allwpilib/src/networktables/NetworkTable.cpp

#include "networktables/NetworkTable.h"

#include <algorithm>

#include "llvm/SmallString.h"
#include "llvm/StringMap.h"
#include "tables/ITableListener.h"
#include "tables/TableKeyNotDefinedException.h"
#include "ntcore.h"

using llvm::StringRef;

const char NetworkTable::PATH_SEPARATOR_CHAR = '/';
std::string NetworkTable::s_ip_address;
std::string NetworkTable::s_persistent_filename = "networktables.ini";
bool NetworkTable::s_client = false;
bool NetworkTable::s_running = false;
unsigned int NetworkTable::s_port = NT_DEFAULT_PORT;

void NetworkTable::Initialize() {
  if (s_running) Shutdown();
  if (s_client)
    nt::StartClient(s_ip_address.c_str(), s_port);
  else
    nt::StartServer(s_persistent_filename, "", s_port);
  s_running = true;
}

void NetworkTable::Shutdown() {
  if (!s_running) return;
  if (s_client)
    nt::StopClient();
  else
    nt::StopServer();
  s_running = false;
}

void NetworkTable::SetClientMode() { s_client = true; }

void NetworkTable::SetServerMode() { s_client = false; }

void NetworkTable::SetTeam(int team) {
  char tmp[30];
#ifdef _MSC_VER
  sprintf_s(tmp, "roboRIO-%d-FRC.local\n", team);
#else
  std::snprintf(tmp, 30, "roboRIO-%d-FRC.local\n",team);
#endif
  SetIPAddress(tmp);
}

void NetworkTable::SetIPAddress(StringRef address) { s_ip_address = address; }

void NetworkTable::SetPort(unsigned int port) { s_port = port; }

void NetworkTable::SetPersistentFilename(StringRef filename) {
  s_persistent_filename = filename;
}

void NetworkTable::SetNetworkIdentity(StringRef name) {
  nt::SetNetworkIdentity(name);
}

void NetworkTable::GlobalDeleteAll() { nt::DeleteAllEntries(); }

void NetworkTable::Flush() { nt::Flush(); }

void NetworkTable::SetUpdateRate(double interval) {
  nt::SetUpdateRate(interval);
}

const char* NetworkTable::SavePersistent(llvm::StringRef filename) {
  return nt::SavePersistent(filename);
}

const char* NetworkTable::LoadPersistent(
    llvm::StringRef filename,
    std::function<void(size_t line, const char* msg)> warn) {
  return nt::LoadPersistent(filename, warn);
}

std::shared_ptr<NetworkTable> NetworkTable::GetTable(StringRef key) {
  if (!s_running) Initialize();
  llvm::SmallString<128> path;
  if (!key.empty()) {
    path += PATH_SEPARATOR_CHAR;
    path += key;
  }
  return std::make_shared<NetworkTable>(path, private_init());
}

NetworkTable::NetworkTable(StringRef path, const private_init&)
    : m_path(path) {}

NetworkTable::~NetworkTable() {
  for (auto& i : m_listeners)
    nt::RemoveEntryListener(i.second);
}

void NetworkTable::AddTableListener(ITableListener* listener) {
  AddTableListenerEx(listener, NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}

void NetworkTable::AddTableListener(ITableListener* listener,
                                    bool immediateNotify) {
  unsigned int flags = NT_NOTIFY_NEW | NT_NOTIFY_UPDATE;
  if (immediateNotify) flags |= NT_NOTIFY_IMMEDIATE;
  AddTableListenerEx(listener, flags);
}

void NetworkTable::AddTableListenerEx(ITableListener* listener,
                                      unsigned int flags) {
  std::lock_guard<std::mutex> lock(m_mutex);
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  std::size_t prefix_len = path.size();
  unsigned int id = nt::AddEntryListener(
      path,
      [=](unsigned int /*uid*/, StringRef name,
          std::shared_ptr<nt::Value> value, unsigned int flags_) {
        StringRef relative_key = name.substr(prefix_len);
        if (relative_key.find(PATH_SEPARATOR_CHAR) != StringRef::npos) return;
        listener->ValueChangedEx(this, relative_key, value, flags_);
      },
      flags);
  m_listeners.emplace_back(listener, id);
}

void NetworkTable::AddTableListener(StringRef key, ITableListener* listener,
                                    bool immediateNotify) {
  unsigned int flags = NT_NOTIFY_NEW | NT_NOTIFY_UPDATE;
  if (immediateNotify) flags |= NT_NOTIFY_IMMEDIATE;
  AddTableListenerEx(key, listener, flags);
}

void NetworkTable::AddTableListenerEx(StringRef key, ITableListener* listener,
                                      unsigned int flags) {
  std::lock_guard<std::mutex> lock(m_mutex);
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  std::size_t prefix_len = path.size();
  path += key;
  unsigned int id = nt::AddEntryListener(
      path,
      [=](unsigned int /*uid*/, StringRef name, std::shared_ptr<nt::Value> value,
          unsigned int flags_) {
        if (name != path) return;
        listener->ValueChangedEx(this, name.substr(prefix_len), value, flags_);
      },
      flags);
  m_listeners.emplace_back(listener, id);
}

void NetworkTable::AddSubTableListener(ITableListener* listener) {
  AddSubTableListener(listener, false);
}

void NetworkTable::AddSubTableListener(ITableListener* listener,
                                       bool localNotify) {
  std::lock_guard<std::mutex> lock(m_mutex);
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  std::size_t prefix_len = path.size();

