Start implementing network connectivity.

Change-Id: I82875bfd1c3a086033d22de636d4fb43455ebac3

src/NetworkConnection.cpp

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "NetworkConnection.h"
+
+#include "tcpsockets/TCPStream.h"
+#include "raw_socket_istream.h"
+#include "WireDecoder.h"
+#include "WireEncoder.h"
+
+using namespace ntimpl;
+
+NetworkConnection::NetworkConnection(std::unique_ptr<TCPStream> stream,
+                                     BatchQueue& outgoing, Queue& incoming,
+                                     Message::GetEntryTypeFunc get_entry_type)
+    : m_stream(std::move(stream)),
+      m_outgoing(outgoing),
+      m_incoming(incoming),
+      m_get_entry_type(get_entry_type),
+      m_active(false),
+      m_proto_rev(0x0300) {}
+
+NetworkConnection::~NetworkConnection() { Stop(); }
+
+void NetworkConnection::Start() {
+  m_active = true;
+  m_write_thread = std::thread(&NetworkConnection::WriteThreadMain, this);
+  m_read_thread = std::thread(&NetworkConnection::ReadThreadMain, this);
+}
+
+void NetworkConnection::Stop() {
+  if (m_stream) m_stream->close();
+  m_active = false;
+  if (m_write_thread.joinable()) m_write_thread.join();
+  if (m_read_thread.joinable()) m_read_thread.join();
+}
+
+void NetworkConnection::ReadThreadMain() {
+  raw_socket_istream is(*m_stream);
+  WireDecoder decoder(is, m_proto_rev);
+
+  while (m_active) {
+    if (!m_stream)
+      break;
+    decoder.set_proto_rev(m_proto_rev);
+    decoder.Reset();
+    auto msg = std::make_shared<Message>();
+    if (!Message::Read(decoder, m_get_entry_type, &(*msg))) break;
+    m_incoming.push(msg);
+  }
+  m_active = false;
+}
+
+void NetworkConnection::WriteThreadMain() {
+  WireEncoder encoder(m_proto_rev);
+
+  while (m_active) {
+    auto msgs = m_outgoing.pop();
+    encoder.set_proto_rev(m_proto_rev);
+    encoder.Reset();
+    for (auto& msg : msgs) msg->Write(encoder);
+    TCPStream::Error err;
+    if (!m_stream) break;
+    if (m_stream->send(encoder.data(), encoder.size(), &err) == 0) break;
+  }
+  m_active = false;
+}