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Use wpi::span instead of wpi::ArrayRef across all libraries (#3414)

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- Remove ArrayRef.h
- Add SpanExtras.h for a couple of convenience functions
This commit is contained in:
Peter Johnson
2021-06-06 19:51:14 -07:00
committed by GitHub
parent 2abbbd9e70
commit 64f5413253
167 changed files with 974 additions and 1433 deletions
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40
simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
View File

@@ -12,7 +12,7 @@
#include <hal/simulation/DriverStationData.h>
#include <hal/simulation/MockHooks.h>
#include <wpi/ArrayRef.h>
#include <wpi/span.h>
using namespace halsim;
@@ -45,7 +45,7 @@ void DSCommPacket::SetAlliance(uint8_t station_code) {
m_alliance_station = static_cast<HAL_AllianceStationID>(station_code);
}
void DSCommPacket::ReadMatchtimeTag(wpi::ArrayRef<uint8_t> tagData) {
void DSCommPacket::ReadMatchtimeTag(wpi::span<const uint8_t> tagData) {
if (tagData.size() < 6) {
return;
}
@@ -63,7 +63,7 @@ void DSCommPacket::ReadMatchtimeTag(wpi::ArrayRef<uint8_t> tagData) {
m_match_time = matchTime;
}
void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
void DSCommPacket::ReadJoystickTag(wpi::span<const uint8_t> dataInput,
int index) {
DSCommJoystickPacket& stick = m_joystick_packets[index];
stick.ResetUdp();
@@ -72,7 +72,7 @@ void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
return;
}
dataInput = dataInput.slice(2);
dataInput = dataInput.subspan(2);
// Read axes
int axesLength = dataInput[0];
@@ -86,7 +86,7 @@ void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
}
stick.axes.count = axesLength;
dataInput = dataInput.slice(1 + axesLength);
dataInput = dataInput.subspan(1 + axesLength);
// Read Buttons
int buttonCount = dataInput[0];
@@ -97,7 +97,7 @@ void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
}
stick.buttons.count = buttonCount;
dataInput = dataInput.slice(1 + numBytes);
dataInput = dataInput.subspan(1 + numBytes);
int povsLength = dataInput[0];
for (int i = 0; i < povsLength * 2; i += 2) {
@@ -112,11 +112,11 @@ void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
/*----------------------------------------------------------------------------
** Communication methods
**--------------------------------------------------------------------------*/
void DSCommPacket::DecodeTCP(wpi::ArrayRef<uint8_t> packet) {
void DSCommPacket::DecodeTCP(wpi::span<const uint8_t> packet) {
// No header
while (!packet.empty()) {
int tagLength = packet[0] << 8 | packet[1];
auto tagPacket = packet.slice(0, tagLength + 2);
auto tagPacket = packet.subspan(0, tagLength + 2);
if (tagLength == 0) {
return;
@@ -133,11 +133,11 @@ void DSCommPacket::DecodeTCP(wpi::ArrayRef<uint8_t> packet) {
ReadNewMatchInfoTag(tagPacket);
break;
}
packet = packet.slice(tagLength + 2);
packet = packet.subspan(tagLength + 2);
}
}
void DSCommPacket::DecodeUDP(wpi::ArrayRef<uint8_t> packet) {
void DSCommPacket::DecodeUDP(wpi::span<const uint8_t> packet) {
if (packet.size() < 6) {
return;
}
@@ -154,14 +154,14 @@ void DSCommPacket::DecodeUDP(wpi::ArrayRef<uint8_t> packet) {
}
// Else, handle tagged data
packet = packet.slice(6);
packet = packet.subspan(6);
int joystickNum = 0;
// Loop to handle multiple tags
while (!packet.empty()) {
auto tagLength = packet[0];
auto tagPacket = packet.slice(0, tagLength + 1);
auto tagPacket = packet.subspan(0, tagLength + 1);
switch (packet[1]) {
case kJoystickDataTag:
@@ -172,11 +172,11 @@ void DSCommPacket::DecodeUDP(wpi::ArrayRef<uint8_t> packet) {
ReadMatchtimeTag(tagPacket);
break;
}
packet = packet.slice(tagLength + 1);
packet = packet.subspan(tagLength + 1);
}
}
void DSCommPacket::ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data) {
void DSCommPacket::ReadNewMatchInfoTag(wpi::span<const uint8_t> data) {
// Size 2 bytes, tag 1 byte
if (data.size() <= 3) {
return;
@@ -190,7 +190,7 @@ void DSCommPacket::ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data) {
matchInfo.eventName[nameLength] = '\0';
data = data.slice(4 + nameLength);
data = data.subspan(4 + nameLength);
if (data.size() < 4) {
return;
@@ -204,7 +204,7 @@ void DSCommPacket::ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data) {
HALSIM_SetMatchInfo(&matchInfo);
}
void DSCommPacket::ReadGameSpecificMessageTag(wpi::ArrayRef<uint8_t> data) {
void DSCommPacket::ReadGameSpecificMessageTag(wpi::span<const uint8_t> data) {
// Size 2 bytes, tag 1 byte
if (data.size() <= 3) {
return;
@@ -220,11 +220,11 @@ void DSCommPacket::ReadGameSpecificMessageTag(wpi::ArrayRef<uint8_t> data) {
HALSIM_SetMatchInfo(&matchInfo);
}
void DSCommPacket::ReadJoystickDescriptionTag(wpi::ArrayRef<uint8_t> data) {
void DSCommPacket::ReadJoystickDescriptionTag(wpi::span<const uint8_t> data) {
if (data.size() < 3) {
return;
}
data = data.slice(3);
data = data.subspan(3);
int joystickNum = data[0];
DSCommJoystickPacket& packet = m_joystick_packets[joystickNum];
packet.ResetTcp();
@@ -235,14 +235,14 @@ void DSCommPacket::ReadJoystickDescriptionTag(wpi::ArrayRef<uint8_t> data) {
for (int i = 0; i < nameLength; i++) {
packet.descriptor.name[i] = data[4 + i];
}
data = data.slice(4 + nameLength);
data = data.subspan(4 + nameLength);
packet.descriptor.name[nameLength] = '\0';
int axesCount = data[0];
packet.descriptor.axisCount = axesCount;
for (int i = 0; i < axesCount; i++) {
packet.descriptor.axisTypes[i] = data[1 + i];
}
data = data.slice(1 + axesCount);
data = data.subspan(1 + axesCount);
packet.descriptor.buttonCount = data[0];
packet.descriptor.povCount = data[1];

