mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
[ntcore] Handle topicsonly followed by value subscribe (#4991)
Previously this wouldn't send the last value on the value subscribe if a topics only subscription already existed. Also start adding server implementation unit tests.
This commit is contained in:
Peter Johnson
@@ -33,8 +33,10 @@ class SpanMatcher : public ::testing::MatcherInterface<std::span<T>> {
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};
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template <typename T>
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inline ::testing::Matcher<std::span<const T>> SpanEq(std::span<const T> good) {
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return ::testing::MakeMatcher(new SpanMatcher(good));
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inline ::testing::Matcher<std::span<const typename T::value_type>> SpanEq(
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const T& good) {
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return ::testing::MakeMatcher(
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new SpanMatcher(std::span<const typename T::value_type>(good)));
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}
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template <typename T>
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269
ntcore/src/test/native/cpp/net/ServerImplTest.cpp
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269
ntcore/src/test/native/cpp/net/ServerImplTest.cpp
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@@ -0,0 +1,269 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <stdint.h>
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#include <span>
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#include <string_view>
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#include <vector>
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#include "../MockLogger.h"
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#include "../PubSubOptionsMatcher.h"
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#include "../SpanMatcher.h"
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#include "../TestPrinters.h"
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#include "../ValueMatcher.h"
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#include "Handle.h"
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#include "MockNetworkInterface.h"
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#include "MockWireConnection.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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#include "net/Message.h"
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#include "net/ServerImpl.h"
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#include "net/WireEncoder.h"
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#include "ntcore_c.h"
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#include "ntcore_cpp.h"
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using ::testing::_;
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using ::testing::AllOf;
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using ::testing::ElementsAre;
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using ::testing::Field;
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using ::testing::IsEmpty;
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using ::testing::Property;
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using ::testing::Return;
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using MockSetPeriodicFunc = ::testing::MockFunction<void(uint32_t repeatMs)>;
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using MockConnected3Func =
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::testing::MockFunction<void(std::string_view name, uint16_t proto)>;
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namespace nt {
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class ServerImplTest : public ::testing::Test {
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public:
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::testing::StrictMock<net::MockLocalInterface> local;
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wpi::MockLogger logger;
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net::ServerImpl server{logger};
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};
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TEST_F(ServerImplTest, AddClient) {
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::testing::StrictMock<net::MockWireConnection> wire;
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EXPECT_CALL(wire, Flush());
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MockSetPeriodicFunc setPeriodic;
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auto [name, id] = server.AddClient("test", "connInfo", false, wire,
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setPeriodic.AsStdFunction());
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EXPECT_EQ(name, "test");
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EXPECT_NE(id, -1);
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}
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TEST_F(ServerImplTest, AddDuplicateClient) {
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::testing::StrictMock<net::MockWireConnection> wire1;
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::testing::StrictMock<net::MockWireConnection> wire2;
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MockSetPeriodicFunc setPeriodic1;
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MockSetPeriodicFunc setPeriodic2;
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EXPECT_CALL(wire1, Flush());
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EXPECT_CALL(wire2, Flush());
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auto [name1, id1] = server.AddClient("test", "connInfo", false, wire1,
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setPeriodic1.AsStdFunction());
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auto [name2, id2] = server.AddClient("test", "connInfo2", false, wire2,
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setPeriodic2.AsStdFunction());
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EXPECT_EQ(name1, "test");
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EXPECT_NE(id1, -1);
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EXPECT_EQ(name2, "test@1");
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EXPECT_NE(id1, id2);
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EXPECT_NE(id2, -1);
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}
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TEST_F(ServerImplTest, AddClient3) {}
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template <typename T>
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static std::string EncodeText(const T& msgs) {
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std::string data;
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wpi::raw_string_ostream os{data};
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bool first = true;
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for (auto&& msg : msgs) {
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if (first) {
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os << '[';
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first = false;
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} else {
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os << ',';
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}
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net::WireEncodeText(os, msg);
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}
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os << ']';
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return data;
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}
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template <typename T>
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static std::vector<uint8_t> EncodeBinary(const T& msgs) {
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std::vector<uint8_t> data;
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wpi::raw_uvector_ostream os{data};
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for (auto&& msg : msgs) {
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if (auto m = std::get_if<net::ServerValueMsg>(&msg.contents)) {
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net::WireEncodeBinary(os, m->topic, m->value.time(), m->value);
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}
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}
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return data;
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}
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TEST_F(ServerImplTest, PublishLocal) {
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// publish before client connect
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server.SetLocal(&local);
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NT_Publisher pubHandle = nt::Handle{0, 1, nt::Handle::kPublisher};
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NT_Topic topicHandle = nt::Handle{0, 1, nt::Handle::kTopic};
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NT_Publisher pubHandle2 = nt::Handle{0, 2, nt::Handle::kPublisher};
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NT_Topic topicHandle2 = nt::Handle{0, 2, nt::Handle::kTopic};
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NT_Publisher pubHandle3 = nt::Handle{0, 3, nt::Handle::kPublisher};
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NT_Topic topicHandle3 = nt::Handle{0, 3, nt::Handle::kTopic};
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{
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::testing::InSequence seq;
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EXPECT_CALL(local, NetworkAnnounce("test", "double", wpi::json::object(),
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pubHandle));
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EXPECT_CALL(local, NetworkAnnounce("test2", "double", wpi::json::object(),
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pubHandle2));
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EXPECT_CALL(local, NetworkAnnounce("test3", "double", wpi::json::object(),
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pubHandle3));
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}
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{
