allwpilib/src/main/native/cpp/networktables/NetworkTable.cpp

#include "networktables/NetworkTable.h"

#include <algorithm>

#include "llvm/SmallString.h"
#include "llvm/StringMap.h"
#include "llvm/raw_ostream.h"
#include "networktables/NetworkTableInstance.h"
#include "ntcore.h"
#include "tables/ITableListener.h"

using namespace nt;

#ifdef __GNUC__
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif

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

void NetworkTable::Initialize() {
  if (s_running) Shutdown();
  auto inst = NetworkTableInstance::GetDefault();
  if (s_client) {
    inst.StartClient();
    if (s_enable_ds) inst.StartDSClient(s_port);
  } else
    inst.StartServer(s_persistent_filename, "", s_port);
  s_running = true;
}

void NetworkTable::Shutdown() {
  if (!s_running) return;
  auto inst = NetworkTableInstance::GetDefault();
  if (s_client) {
    inst.StopDSClient();
    inst.StopClient();
  } else
    inst.StopServer();
  s_running = false;
}

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

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

void NetworkTable::SetTeam(int team) {
  auto inst = NetworkTableInstance::GetDefault();
  inst.SetServerTeam(team, s_port);
  if (s_enable_ds) inst.StartDSClient(s_port);
}

void NetworkTable::SetIPAddress(StringRef address) {
  auto inst = NetworkTableInstance::GetDefault();
  llvm::SmallString<32> addr_copy{address};
  inst.SetServer(addr_copy.c_str(), s_port);

  // Stop the DS client if we're explicitly connecting to localhost
  if (address == "localhost" || address == "127.0.0.1")
    inst.StopDSClient();
  else if (s_enable_ds)
    inst.StartDSClient(s_port);
}

void NetworkTable::SetIPAddress(llvm::ArrayRef<std::string> addresses) {
  auto inst = NetworkTableInstance::GetDefault();
  llvm::SmallVector<StringRef, 8> servers;
  for (const auto& ip_address : addresses) servers.emplace_back(ip_address);
  inst.SetServer(servers, s_port);

  // Stop the DS client if we're explicitly connecting to localhost
  if (!addresses.empty() &&
      (addresses[0] == "localhost" || addresses[0] == "127.0.0.1"))
    inst.StopDSClient();
  else if (s_enable_ds)
    inst.StartDSClient(s_port);
}

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

void NetworkTable::SetDSClientEnabled(bool enabled) {
  auto inst = NetworkTableInstance::GetDefault();
  s_enable_ds = enabled;
  if (s_enable_ds)
    inst.StartDSClient(s_port);
  else
    inst.StopDSClient();
}

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

void NetworkTable::SetNetworkIdentity(StringRef name) {
  NetworkTableInstance::GetDefault().SetNetworkIdentity(name);
}

void NetworkTable::GlobalDeleteAll() {
  NetworkTableInstance::GetDefault().DeleteAllEntries();
}

void NetworkTable::Flush() { NetworkTableInstance::GetDefault().Flush(); }

void NetworkTable::SetUpdateRate(double interval) {
  NetworkTableInstance::GetDefault().SetUpdateRate(interval);
}

const char* NetworkTable::SavePersistent(llvm::StringRef filename) {
  return NetworkTableInstance::GetDefault().SavePersistent(filename);
}

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

std::shared_ptr<NetworkTable> NetworkTable::GetTable(StringRef key) {
  if (!s_running) Initialize();
  return NetworkTableInstance::GetDefault().GetTable(key);
}

NetworkTable::NetworkTable(NT_Inst inst, StringRef path)
    : m_inst(inst), m_path(path) {}

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

NetworkTableInstance NetworkTable::GetInstance() const {
  return NetworkTableInstance{m_inst};
}

NetworkTableEntry NetworkTable::GetEntry(llvm::StringRef key) const {
  std::lock_guard<std::mutex> lock(m_mutex);
  NT_Entry& entry = m_entries[key];
  if (entry == 0) {
    llvm::SmallString<128> path(m_path);
    path += PATH_SEPARATOR_CHAR;
    path += key;
    entry = nt::GetEntry(m_inst, path);
  }
  return NetworkTableEntry{entry};
}

