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[ntcore] Special-case default timestamps (#5003)

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Previously, a setDefault() on the server could override a client doing a
real set() if the time offset between client and server was negative,
resulting in a negative timestamp from the client.  This is a not
uncommon situation with robot code, as the robot code always starts at
time 0, so any clients that set values earlier (in real time) would have
negative timestamps.

Also improve special casing of 0 in the transmit side to make sure a
normal timestamp will never get sent as 0.
This commit is contained in:
Peter Johnson
2023-01-25 11:36:13 -08:00
committed by GitHub
parent 9e5b7b8040
commit 8785bba080
4 changed files with 76 additions and 7 deletions
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74
ntcore/src/test/native/cpp/net/ServerImplTest.cpp
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@@ -95,12 +95,20 @@ static std::string EncodeText(const T& msgs) {
}
template <typename T>
static std::vector<uint8_t> EncodeBinary(const T& msgs) {
static std::vector<uint8_t> EncodeServerBinary(const T& msgs) {
std::vector<uint8_t> data;
wpi::raw_uvector_ostream os{data};
for (auto&& msg : msgs) {
if (auto m = std::get_if<net::ServerValueMsg>(&msg.contents)) {
net::WireEncodeBinary(os, m->topic, m->value.time(), m->value);
if constexpr (std::is_same_v<typename T::value_type, net::ServerMessage>) {
if (auto m = std::get_if<net::ServerValueMsg>(&msg.contents)) {
net::WireEncodeBinary(os, m->topic, m->value.time(), m->value);
}
} else if constexpr (std::is_same_v<typename T::value_type,
net::ClientMessage>) {
if (auto m = std::get_if<net::ClientValueMsg>(&msg.contents)) {
net::WireEncodeBinary(os, Handle{m->pubHandle}.GetIndex(),
m->value.time(), m->value);
}
}
}
return data;
@@ -231,8 +239,9 @@ TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
std::vector<net::ServerMessage> smsgs;
smsgs.emplace_back(net::ServerMessage{
net::ServerValueMsg{3, Value::MakeDouble(1.0, 10)}});
EXPECT_CALL(wire,
Binary(wpi::SpanEq(EncodeBinary(smsgs)))); // SendValues()
EXPECT_CALL(
wire,
Binary(wpi::SpanEq(EncodeServerBinary(smsgs)))); // SendValues()
}
EXPECT_CALL(wire, Flush()); // SendValues()
}
@@ -266,4 +275,59 @@ TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
server.SendValues(id, 200);
}
TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
// publish before client connect
server.SetLocal(&local);
NT_Publisher pubHandle = nt::Handle{0, 1, nt::Handle::kPublisher};
NT_Topic topicHandle = nt::Handle{0, 1, nt::Handle::kTopic};
NT_Subscriber subHandle = nt::Handle{0, 1, nt::Handle::kSubscriber};
Value defaultValue = Value::MakeDouble(1.0, 10);
defaultValue.SetTime(0);
defaultValue.SetServerTime(0);
Value value = Value::MakeDouble(5, -10);
{
::testing::InSequence seq;
EXPECT_CALL(local, NetworkAnnounce("test", "double", wpi::json::object(),
pubHandle))
.WillOnce(Return(topicHandle));
EXPECT_CALL(local, NetworkSetValue(topicHandle, defaultValue));
EXPECT_CALL(local, NetworkSetValue(topicHandle, value));
}
{
std::vector<net::ClientMessage> msgs;
msgs.emplace_back(net::ClientMessage{net::PublishMsg{
pubHandle, topicHandle, "test", "double", wpi::json::object(), {}}});
msgs.emplace_back(
net::ClientMessage{net::ClientValueMsg{pubHandle, defaultValue}});
msgs.emplace_back(
net::ClientMessage{net::SubscribeMsg{subHandle, {"test"}, {}}});
server.HandleLocal(msgs);
}
// client connect; it should get already-published topic as soon as it
// subscribes
::testing::StrictMock<net::MockWireConnection> wire;
MockSetPeriodicFunc setPeriodic;
{
::testing::InSequence seq;
EXPECT_CALL(wire, Flush()); // AddClient()
}
auto [name, id] = server.AddClient("test", "connInfo", false, wire,
setPeriodic.AsStdFunction());
// publish and send non-default value with negative time offset
{
NT_Subscriber pubHandle2 = nt::Handle{0, 2, nt::Handle::kPublisher};
std::vector<net::ClientMessage> msgs;
msgs.emplace_back(net::ClientMessage{net::PublishMsg{
pubHandle2, topicHandle, "test", "double", wpi::json::object(), {}}});
server.ProcessIncomingText(id, EncodeText(msgs));
msgs.clear();
msgs.emplace_back(
net::ClientMessage{net::ClientValueMsg{pubHandle2, value}});
server.ProcessIncomingBinary(id, EncodeServerBinary(msgs));
}
}
} // namespace nt