY_CREATED, prop.name,
                                propIndex, prop.propKind, prop.value,
                                prop.valueStr);
  // also notify choices updated event for enum types
  if (prop.propKind == CS_PROP_ENUM) {
    m_notifier.NotifySinkProperty(*this, CS_SINK_PROPERTY_CHOICES_UPDATED,
                                  prop.name, propIndex, prop.propKind,
                                  prop.value, {});
  }
}

void SinkImpl::UpdatePropertyValue(int property, bool setString, int value,
                                   std::string_view valueStr) {
  auto prop = GetProperty(property);
  if (!prop) {
    return;
  }

  if (setString) {
    prop->SetValue(valueStr);
  } else {
    prop->SetValue(value);
  }

  // Only notify updates after we've notified created
  if (m_properties_cached) {
    m_notifier.NotifySinkProperty(*this, CS_SINK_PROPERTY_VALUE_UPDATED,
                                  prop->name, property, prop->propKind,
                                  prop->value, prop->valueStr);
  }
}

void SinkImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {}

namespace cs {
static constexpr unsigned SinkMask = CS_SINK_CV | CS_SINK_RAW;

void SetSinkDescription(CS_Sink sink, std::string_view description,
                        CS_Status* status) {
  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || (data->kind & SinkMask) == 0) {
    *status = CS_INVALID_HANDLE;
    return;
  }
  data->sink->SetDescription(description);
}

std::string GetSinkError(CS_Sink sink, CS_Status* status) {
  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || (data->kind & SinkMask) == 0) {
    *status = CS_INVALID_HANDLE;
    return std::string{};
  }
  return data->sink->GetError();
}

std::string_view GetSinkError(CS_Sink sink, wpi::SmallVectorImpl<char>& buf,
                              CS_Status* status) {
  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || (data->kind & SinkMask) == 0) {
    *status = CS_INVALID_HANDLE;
    return {};
  }
  return data->sink->GetError(buf);
}

void SetSinkEnabled(CS_Sink sink, bool enabled, CS_Status* status) {
  auto data = Instance::GetInstance().GetSink(sink);
  if (!data || (data->kind & SinkMask) == 0) {
    *status = CS_INVALID_HANDLE;
    return;
  }
  data->sink->SetEnabled(enabled);
}

}  // namespace cs

extern "C" {
void CS_SetSinkDescription(CS_Sink sink, const char* description,
                           CS_Status* status) {
  return cs::SetSinkDescription(sink, description, status);
}

char* CS_GetSinkError(CS_Sink sink, CS_Status* status) {
  wpi::SmallString<128> buf;
  auto str = cs::GetSinkError(sink, buf, status);
  if (*status != 0) {
    return nullptr;
  }
  return cs::ConvertToC(str);
}

void CS_SetSinkEnabled(CS_Sink sink, CS_Bool enabled, CS_Status* status) {
  return cs::SetSinkEnabled(sink, enabled, status);
}

}  // extern "C"