NT_EntryListener NetworkTable::AddEntryListener(TableEntryListener listener,
                                                unsigned int flags) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  std::size_t prefix_len = path.size();
  return nt::AddEntryListener(
      m_inst, path,
      [=](const EntryNotification& event) {
        StringRef relative_key = event.name.substr(prefix_len);
        if (relative_key.find(PATH_SEPARATOR_CHAR) != StringRef::npos) return;
        listener(const_cast<NetworkTable*>(this), relative_key,
                 NetworkTableEntry{event.entry}, event.value, event.flags);
      },
      flags);
}

NT_EntryListener NetworkTable::AddEntryListener(StringRef key,
                                                TableEntryListener listener,
                                                unsigned int flags) const {
  std::size_t prefix_len = m_path.size() + 1;
  auto entry = GetEntry(key);
  return nt::AddEntryListener(entry.GetHandle(),
                              [=](const EntryNotification& event) {
                                listener(const_cast<NetworkTable*>(this),
                                         event.name.substr(prefix_len), entry,
                                         event.value, event.flags);
                              },
                              flags);
}

void NetworkTable::RemoveEntryListener(NT_EntryListener listener) const {
  nt::RemoveEntryListener(listener);
}

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();
  NT_EntryListener id = nt::AddEntryListener(
      m_inst, path,
      [=](const EntryNotification& event) {
        StringRef relative_key = event.name.substr(prefix_len);
        if (relative_key.find(PATH_SEPARATOR_CHAR) != StringRef::npos) return;
        listener->ValueChangedEx(this, relative_key, event.value, event.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;
  NT_EntryListener id = nt::AddEntryListener(
      m_inst, path,
      [=](const EntryNotification& event) {
        if (event.name != path) return;
        listener->ValueChangedEx(this, event.name.substr(prefix_len),
                                 event.value, event.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;
  NT_EntryListener id = nt::AddEntryListener(
      m_inst, path,
      [=](const EntryNotification& event) {
        StringRef relative_key = event.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, event.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)
    RemoveEntryListener(i->second);
  m_listeners.erase(matches_begin, m_listeners.end());
}

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

bool NetworkTable::ContainsKey(StringRef key) const {
  return GetEntry(key).Exists();
}

bool NetworkTable::ContainsSubTable(StringRef key) const {
  llvm::SmallString<128> path(m_path);
  path += PATH_SEPARATOR_CHAR;
  path += key;
  path += PATH_SEPARATOR_CHAR;
  return !GetEntryInfo(m_inst, 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;
  auto infos = GetEntryInfo(m_inst, path, types);
  std::lock_guard<std::mutex> lock(m_mutex);
  for (auto& info : infos) {
    auto relative_key = StringRef(info.name).substr(path.size());
    if (relative_key.find(PATH_SEPARATOR_CHAR) != StringRef::npos) continue;
    keys.push_back(relative_key);
    m_entries[relative_key] = info.entry;
  }
  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 : GetEntryInfo(m_inst, 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) {
  GetEntry(key).SetPersistent();
}

void NetworkTable::ClearPersistent(StringRef key) {
  GetEntry(key).ClearPersistent();
}

bool NetworkTable::IsPersistent(StringRef key) const {
  return GetEntry(key).IsPersistent();
}

void NetworkTable::SetFlags(StringRef key, unsigned int flags) {
  GetEntry(key).SetFlags(flags);
}

void NetworkTable::ClearFlags(StringRef key, unsigned int flags) {
  GetEntry(key).ClearFlags(flags);
}

unsigned int NetworkTable::GetFlags(StringRef key) const {
  return GetEntry(key).GetFlags();
}

void NetworkTable::Delete(StringRef key) { GetEntry(key).Delete(); }

bool NetworkTable::PutNumber(StringRef key, double value) {
  return GetEntry(key).SetDouble(value);
}