  // The lambda needs to be copyable, but StringMap is not, so use
  // a shared_ptr to it.
  auto notified_tables = std::make_shared<llvm::StringMap<char>>();

  unsigned int flags = NT_NOTIFY_NEW | NT_NOTIFY_IMMEDIATE;
  if (localNotify) flags |= NT_NOTIFY_LOCAL;
  unsigned int id = nt::AddEntryListener(
      path,
      [=](unsigned int /*uid*/, StringRef name,
          std::shared_ptr<nt::Value> /*value*/, unsigned int flags_) mutable {
        StringRef relative_key = name.substr(prefix_len);
        auto end_sub_table = relative_key.find(PATH_SEPARATOR_CHAR);
        if (end_sub_table == StringRef::npos) return;
        StringRef sub_table_key = relative_key.substr(0, end_sub_table);
        if (notified_tables->find(sub_table_key) == notified_tables->end())
          return;
        notified_tables->insert(std::make_pair(sub_table_key, '\0'));
        listener->ValueChangedEx(this, sub_table_key, nullptr, flags_);
      },
      flags);
  m_listeners.emplace_back(listener, id);
}

void NetworkTable::RemoveTableListener(ITableListener* listener) {
  std::lock_guard<std::mutex> lock(m_mutex);
  auto matches_begin =
      std::remove_if(m_listeners.begin(), m_listeners.end(),
                     [=](const Listener& x) { return x.first == listener; });

  for (auto i = matches_begin; i != m_listeners.end(); ++i)
    nt::RemoveEntryListener(i->second);
  m_listeners.erase(matches_begin, m_listeners.end());
}

std::shared_ptr<ITable> NetworkTable::GetSubTable(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return std::make_shared<NetworkTable>(path, private_init());
}

bool NetworkTable::ContainsKey(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return !nt::GetEntryValue(path);
}

bool NetworkTable::ContainsSubTable(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  path += PATH_SEPARATOR_CHAR;
  return !nt::GetEntryInfo(path, 0).empty();
}

std::vector<std::string> NetworkTable::GetKeys(int types) const {
  std::vector<std::string> keys;
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  for (auto& entry : nt::GetEntryInfo(path, types)) {
    auto relative_key = StringRef(entry.name).substr(path.size());
    if (relative_key.find(PATH_SEPARATOR_CHAR) != StringRef::npos)
      continue;
    keys.push_back(relative_key);
  }
  return keys;
}

std::vector<std::string> NetworkTable::GetSubTables() const {
  std::vector<std::string> keys;
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  for (auto& entry : nt::GetEntryInfo(path, 0)) {
    auto relative_key = StringRef(entry.name).substr(path.size());
    std::size_t end_subtable = relative_key.find(PATH_SEPARATOR_CHAR);
    if (end_subtable == StringRef::npos) continue;
    keys.push_back(relative_key.substr(0, end_subtable));
  }
  return keys;
}

void NetworkTable::SetPersistent(StringRef key) {
  SetFlags(key, NT_PERSISTENT);
}

void NetworkTable::ClearPersistent(StringRef key) {
  ClearFlags(key, NT_PERSISTENT);
}

bool NetworkTable::IsPersistent(StringRef key) const {
  return (GetFlags(key) & NT_PERSISTENT) != 0;
}

void NetworkTable::SetFlags(StringRef key, unsigned int flags) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  nt::SetEntryFlags(path, nt::GetEntryFlags(key) | flags);
}

void NetworkTable::ClearFlags(StringRef key, unsigned int flags) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  nt::SetEntryFlags(path, nt::GetEntryFlags(path) & ~flags);
}

unsigned int NetworkTable::GetFlags(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return nt::GetEntryFlags(path);
}

void NetworkTable::Delete(StringRef key) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  nt::DeleteEntry(path);
}

bool NetworkTable::PutNumber(StringRef key, double value) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return nt::SetEntryValue(path, nt::Value::MakeDouble(value));
}

double NetworkTable::GetNumber(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  auto value = nt::GetEntryValue(path);
  if (!value || value->type() != NT_DOUBLE)
    throw TableKeyNotDefinedException(path);
  return value->GetDouble();
}

double NetworkTable::GetNumber(StringRef key, double defaultValue) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  auto value = nt::GetEntryValue(path);
  if (!value || value->type() != NT_DOUBLE)
    return defaultValue;
  return value->GetDouble();
}

bool NetworkTable::PutString(StringRef key, StringRef value) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return nt::SetEntryValue(path, nt::Value::MakeString(value));
}

std::string NetworkTable::GetString(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  auto value = nt::GetEntryValue(path);
  if (!value || value->type() != NT_STRING)
    throw TableKeyNotDefinedException(path);
  return value->GetString();
}

std::string NetworkTable::GetString(StringRef key,
                                    StringRef defaultValue) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  auto value = nt::GetEntryValue(path);
  if (!value || value->type() != NT_STRING)
    return defaultValue;
  return value->GetString();
}

bool NetworkTable::PutBoolean(StringRef key, bool value) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return nt::SetEntryValue(path, nt::Value::MakeBoolean(value));
}

bool NetworkTable::GetBoolean(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  auto value = nt::GetEntryValue(path);
  if (!value || value->type() != NT_BOOLEAN)
    throw TableKeyNotDefinedException(path);
  return value->GetBoolean();
}

bool NetworkTable::GetBoolean(StringRef key, bool defaultValue) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  auto value = nt::GetEntryValue(path);
  if (!value || value->type() != NT_BOOLEAN)
    return defaultValue;
  return value->GetBoolean();
}

bool NetworkTable::PutValue(StringRef key, std::shared_ptr<nt::Value> value) {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return nt::SetEntryValue(path, value);
}

std::shared_ptr<nt::Value> NetworkTable::GetValue(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  return nt::GetEntryValue(path);
}