mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
[ntcore] Refactor meta-topic decoding from glass (#4809)
This commit is contained in:
Peter Johnson
210
ntcore/src/main/native/cpp/ntcore_meta.cpp
Normal file
210
ntcore/src/main/native/cpp/ntcore_meta.cpp
Normal file
@@ -0,0 +1,210 @@
|
||||
// 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 <fmt/format.h>
|
||||
#include <wpi/MessagePack.h>
|
||||
#include <wpi/mpack.h>
|
||||
|
||||
#include "ntcore_cpp.h"
|
||||
|
||||
using namespace mpack;
|
||||
|
||||
using namespace nt::meta;
|
||||
|
||||
static SubscriberOptions DecodeSubscriberOptions(mpack_reader_t& r) {
|
||||
SubscriberOptions options;
|
||||
uint32_t numMapElem = mpack_expect_map(&r);
|
||||
for (uint32_t j = 0; j < numMapElem; ++j) {
|
||||
std::string key;
|
||||
mpack_expect_str(&r, &key);
|
||||
if (key == "topicsonly") {
|
||||
options.topicsOnly = mpack_expect_bool(&r);
|
||||
} else if (key == "all") {
|
||||
options.sendAll = mpack_expect_bool(&r);
|
||||
} else if (key == "periodic") {
|
||||
options.periodic = mpack_expect_float(&r);
|
||||
} else if (key == "prefix") {
|
||||
options.prefixMatch = mpack_expect_bool(&r);
|
||||
} else {
|
||||
// TODO: Save other options
|
||||
mpack_discard(&r);
|
||||
}
|
||||
}
|
||||
mpack_done_map(&r);
|
||||
return options;
|
||||
}
|
||||
|
||||
std::optional<std::vector<ClientPublisher>> nt::meta::DecodeClientPublishers(
|
||||
std::span<const uint8_t> data) {
|
||||
mpack_reader_t r;
|
||||
mpack_reader_init_data(&r, data);
|
||||
uint32_t numPub = mpack_expect_array_max(&r, 1000);
|
||||
std::vector<ClientPublisher> publishers;
|
||||
publishers.reserve(numPub);
|
||||
for (uint32_t i = 0; i < numPub; ++i) {
|
||||
ClientPublisher pub;
|
||||
uint32_t numMapElem = mpack_expect_map(&r);
|
||||
for (uint32_t j = 0; j < numMapElem; ++j) {
|
||||
std::string key;
|
||||
mpack_expect_str(&r, &key);
|
||||
if (key == "uid") {
|
||||
pub.uid = mpack_expect_i64(&r);
|
||||
} else if (key == "topic") {
|
||||
mpack_expect_str(&r, &pub.topic);
|
||||
} else {
|
||||
mpack_discard(&r);
|
||||
}
|
||||
}
|
||||
mpack_done_map(&r);
|
||||
publishers.emplace_back(std::move(pub));
|
||||
}
|
||||
mpack_done_array(&r);
|
||||
if (mpack_reader_destroy(&r) == mpack_ok) {
|
||||
return {std::move(publishers)};
|
||||
} else {
|
||||
return {};
|
||||
}
|
||||
}
|
||||
|
||||
std::optional<std::vector<ClientSubscriber>> nt::meta::DecodeClientSubscribers(
|
||||
std::span<const uint8_t> data) {
|
||||
mpack_reader_t r;
|
||||
mpack_reader_init_data(&r, data);
|
||||
uint32_t numSub = mpack_expect_array_max(&r, 1000);
|
||||
std::vector<ClientSubscriber> subscribers;
|
||||
subscribers.reserve(numSub);
|
||||
for (uint32_t i = 0; i < numSub; ++i) {
|
||||
ClientSubscriber sub;
|
||||
uint32_t numMapElem = mpack_expect_map(&r);
|
||||
for (uint32_t j = 0; j < numMapElem; ++j) {
|