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{net::PublishMsg{
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pubHandle, topicHandle, "test", "double", wpi::json::object(), {}}});
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server.HandleLocal(msgs);
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}
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// client connect; it should get already-published topic as soon as it
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// subscribes
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::testing::StrictMock<net::MockWireConnection> wire;
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MockSetPeriodicFunc setPeriodic;
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{
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::testing::InSequence seq;
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EXPECT_CALL(wire, Flush()); // AddClient()
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EXPECT_CALL(setPeriodic, Call(100)); // ClientSubscribe()
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EXPECT_CALL(wire, Flush()); // ClientSubscribe()
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EXPECT_CALL(wire, Ready()).WillOnce(Return(true)); // SendControl()
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{
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std::vector<net::ServerMessage> smsgs;
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smsgs.emplace_back(net::ServerMessage{net::AnnounceMsg{
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"test", 3, "double", std::nullopt, wpi::json::object()}});
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smsgs.emplace_back(net::ServerMessage{net::AnnounceMsg{
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"test2", 8, "double", std::nullopt, wpi::json::object()}});
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EXPECT_CALL(wire, Text(EncodeText(smsgs))); // SendControl()
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}
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EXPECT_CALL(wire, Flush()); // SendControl()
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EXPECT_CALL(wire, Ready()).WillOnce(Return(true)); // SendControl()
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{
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std::vector<net::ServerMessage> smsgs;
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smsgs.emplace_back(net::ServerMessage{net::AnnounceMsg{
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"test3", 11, "double", std::nullopt, wpi::json::object()}});
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EXPECT_CALL(wire, Text(EncodeText(smsgs))); // SendControl()
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}
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EXPECT_CALL(wire, Flush()); // SendControl()
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}
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auto [name, id] = server.AddClient("test", "connInfo", false, wire,
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setPeriodic.AsStdFunction());
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{
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NT_Subscriber subHandle = nt::Handle{0, 1, nt::Handle::kSubscriber};
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{net::SubscribeMsg{
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subHandle, {{""}}, PubSubOptions{.prefixMatch = true}}});
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server.ProcessIncomingText(id, EncodeText(msgs));
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}
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// publish before send control
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{
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{net::PublishMsg{
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pubHandle2, topicHandle2, "test2", "double", wpi::json::object(), {}}});
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server.HandleLocal(msgs);
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}
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server.SendControl(100);
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// publish after send control
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{
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{net::PublishMsg{
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pubHandle3, topicHandle3, "test3", "double", wpi::json::object(), {}}});
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server.HandleLocal(msgs);
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}
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server.SendControl(200);
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}
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TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
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// publish before client connect
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server.SetLocal(&local);
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NT_Publisher pubHandle = nt::Handle{0, 1, nt::Handle::kPublisher};
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NT_Topic topicHandle = nt::Handle{0, 1, nt::Handle::kTopic};
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EXPECT_CALL(
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local, NetworkAnnounce("test", "double", wpi::json::object(), pubHandle));
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{
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{net::PublishMsg{
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pubHandle, topicHandle, "test", "double", wpi::json::object(), {}}});
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msgs.emplace_back(net::ClientMessage{
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net::ClientValueMsg{pubHandle, Value::MakeDouble(1.0, 10)}});
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server.HandleLocal(msgs);
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}
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::testing::StrictMock<net::MockWireConnection> wire;
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MockSetPeriodicFunc setPeriodic;
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{
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::testing::InSequence seq;
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EXPECT_CALL(wire, Flush()); // AddClient()
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EXPECT_CALL(setPeriodic, Call(100)); // ClientSubscribe()
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EXPECT_CALL(wire, Flush()); // ClientSubscribe()
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EXPECT_CALL(wire, Ready()).WillOnce(Return(true)); // SendValues()
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{
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std::vector<net::ServerMessage> smsgs;
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smsgs.emplace_back(net::ServerMessage{net::AnnounceMsg{
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"test", 3, "double", std::nullopt, wpi::json::object()}});
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EXPECT_CALL(wire, Text(EncodeText(smsgs))); // SendValues()
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}
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EXPECT_CALL(wire, Flush()); // SendValues()
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EXPECT_CALL(setPeriodic, Call(100)); // ClientSubscribe()
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EXPECT_CALL(wire, Flush()); // ClientSubscribe()
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EXPECT_CALL(wire, Ready()).WillOnce(Return(true)); // SendValues()
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{
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std::vector<net::ServerMessage> smsgs;
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smsgs.emplace_back(net::ServerMessage{
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net::ServerValueMsg{3, Value::MakeDouble(1.0, 10)}});
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EXPECT_CALL(wire,
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Binary(wpi::SpanEq(EncodeBinary(smsgs)))); // SendValues()
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}
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EXPECT_CALL(wire, Flush()); // SendValues()
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}
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// connect client
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auto [name, id] = server.AddClient("test", "connInfo", false, wire,
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setPeriodic.AsStdFunction());
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// subscribe topics only; will not send value
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{
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NT_Subscriber subHandle = nt::Handle{0, 1, nt::Handle::kSubscriber};
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{net::SubscribeMsg{
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subHandle,
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{{""}},
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PubSubOptions{.topicsOnly = true, .prefixMatch = true}}});
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server.ProcessIncomingText(id, EncodeText(msgs));
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}
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server.SendValues(id, 100);
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// subscribe normal; will not resend announcement, but will send value
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{
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NT_Subscriber subHandle = nt::Handle{0, 2, nt::Handle::kSubscriber};
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std::vector<net::ClientMessage> msgs;
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msgs.emplace_back(net::ClientMessage{
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net::SubscribeMsg{subHandle, {{"test"}}, PubSubOptions{}}});
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server.ProcessIncomingText(id, EncodeText(msgs));
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}
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server.SendValues(id, 200);
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}
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} // namespace nt
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