mirror of
https://github.com/wpilibsuite/allwpilib
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58 lines
1.4 KiB
C
58 lines
1.4 KiB
C
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/**
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* An abstraction for the NetworkTable protocol
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*
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* @author mwills
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*
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*/
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#ifndef NETWORK_TABLE_CONNECTION_H_
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#define NETWORK_TABLE_CONNECTION_H_
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#include <stdio.h>
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#include <stdlib.h>
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#include "OSAL/Synchronized.h"
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#ifndef _WRS_KERNEL
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#include <stdint.h>
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#endif
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class NetworkTableConnection;
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typedef uint16_t ProtocolVersion;
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#include "networktables2/connection/DataIOStream.h"
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#include "networktables2/NetworkTableEntry.h"
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#include "networktables2/type/NetworkTableEntryType.h"
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#include "networktables2/type/NetworkTableEntryTypeManager.h"
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#include "networktables2/connection/ConnectionAdapter.h"
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#include "networktables2/NetworkTableMessageType.h"
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class NetworkTableConnection{
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public:
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static const ProtocolVersion PROTOCOL_REVISION = 0x0200;
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NetworkTableConnection(IOStream* stream, NetworkTableEntryTypeManager& typeManager);
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~NetworkTableConnection();
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void close();
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void flush();
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void sendKeepAlive();
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void sendClientHello();
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void sendServerHelloComplete();
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void sendProtocolVersionUnsupported();
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void sendEntryAssignment(NetworkTableEntry& entry);
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void sendEntryUpdate(NetworkTableEntry& entry);
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void read(ConnectionAdapter& adapter);
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void SetIOStream(IOStream* stream);
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private:
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NTReentrantSemaphore WRITE_LOCK;
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DataIOStream* const ioStream;
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NetworkTableEntryTypeManager& typeManager;
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bool isValid;
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void sendMessageHeader(NetworkTableMessageType messageType);
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};
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#endif
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