||||
std::string key;
|
||||
mpack_expect_str(&r, &key);
|
||||
if (key == "uid") {
|
||||
sub.uid = mpack_expect_i64(&r);
|
||||
} else if (key == "topics") {
|
||||
uint32_t numPrefix = mpack_expect_array_max(&r, 100);
|
||||
sub.topics.reserve(numPrefix);
|
||||
for (uint32_t k = 0; k < numPrefix; ++k) {
|
||||
std::string val;
|
||||
if (mpack_expect_str(&r, &val) == mpack_ok) {
|
||||
sub.topics.emplace_back(std::move(val));
|
||||
}
|
||||
}
|
||||
mpack_done_array(&r);
|
||||
} else if (key == "options") {
|
||||
sub.options = DecodeSubscriberOptions(r);
|
||||
} else {
|
||||
mpack_discard(&r);
|
||||
}
|
||||
}
|
||||
mpack_done_map(&r);
|
||||
subscribers.emplace_back(std::move(sub));
|
||||
}
|
||||
mpack_done_array(&r);
|
||||
if (mpack_reader_destroy(&r) == mpack_ok) {
|
||||
return {std::move(subscribers)};
|
||||
} else {
|
||||
return {};
|
||||
}
|
||||
}
|
||||
|
||||
std::optional<std::vector<TopicPublisher>> nt::meta::DecodeTopicPublishers(
|
||||
std::span<const uint8_t> data) {
|
||||
mpack_reader_t r;
|
||||
mpack_reader_init_data(&r, data);
|
||||
uint32_t numPub = mpack_expect_array_max(&r, 1000);
|
||||
std::vector<TopicPublisher> publishers;
|
||||
publishers.reserve(numPub);
|
||||
for (uint32_t i = 0; i < numPub; ++i) {
|
||||
TopicPublisher pub;
|
||||
uint32_t numMapElem = mpack_expect_map(&r);
|
||||
for (uint32_t j = 0; j < numMapElem; ++j) {
|
||||
std::string key;
|
||||
mpack_expect_str(&r, &key);
|
||||
if (key == "pubuid") {
|
||||
pub.pubuid = mpack_expect_i64(&r);
|
||||
} else if (key == "client") {
|
||||
mpack_expect_str(&r, &pub.client);
|
||||
} else {
|
||||
mpack_discard(&r);
|
||||
}
|
||||
}
|
||||
mpack_done_map(&r);
|
||||
publishers.emplace_back(std::move(pub));
|
||||
}
|
||||
mpack_done_array(&r);
|
||||
if (mpack_reader_destroy(&r) == mpack_ok) {
|
||||
return {std::move(publishers)};
|
||||
} else {
|
||||
return {};
|
||||
}
|
||||
}
|
||||
|
||||
std::optional<std::vector<TopicSubscriber>> nt::meta::DecodeTopicSubscribers(
|
||||
std::span<const uint8_t> data) {
|
||||
mpack_reader_t r;
|
||||
mpack_reader_init_data(&r, data);
|
||||
uint32_t numSub = mpack_expect_array_max(&r, 1000);
|
||||
std::vector<TopicSubscriber> subscribers;
|
||||
subscribers.reserve(numSub);
|
||||
for (uint32_t i = 0; i < numSub; ++i) {
|
||||
TopicSubscriber sub;
|
||||
uint32_t numMapElem = mpack_expect_map(&r);
|
||||
for (uint32_t j = 0; j < numMapElem; ++j) {
|
||||
std::string key;
|
||||
mpack_expect_str(&r, &key);
|
||||
if (key == "subuid") {
|
||||
sub.subuid = mpack_expect_i64(&r);
|
||||
} else if (key == "client") {
|
||||
mpack_expect_str(&r, &sub.client);
|
||||
} else if (key == "options") {
|
||||
sub.options = DecodeSubscriberOptions(r);
|
||||
} else {
|
||||
mpack_discard(&r);
|
||||
}
|
||||
}
|
||||
mpack_done_map(&r);
|
||||
subscribers.emplace_back(std::move(sub));
|
||||
}
|
||||
