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Add FRC Driver Station connection support.

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The 2017 FRC Driver Station supports getting the robot IP via a TCP
connection that returns JSON.  Use this to support overriding the
server IP address used for client connections.

Default to using this approach for client connections in the NetworkTable
interfaces.

Add support for setting the server address without stopping and
restarting the client.

SetTeam now also round-robins by default.
This commit is contained in:
Peter Johnson
2016-11-04 16:01:42 -07:00
parent 34acd9d47c
commit 77edf1e103
15 changed files with 538 additions and 66 deletions
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80
java/lib/NetworkTablesJNI.cpp
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@@ -1147,6 +1147,17 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
nt::StopServer();
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: startClient
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_startClient__
(JNIEnv *env, jclass)
{
nt::StartClient();
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: startClient
@@ -1205,6 +1216,75 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
nt::StopClient();
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: setServer
* Signature: (Ljava/lang/String;I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_setServer__Ljava_lang_String_2I
(JNIEnv *env, jclass, jstring serverName, jint port)
{
nt::SetServer(JStringRef{env, serverName}.c_str(), port);
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: setServer
* Signature: ([Ljava/lang/String;[I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_setServer___3Ljava_lang_String_2_3I
(JNIEnv *env, jclass, jobjectArray serverNames, jintArray ports)
{
int len = env->GetArrayLength(serverNames);
if (len != env->GetArrayLength(ports)) {
env->ThrowNew(illegalArgEx,
"serverNames and ports arrays must be the same size");
return;
}
jint* portInts = env->GetIntArrayElements(ports, nullptr);
if (!portInts) return;
std::vector<std::string> names;
std::vector<std::pair<nt::StringRef, unsigned int>> servers;
names.reserve(len);
servers.reserve(len);
for (int i = 0; i < len; ++i) {
JLocal<jstring> elem{
env, static_cast<jstring>(env->GetObjectArrayElement(serverNames, i))};
if (!elem) {
env->ThrowNew(illegalArgEx, "null string in serverNames");
return;
}
names.emplace_back(JStringRef{env, elem}.str());
servers.emplace_back(std::make_pair(nt::StringRef(names.back()),
portInts[i]));
}
env->ReleaseIntArrayElements(ports, portInts, JNI_ABORT);
nt::SetServer(servers);
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: startDSClient
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_startDSClient
(JNIEnv *env, jclass, jint port)
{
nt::StartDSClient(port);
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: stopDSClient
* Signature: (I)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_networktables_NetworkTablesJNI_stopDSClient
(JNIEnv *env, jclass)
{
nt::StopDSClient();
}
/*
* Class: edu_wpi_first_wpilibj_networktables_NetworkTablesJNI
* Method: setUpdateRate