CMake Changes

This is the changes made by Patrick Plenefisch converting the native
code to use CMake and the CMake Maven Plugin, as opposed to the
native Maven plugin. This is to allow for compatibility with newer
versions of the GCC toolchain. All the cpp sources were moved from
maven style directories to cpp style directories for CMake.

Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593

networktables/cpp/lib/Athena/networktables2/stream/FDIOStream.cpp

@@ -0,0 +1,86 @@
+/*
+ * FDIOStream.cpp
+ *
+ *  Created on: Sep 27, 2012
+ *      Author: Mitchell Wills
+ */
+
+#include "networktables2/stream/FDIOStream.h"
+#include "networktables2/util/IOException.h"
+#include "networktables2/util/EOFException.h"
+
+#include <errno.h>
+#include <stdlib.h>
+#ifdef _WRS_KERNEL
+#include <iolib.h>
+#else
+#include <unistd.h>
+#endif
+#include <stdio.h>
+
+
+FDIOStream::FDIOStream(int _fd){
+  fd = _fd;
+  //	f = fdopen(_fd, "rbwb");
+  //	if(f==NULL)
+  //		throw IOException("Could not open stream from file descriptor", errno);
+}
+FDIOStream::~FDIOStream(){
+	close();
+}
+
+int FDIOStream::read(void* ptr, int numbytes){
+	if(numbytes==0)
+		return 0;
+	char* bufferPointer = (char*)ptr;
+	int totalRead = 0;
+
+	struct timeval timeout;
+	fd_set fdSet;
+	
+	while (totalRead < numbytes) {
+		FD_ZERO(&fdSet);
+		FD_SET(fd, &fdSet);
+		timeout.tv_sec = 1;
+		timeout.tv_usec = 0;
+		int select_result = select(FD_SETSIZE, &fdSet, NULL, NULL, &timeout);
+		if ( select_result < 0)
+		  throw IOException("Select returned an error on read");
+
+		int numRead = 0;
+		if (FD_ISSET(fd, &fdSet)) {
+		  numRead = ::read(fd, bufferPointer, numbytes-totalRead);
+
+		  if(numRead == 0){
+		    throw EOFException();
+		  }
+		  else if (numRead < 0) {
+		    perror("read error: ");
+		    fflush(stderr);
+		    throw IOException("Error on FDIO read");
+		  }
+		  bufferPointer += numRead;
+		  totalRead += numRead;
+		}
+	}
+	return totalRead;
+}
+int FDIOStream::write(const void* ptr, int numbytes){
+  int numWrote = ::write(fd, (char*)ptr, numbytes);//TODO: this is bad
+  //int numWrote = fwrite(ptr, 1, numbytes, f);
+  if(numWrote==numbytes)
+    return numWrote;
+  perror("write error: ");
+  fflush(stderr);
+  throw IOException("Could not write all bytes to fd stream");
+	
+}
+void FDIOStream::flush(){
+  //if(fflush(f)==EOF)
+  //  throw EOFException();
+}
+void FDIOStream::close(){
+  //fclose(f);//ignore any errors closing
+  ::close(fd);
+}
+

networktables/cpp/lib/Athena/networktables2/stream/SocketServerStreamProvider.cpp

