mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
Initial checkin of unified hierarchy of WPILib 2015
This commit is contained in:
Brad Miller
@@ -0,0 +1,40 @@
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package edu.wpi.first.wpilibj.networktables2.stream;
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import java.io.*;
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import javax.microedition.io.*;
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/**
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* An object that will provide cRIO socket connections when a client connects to the server on the given port
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*
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* @author mwills
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*
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*/
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public class SocketConnectionServerStreamProvider implements IOStreamProvider{
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private final ServerSocketConnection server;
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/**
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* Create a new Stream provider that wraps a Socket Server on the given port
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* @param port
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* @throws IOException
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*/
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public SocketConnectionServerStreamProvider(final int port) throws IOException{
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server = (ServerSocketConnection) Connector.open("socket://:" + port);
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}
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public IOStream accept() throws IOException {
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SocketConnection socket = (SocketConnection) server.acceptAndOpen();
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if(socket!=null){
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socket.setSocketOption(SocketConnection.LINGER, 0);
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return new SocketConnectionStream(socket);
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}
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return null;
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}
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public void close() throws IOException {
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server.close();
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}
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}
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@@ -0,0 +1,64 @@
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package edu.wpi.first.wpilibj.networktables2.stream;
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import java.io.*;
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import javax.microedition.io.*;
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/**
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* A socket connection on the cRIO
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*
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* @author mwills
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*
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*/
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public class SocketConnectionStream implements IOStream{
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private final SocketConnection socket;
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private final InputStream is;
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private final OutputStream os;
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/**
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* Create a new IOStream for a socket connection with the given host and port
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* @param host
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* @param port
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* @throws IOException
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*/
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public SocketConnectionStream(final String host, final int port) throws IOException {
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this((SocketConnection) Connector.open("socket://"+host+":"+port));
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}
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/**
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* Create a new IOStream for a socket connection
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* @param socket
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* @throws IOException
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*/
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public SocketConnectionStream(final SocketConnection socket) throws IOException {
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this.socket = socket;
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is = socket.openInputStream();
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os = socket.openOutputStream();
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}
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public InputStream getInputStream() {
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return is;
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}
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public OutputStream getOutputStream() {
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return os;
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}
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public void close() {
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try{
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is.close();
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} catch(IOException e){
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//just ignore and close the rest of the stream
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}
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try{
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os.close();
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} catch(IOException e){
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//just ignore and close the rest of the stream
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}
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try{
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socket.close();
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} catch(IOException e){
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//just ignore and assume socket is now closed
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}
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}
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}
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@@ -0,0 +1,30 @@
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package edu.wpi.first.wpilibj.networktables2.stream;
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import java.io.*;
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/**
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*
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* @author mwills
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*
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*/
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public class SocketConnectionStreamFactory implements IOStreamFactory{
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private final String host;
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private final int port;
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/**
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* Create a new factory that will create socket connections with the given host and port
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* @param host
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* @param port
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* @throws IOException
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*/
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public SocketConnectionStreamFactory(final String host, final int port) throws IOException {
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this.host = host;
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this.port = port;
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}
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public IOStream createStream() throws IOException {
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return new SocketConnectionStream(host, port);
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}
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}
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@@ -0,0 +1,32 @@
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package edu.wpi.first.wpilibj.networktables2.stream;
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import java.io.*;
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/**
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* Static factory for socket stream factories and providers
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*
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* @author Mitchell
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*
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*/
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public class SocketStreams {
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/**
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* Create a new IOStream factory
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* @param host
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* @param port
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* @return a IOStreamFactory that will create Socket Connections on the given host and port
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* @throws IOException
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*/
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public static IOStreamFactory newStreamFactory(final String host, final int port) throws IOException{
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return new SocketConnectionStreamFactory(host, port);
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}
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/**
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* Create a new IOStream provider
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* @param port
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* @return an IOStreamProvider for a socket server on the given port
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* @throws IOException
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*/
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public static IOStreamProvider newStreamProvider(final int port) throws IOException {
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return new SocketConnectionServerStreamProvider(port);
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}
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}
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@@ -0,0 +1,47 @@
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package java.io;
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public class BufferedInputStream extends InputStream{
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private final InputStream source;
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private byte[] buffer;
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private int pos;//the next position to be read
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private int maxPos;//the maximum valid position in the buffer + 1
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public BufferedInputStream(InputStream source){
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this(source, 8192);
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}
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public BufferedInputStream(InputStream source, int size){
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this.source = source;
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buffer = new byte[size];
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pos = 0;
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maxPos = 0;
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}
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private void fillBuffer() throws IOException {
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int numRemaining = maxPos-pos;