mpack_done_array(&r);
|
||||
if (mpack_reader_destroy(&r) == mpack_ok) {
|
||||
return {std::move(subscribers)};
|
||||
} else {
|
||||
return {};
|
||||
}
|
||||
}
|
||||
|
||||
std::optional<std::vector<Client>> nt::meta::DecodeClients(
|
||||
std::span<const uint8_t> data) {
|
||||
mpack_reader_t r;
|
||||
mpack_reader_init_data(&r, data);
|
||||
uint32_t numClients = mpack_expect_array_max(&r, 100);
|
||||
std::vector<Client> clients;
|
||||
clients.reserve(numClients);
|
||||
for (uint32_t i = 0; i < numClients; ++i) {
|
||||
Client client;
|
||||
uint32_t numMapElem = mpack_expect_map(&r);
|
||||
for (uint32_t j = 0; j < numMapElem; ++j) {
|
||||
std::string key;
|
||||
mpack_expect_str(&r, &key);
|
||||
if (key == "id") {
|
||||
mpack_expect_str(&r, &client.id);
|
||||
} else if (key == "conn") {
|
||||
mpack_expect_str(&r, &client.conn);
|
||||
} else if (key == "ver") {
|
||||
client.version = mpack_expect_u16(&r);
|
||||
} else {
|
||||
mpack_discard(&r);
|
||||
}
|
||||
}
|
||||
mpack_done_map(&r);
|
||||
clients.emplace_back(std::move(client));
|
||||
}
|
||||
mpack_done_array(&r);
|
||||
if (mpack_reader_destroy(&r) == mpack_ok) {
|
||||
return {std::move(clients)};
|
||||
} else {
|
||||
return {};
|
||||
}
|
||||
}
|
||||
138
ntcore/src/main/native/cpp/ntcore_meta_c.cpp
Normal file
138
ntcore/src/main/native/cpp/ntcore_meta_c.cpp
Normal file
@@ -0,0 +1,138 @@
|
||||
// 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 <optional>
|
||||
#include <vector>
|
||||
|
||||
#include "Value_internal.h"
|
||||
#include "ntcore_cpp.h"
|
||||
|
||||
using namespace nt;
|
||||
using namespace nt::meta;
|
||||
|
||||
static void ConvertToC(const SubscriberOptions& in,
|
||||
NT_Meta_SubscriberOptions* out) {
|
||||
out->periodic = in.periodic;
|
||||
out->topicsOnly = in.topicsOnly;
|
||||
out->sendAll = in.sendAll;
|
||||
out->prefixMatch = in.prefixMatch;
|
||||
}
|
||||
|
||||
static void ConvertToC(const TopicPublisher& in, NT_Meta_TopicPublisher* out) {
|
||||
ConvertToC(in.client, &out->client);
|
||||
out->pubuid = in.pubuid;
|
||||
}
|
||||
|
||||
static void ConvertToC(const TopicSubscriber& in,
|
||||
NT_Meta_TopicSubscriber* out) {
|
||||
ConvertToC(in.client, &out->client);
|
||||
out->subuid = in.subuid;
|
||||
ConvertToC(in.options, &out->options);
|
||||
}
|
||||
|
||||
static void ConvertToC(const ClientPublisher& in,
|
||||
NT_Meta_ClientPublisher* out) {
|
||||
out->uid = in.uid;
|
||||
ConvertToC(in.topic, &out->topic);
|
||||
}
|
||||
|
||||
static void ConvertToC(const ClientSubscriber& in,
|
||||
NT_Meta_ClientSubscriber* out) {
|
||||
out->uid = in.uid;
|
||||
out->topics = ConvertToC<NT_String>(in.topics, &out->topicsCount);
|
||||
ConvertToC(in.options, &out->options);
|
||||
}
|
||||
|
||||
static void ConvertToC(const Client& in, NT_Meta_Client* out) {
|
||||
ConvertToC(in.id, &out->id);
|
||||