@@ -0,0 +1,127 @@
+/*
+ * SocketServerStreamProvider.cpp
+ *
+ *  Created on: Sep 27, 2012
+ *      Author: Mitchell Wills
+ */
+
+#include "networktables2/stream/SocketServerStreamProvider.h"
+#include "networktables2/stream/FDIOStream.h"
+#include "networktables2/util/IOException.h"
+
+#include <strings.h>
+#include <cstring>
+#include <errno.h>
+#ifdef _WRS_KERNEL
+#include <inetLib.h>
+#include <selectLib.h>
+#include <sockLib.h>
+#include <taskLib.h>
+#include <usrLib.h>
+#include <ioLib.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#else
+#include <stdlib.h>
+#include <stdio.h>
+#include <sys/types.h>
+#include <unistd.h>
+#ifdef WIN32
+#include <windows.h>
+#include <winsock.h>
+#include <winsock2.h>
+#include <wininet.h>
+#include <ws2tcpip.h>
+#else
+#include <sys/socket.h>
+#include <sys/un.h>
+#include <netinet/in.h>
+#include <netinet/tcp.h>
+#endif
+#endif
+
+#ifndef _WRS_KERNEL
+#define ERROR -1
+#endif
+
+#if defined(WIN32) || defined(_WRS_KERNEL)
+typedef int addrlen_t;
+#else
+typedef socklen_t addrlen_t;
+#endif
+
+
+SocketServerStreamProvider::SocketServerStreamProvider(int port){
+	struct sockaddr_in serverAddr;
+	int sockAddrSize = sizeof(serverAddr);
+	memset(&serverAddr, 0, sockAddrSize);
+
+#ifdef _WRS_KERNEL
+	serverAddr.sin_len = (u_char)sockAddrSize;
+#endif
+	serverAddr.sin_family = AF_INET;
+	serverAddr.sin_port = htons(port);
+	serverAddr.sin_addr.s_addr = htonl(INADDR_ANY);
+
+	if ((serverSocket = socket(AF_INET, SOCK_STREAM, 0)) == ERROR)
+	{
+		throw IOException("Error creating server socket", errno);
+	}
+
+	// Set the TCP socket so that it can be reused if it is in the wait state.
+	int reuseAddr = 1;
+	setsockopt(serverSocket, SOL_SOCKET, SO_REUSEADDR, (char *)&reuseAddr, sizeof(reuseAddr));
+
+	// Bind socket to local address.
+	if (bind(serverSocket, (struct sockaddr *)&serverAddr, sockAddrSize) == ERROR)
+	{
+		::close(serverSocket);
+		throw IOException("Could not bind server socket", errno);
+	}
+
+	if (listen(serverSocket, 1) == ERROR)
+	{
+		::close(serverSocket);
+		throw IOException("Could not listen on server socket", errno);
+	}
+}
+SocketServerStreamProvider::~SocketServerStreamProvider(){
+	close();
+}
+
+
+IOStream* SocketServerStreamProvider::accept(){
+	struct timeval timeout;
+	// Check for a shutdown once per second
+	while (true)
+	{
+		fd_set fdSet;
+
+		FD_ZERO(&fdSet);
+		FD_SET(serverSocket, &fdSet);
+		timeout.tv_sec = 1;
+		timeout.tv_usec = 0;
+		int select_result = select(FD_SETSIZE, &fdSet, NULL, NULL, &timeout);
+		if ( select_result < 0)
+		  return NULL;
+
+		if (FD_ISSET(serverSocket, &fdSet))
+		  {
+		    struct sockaddr clientAddr;
+		    memset(&clientAddr, 0, sizeof(struct sockaddr));
+		    addrlen_t clientAddrSize = sizeof(clientAddr);
+		    int connectedSocket = ::accept(serverSocket, &clientAddr, &clientAddrSize);
+		    if (connectedSocket == ERROR)
+		      return NULL;
+				
+		    return new FDIOStream(connectedSocket);
+		  }
+
+		
+	}
+	return NULL;
+}
+
+void SocketServerStreamProvider::close(){
+	::close(serverSocket);
+}