16
simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
View File

@@ -116,13 +116,12 @@ static void SetupUdp(wpi::uv::Loop& loop) {
struct sockaddr_in simAddr;
NameToAddr("127.0.0.1", 1135, &simAddr);
simLoopTimer->timeout.connect([udpLocal = udp.get(), simAddr] {
udpLocal->Send(simAddr, wpi::ArrayRef<Buffer>{singleByte.get(), 1},
[](auto buf, Error err) {
if (err) {
fmt::print(stderr, "{}\n", err.str());
std::fflush(stderr);
}
});
udpLocal->Send(simAddr, {singleByte.get(), 1}, [](auto buf, Error err) {
if (err) {
fmt::print(stderr, "{}\n", err.str());
std::fflush(stderr);
}
});
});
simLoopTimer->Start(Timer::Time{100}, Timer::Time{100});
@@ -131,8 +130,7 @@ static void SetupUdp(wpi::uv::Loop& loop) {
const sockaddr& recSock,
unsigned int port) {
auto ds = udpLocal->GetLoop()->GetData<halsim::DSCommPacket>();
ds->DecodeUDP(
wpi::ArrayRef<uint8_t>{reinterpret_cast<uint8_t*>(buf.base), len});
ds->DecodeUDP({reinterpret_cast<uint8_t*>(buf.base), len});
struct sockaddr_in outAddr;
std::memcpy(&outAddr, &recSock, sizeof(sockaddr_in));