ConvertToC(in.conn, &out->conn);
|
||||
out->version = in.version;
|
||||
}
|
||||
|
||||
template <typename O, typename I>
|
||||
static O* ConvertToC(const std::optional<std::vector<I>>& in, size_t* out_len) {
|
||||
if (in) {
|
||||
if (O* rv = ConvertToC<O>(*in, out_len)) {
|
||||
return rv;
|
||||
} else {
|
||||
return static_cast<O*>(wpi::safe_malloc(0)); // return non-NULL
|
||||
}
|
||||
} else {
|
||||
*out_len = 0;
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
|
||||
struct NT_Meta_TopicPublisher* NT_Meta_DecodeTopicPublishers(
|
||||
const uint8_t* data, size_t size, size_t* count) {
|
||||
return ConvertToC<NT_Meta_TopicPublisher>(DecodeTopicPublishers({data, size}),
|
||||
count);
|
||||
}
|
||||
|
||||
struct NT_Meta_TopicSubscriber* NT_Meta_DecodeTopicSubscribers(
|
||||
const uint8_t* data, size_t size, size_t* count) {
|
||||
return ConvertToC<NT_Meta_TopicSubscriber>(
|
||||
DecodeTopicSubscribers({data, size}), count);
|
||||
}
|
||||
|
||||
struct NT_Meta_ClientPublisher* NT_Meta_DecodeClientPublishers(
|
||||
const uint8_t* data, size_t size, size_t* count) {
|
||||
return ConvertToC<NT_Meta_ClientPublisher>(
|
||||
DecodeClientPublishers({data, size}), count);
|
||||
}
|
||||
|
||||
struct NT_Meta_ClientSubscriber* NT_Meta_DecodeClientSubscribers(
|
||||
const uint8_t* data, size_t size, size_t* count) {
|
||||
return ConvertToC<NT_Meta_ClientSubscriber>(
|
||||
DecodeClientSubscribers({data, size}), count);
|
||||
}
|
||||
|
||||
struct NT_Meta_Client* NT_Meta_DecodeClients(const uint8_t* data, size_t size,
|
||||
size_t* count) {
|
||||
return ConvertToC<NT_Meta_Client>(DecodeClients({data, size}), count);
|
||||
}
|
||||
|
||||
void NT_Meta_FreeTopicPublishers(struct NT_Meta_TopicPublisher* arr,
|
||||
size_t count) {
|
||||
for (size_t i = 0; i < count; ++i) {
|
||||
std::free(arr[i].client.str);
|
||||
}
|
||||
std::free(arr);
|
||||
}
|
||||
|
||||
void NT_Meta_FreeTopicSubscribers(struct NT_Meta_TopicSubscriber* arr,
|
||||
size_t count) {
|
||||
for (size_t i = 0; i < count; ++i) {
|
||||
std::free(arr[i].client.str);
|
||||
}
|
||||
std::free(arr);
|
||||
}
|
||||
|
||||
void NT_Meta_FreeClientPublishers(struct NT_Meta_ClientPublisher* arr,
|
||||
size_t count) {
|
||||
for (size_t i = 0; i < count; ++i) {
|
||||
std::free(arr[i].topic.str);
|
||||
}
|
||||
std::free(arr);
|
||||
}
|
||||
|
||||
void NT_Meta_FreeClientSubscribers(struct NT_Meta_ClientSubscriber* arr,
|
||||
size_t count) {
|
||||
for (size_t i = 0; i < count; ++i) {
|
||||
NT_FreeStringArray(arr[i].topics, arr[i].topicsCount);
|
||||
}
|
||||
std::free(arr);
|
||||
}
|
||||
|
||||
void NT_Meta_FreeClients(struct NT_Meta_Client* arr, size_t count) {
|
||||
for (size_t i = 0; i < count; ++i) {
|
||||
std::free(arr[i].id.str);
|
||||
std::free(arr[i].conn.str);
|
||||
}
|
||||
std::free(arr);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user