networktables/cpp/lib/Athena/networktables2/stream/SocketStreamFactory.cpp

@@ -0,0 +1,67 @@
+/*
+ * SocketStreamFactory.cpp
+ *
+ *  Created on: Nov 3, 2012
+ *      Author: Mitchell Wills
+ */
+
+
+#include <cstring>
+#ifdef _WRS_KERNEL
+#else
+	#include <stdlib.h>
+	#include <stdio.h>
+	#include <sys/types.h>
+	#include <unistd.h>
+	#ifdef WIN32
+	   #include <winsock.h>
+	   #include <winsock2.h>
+	#else
+		#include <sys/socket.h>
+		#include <sys/un.h>
+                #include <netdb.h>
+		#include <netinet/in.h>
+		#include <netinet/tcp.h>
+	#endif
+#endif
+#include "networktables2/stream/FDIOStream.h"
+#include "networktables2/stream/SocketStreamFactory.h"
+
+
+SocketStreamFactory::SocketStreamFactory(const char* _host, int _port):host(_host), port(_port){}
+
+SocketStreamFactory::~SocketStreamFactory(){}
+
+IOStream* SocketStreamFactory::createStream(){
+#ifdef _WRS_KERNEL
+	//crio client not supported
+	return NULL;
+#else
+    struct sockaddr_in serv_addr;
+    struct hostent *server;
+
+    int sockfd = socket(AF_INET, SOCK_STREAM, 0);
+    if (sockfd < 0){
+        //error("ERROR opening socket");
+        return NULL;
+    }
+    server = gethostbyname(host);
+    if (server == NULL) {
+        //fprintf(stderr,"ERROR, no such host\n");
+        return NULL;
+    }
+	memset(&serv_addr, 0, sizeof(serv_addr));
+    serv_addr.sin_family = AF_INET;
+    memcpy(&serv_addr.sin_addr.s_addr, server->h_addr, server->h_length);
+    serv_addr.sin_port = htons(port);
+    if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) < 0) {
+        //error("ERROR connecting");
+    	return NULL;
+    }//TODO close fd if an error occured
+
+	//int on = 1;
+	//setsockopt(sockfd, IPPROTO_TCP, TCP_NODELAY, (char *)&on, sizeof(on));
+
+	return new FDIOStream(sockfd);
+#endif
+}

networktables/cpp/lib/Athena/networktables2/stream/SocketStreams.cpp

@@ -0,0 +1,21 @@
+/*
+ * SocketStreams.cpp
+ *
+ *  Created on: Sep 27, 2012
+ *      Author: Mitchell Wills
+ */
+
+#include "networktables2/stream/SocketStreams.h"
+#include "networktables2/stream/SocketStreamFactory.h"
+#include "networktables2/stream/SocketServerStreamProvider.h"
+
+
+
+IOStreamFactory& SocketStreams::newStreamFactory(const char* host, int port){
+	return *new SocketStreamFactory(host, port);
+}
+
+IOStreamProvider& SocketStreams::newStreamProvider(int port){
+	return *new SocketServerStreamProvider(port);
+}
+

networktables/cpp/lib/Athena/networktables2/thread/DefaultThreadManager.cpp

@@ -0,0 +1,44 @@
+/*
+ * DefaultThreadManager.cpp
+ * Desktop
+ * Author: Mitchell Wills
+ *
+ */
+
+#include "networktables2/thread/DefaultThreadManager.h"
+#include <exception>
+#include <signal.h>
+#include <stdio.h>
+
+
+PeriodicNTThread::PeriodicNTThread(PeriodicRunnable* _r, const char* name) : r(_r), run(true){
+  if(pthread_create(&thread, NULL, (void* (*)(void*))PeriodicNTThread::taskMain, (void*)this))
+    throw std::exception();
+}
+PeriodicNTThread::~PeriodicNTThread(){
+  stop();
+  if(thread == pthread_self()){
+    fprintf(stderr, "WARNING: thread destructor called from this thread\n");
+  }
+  pthread_join(thread, NULL);
+}
+void* PeriodicNTThread::taskMain(PeriodicNTThread* o){//static wrapper
+	o->_taskMain();
+	return 0;
+}
+void PeriodicNTThread::_taskMain(){
+	while(run){
+		r->run();
+	}
+}
+void PeriodicNTThread::stop() {
+	run = false;
+	//pthread_cancel(thread);
+}
+bool PeriodicNTThread::isRunning() {
+  return pthread_kill(thread, 0) == 0;
+}
+
+NTThread* DefaultThreadManager::newBlockingPeriodicThread(PeriodicRunnable* r, const char* name) {
+	return new PeriodicNTThread(r, name);
+}