bool NetworkTable::SetDefaultNumber(StringRef key, double defaultValue) {
  return GetEntry(key).SetDefaultDouble(defaultValue);
}

double NetworkTable::GetNumber(StringRef key, double defaultValue) const {
  return GetEntry(key).GetDouble(defaultValue);
}

bool NetworkTable::PutString(StringRef key, StringRef value) {
  return GetEntry(key).SetString(value);
}

bool NetworkTable::SetDefaultString(StringRef key, StringRef defaultValue) {
  return GetEntry(key).SetDefaultString(defaultValue);
}

std::string NetworkTable::GetString(StringRef key,
                                    StringRef defaultValue) const {
  return GetEntry(key).GetString(defaultValue);
}

bool NetworkTable::PutBoolean(StringRef key, bool value) {
  return GetEntry(key).SetBoolean(value);
}

bool NetworkTable::SetDefaultBoolean(StringRef key, bool defaultValue) {
  return GetEntry(key).SetDefaultBoolean(defaultValue);
}

bool NetworkTable::GetBoolean(StringRef key, bool defaultValue) const {
  return GetEntry(key).GetBoolean(defaultValue);
}

bool NetworkTable::PutBooleanArray(llvm::StringRef key,
                                   llvm::ArrayRef<int> value) {
  return GetEntry(key).SetBooleanArray(value);
}

bool NetworkTable::SetDefaultBooleanArray(StringRef key,
                                          llvm::ArrayRef<int> defaultValue) {
  return GetEntry(key).SetDefaultBooleanArray(defaultValue);
}

std::vector<int> NetworkTable::GetBooleanArray(
    llvm::StringRef key, llvm::ArrayRef<int> defaultValue) const {
  return GetEntry(key).GetBooleanArray(defaultValue);
}

bool NetworkTable::PutNumberArray(llvm::StringRef key,
                                  llvm::ArrayRef<double> value) {
  return GetEntry(key).SetDoubleArray(value);
}

bool NetworkTable::SetDefaultNumberArray(StringRef key,
                                         llvm::ArrayRef<double> defaultValue) {
  return GetEntry(key).SetDefaultDoubleArray(defaultValue);
}

std::vector<double> NetworkTable::GetNumberArray(
    llvm::StringRef key, llvm::ArrayRef<double> defaultValue) const {
  return GetEntry(key).GetDoubleArray(defaultValue);
}

bool NetworkTable::PutStringArray(llvm::StringRef key,
                                  llvm::ArrayRef<std::string> value) {
  return GetEntry(key).SetStringArray(value);
}

bool NetworkTable::SetDefaultStringArray(
    StringRef key, llvm::ArrayRef<std::string> defaultValue) {
  return GetEntry(key).SetDefaultStringArray(defaultValue);
}

std::vector<std::string> NetworkTable::GetStringArray(
    llvm::StringRef key, llvm::ArrayRef<std::string> defaultValue) const {
  return GetEntry(key).GetStringArray(defaultValue);
}

bool NetworkTable::PutRaw(llvm::StringRef key, llvm::StringRef value) {
  return GetEntry(key).SetRaw(value);
}

bool NetworkTable::SetDefaultRaw(StringRef key, StringRef defaultValue) {
  return GetEntry(key).SetDefaultRaw(defaultValue);
}

std::string NetworkTable::GetRaw(llvm::StringRef key,
                                 llvm::StringRef defaultValue) const {
  return GetEntry(key).GetRaw(defaultValue);
}

bool NetworkTable::PutValue(StringRef key, std::shared_ptr<Value> value) {
  return GetEntry(key).SetValue(value);
}

bool NetworkTable::SetDefaultValue(StringRef key,
                                   std::shared_ptr<Value> defaultValue) {
  return GetEntry(key).SetDefaultValue(defaultValue);
}

std::shared_ptr<Value> NetworkTable::GetValue(StringRef key) const {
  return GetEntry(key).GetValue();
}

StringRef NetworkTable::GetPath() const { return m_path; }