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System.arraycopy(buffer, pos, buffer, 0, numRemaining);
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pos = 0;
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maxPos = numRemaining;
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int numRead = source.read(buffer, numRemaining, buffer.length-numRemaining);
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maxPos += numRead;
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}
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public int read() throws IOException {
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if(pos<maxPos)
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return buffer[pos++]&0xFF;//cast to make sure not to return -1 and instead just return lowest byte of int
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fillBuffer();
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if(pos<maxPos)
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return buffer[pos++]&0xFF;
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return -1;
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}
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public int available() throws IOException{
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return maxPos-pos+source.available();
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}
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public void close() throws IOException{
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source.close();
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}
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}
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@@ -0,0 +1,54 @@
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package java.io;
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public class BufferedOutputStream extends OutputStream{
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private final byte[] buffer;
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private int pos;
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private final OutputStream out;
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public BufferedOutputStream(OutputStream out){
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this(out, 8192);
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}
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public BufferedOutputStream(OutputStream out, int size){
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this.out = out;
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buffer = new byte[size];
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pos = 0;
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}
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private void flushBuffer() throws IOException{
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if(pos>0){
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out.write(buffer, 0, pos);
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pos = 0;
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}
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}
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public void write(int b) throws IOException {
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buffer[pos++] = (byte)b;
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if(pos>=buffer.length)
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flushBuffer();
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}
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public void write(byte b[], int off, int len) throws IOException {
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if(len>=buffer.length){
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flushBuffer();
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out.write(b, off, len);
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}
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else{
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if(len>=(buffer.length-pos))
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flushBuffer();
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System.arraycopy(b, off, buffer, pos, len);
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pos += len;
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}
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}
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public void flush() throws IOException{
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flushBuffer();
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out.flush();
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}
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public void close() throws IOException{
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flushBuffer();
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out.close();
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}
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}
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@@ -0,0 +1,115 @@
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package edu.wpi.first.wpilibj.networktables2.system;
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import edu.wpi.first.testing.*;
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import edu.wpi.first.wpilibj.networktables2.server.*;
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import edu.wpi.first.wpilibj.networktables2.stream.*;
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import edu.wpi.first.wpilibj.tables.ITable;
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import edu.wpi.first.wpilibj.tables.ITableListener;
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import java.io.*;
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public class SystemTest extends TestClass {
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private static NetworkTableServer staticServer;
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static{
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try {
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staticServer = new NetworkTableServer(SocketStreams.newStreamProvider(1735));
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} catch (IOException ex) {
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ex.printStackTrace();
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}
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}
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NetworkTableServer server;
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public void before() throws IOException{
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server = staticServer;
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staticServer.getEntryStore().clearEntries();
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}
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public void after(){
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//server.close();
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}
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public void testSimpleBidirectionalPut() throws Exception{
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sendMessage("server up");
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waitMessage();//Client connected
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System.out.println("client sent");
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sleep(100);
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assertEquals("CValue1-1", server.getString("ClientString1"));
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assertEquals("CValue2-1", server.getString("ClientString2"));
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server.putString("ServerString1", "SValue1-1");
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server.putString("ServerString2", "SValue2-1");
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sendMessage("server sent");
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System.out.println("sent server");
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waitMessage();//Client sent
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System.out.println("client sent");
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sleep(100);
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assertEquals("CValue1-2", server.getString("ClientString1"));
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assertEquals("CValue2-2", server.getString("ClientString2"));
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server.putString("ServerString1", "SValue1-2");
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server.putString("ServerString2", "SValue2-2");
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sendMessage("server sent");
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System.out.println("sent server");
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waitMessage();//test complete
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}
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public void testRapidServerPutSingleKey() throws Exception{
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sendMessage("server up");
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waitMessage();//Client connected
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for(int i = 0; i<10000; ++i)
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server.putString("ServerKey", "SValue"+i);
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sleep(100);
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sendMessage("server done");
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waitMessage();//test complete
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}
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public void testRapidServerPutMultiKey() throws Exception{
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sendMessage("server up");
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waitMessage();//Client connected
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for(int i = 0; i<1000; ++i)
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for(int j = 0; j<100; ++j)
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server.putString("ServerKey"+j, "SValue"+i);
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sleep(100);
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sendMessage("server done");
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waitMessage();//test complete
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}
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public void testPeriodicServerPutMultiKey() throws Exception{
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sendMessage("server up");
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waitMessage();//Client connected
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for(int i = 0; i<100; ++i){
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for(int j = 0; j<100; ++j)
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server.putString("ServerKey"+j, "SValue"+i);
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sleep(20);
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}
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sleep(100);
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sendMessage("server done");
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waitMessage();//test complete
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}
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public void testBiDirectionalStress() throws Exception{
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server.addTableListener(new ITableListener() {
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public void valueChanged(ITable source, String key, Object value, boolean isNew) {
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int prefixIndex = key.indexOf("/client/");
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if(prefixIndex == 0) {
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String name = key.substring("/client/".length());
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server.putDouble("/server/" + name, ((Double) value).doubleValue());
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}
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}
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}, false);
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sendMessage("Server ready");
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waitMessage(); // Client connected
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waitMessage(); // Client done
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}
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}
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