[ntcore] Enhance Java raw value support

Add support for start, length, and ByteBuffers
2026-06-20 00:51:42 +00:00 · 2023-05-18 00:44:45 -07:00
parent 3a6e40a44b
commit fb57d82e52
8 changed files with 731 additions and 5 deletions
--- a/ntcore/src/test/java/edu/wpi/first/networktables/RawTest.java
+++ b/ntcore/src/test/java/edu/wpi/first/networktables/RawTest.java
@@ -0,0 +1,137 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.networktables;
+
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import java.nio.ByteBuffer;
+import java.util.Arrays;
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
+import org.junit.jupiter.api.Test;
+
+@SuppressWarnings("PMD.SimplifiableTestAssertion")
+class RawTest {
+  private NetworkTableInstance m_inst;
+
+  @BeforeEach
+  void setUp() {
+    m_inst = NetworkTableInstance.create();
+  }
+
+  @AfterEach
+  void tearDown() {
+    m_inst.close();
+  }
+
+  @Test
+  void testGenericByteArray() {
+    GenericEntry entry = m_inst.getTopic("test").getGenericEntry("raw");
+    entry.setRaw(new byte[] {5}, 10);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {5}));
+    entry.setRaw(new byte[] {5, 6, 7}, 1, 2, 15);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6, 7}));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(new byte[] {5}, -1, 2, 20));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(new byte[] {5}, 1, -2, 20));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(new byte[] {5}, 1, 1, 20));
+  }
+
+  @Test
+  void testRawByteArray() {
+    RawEntry entry = m_inst.getRawTopic("test").getEntry("raw", new byte[] {});
+    entry.set(new byte[] {5}, 10);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {5}));
+    entry.set(new byte[] {5, 6, 7}, 1, 2, 15);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6, 7}));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.set(new byte[] {5}, -1, 1, 20));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.set(new byte[] {5}, 1, -1, 20));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.set(new byte[] {5}, 1, 1, 20));
+  }
+
+  @Test
+  void testGenericByteBuffer() {
+    GenericEntry entry = m_inst.getTopic("test").getGenericEntry("raw");
+    entry.setRaw(ByteBuffer.wrap(new byte[] {5}), 10);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {5}));
+    entry.setRaw(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1), 15);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6, 7}));
+    entry.setRaw(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1).limit(2), 16);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6}));
+    entry.setRaw(ByteBuffer.wrap(new byte[] {8, 9, 0}), 1, 2, 20);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {9, 0}));
+    entry.setRaw(ByteBuffer.wrap(new byte[] {1, 2, 3}).position(2), 0, 2, 25);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {1, 2}));
+    assertThrows(
+        IndexOutOfBoundsException.class,
+        () -> entry.setRaw(ByteBuffer.wrap(new byte[] {5}), -1, 1, 30));
+    assertThrows(
+        IndexOutOfBoundsException.class,
+        () -> entry.setRaw(ByteBuffer.wrap(new byte[] {5}), 1, -1, 30));
+    assertThrows(
+        IndexOutOfBoundsException.class,
+        () -> entry.setRaw(ByteBuffer.wrap(new byte[] {5}), 1, 1, 30));
+  }
+
+  @Test
+  void testRawByteBuffer() {
+    RawEntry entry = m_inst.getRawTopic("test").getEntry("raw", new byte[] {});
+    entry.set(ByteBuffer.wrap(new byte[] {5}), 10);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {5}));
+    entry.set(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1), 15);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6, 7}));
+    entry.set(ByteBuffer.wrap(new byte[] {5, 6, 7}).position(1).limit(2), 16);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6}));
+    entry.set(ByteBuffer.wrap(new byte[] {8, 9, 0}), 1, 2, 20);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {9, 0}));
+    entry.set(ByteBuffer.wrap(new byte[] {1, 2, 3}).position(2), 0, 2, 25);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {1, 2}));
+    assertThrows(
+        IndexOutOfBoundsException.class,
+        () -> entry.set(ByteBuffer.wrap(new byte[] {5}), -1, 1, 30));
+    assertThrows(
+        IndexOutOfBoundsException.class,
+        () -> entry.set(ByteBuffer.wrap(new byte[] {5}), 1, -1, 30));
+    assertThrows(
+        IndexOutOfBoundsException.class,
+        () -> entry.set(ByteBuffer.wrap(new byte[] {5}), 1, 1, 30));
+  }
+
+  @Test
+  void testGenericNativeByteBuffer() {
+    GenericEntry entry = m_inst.getTopic("test").getGenericEntry("raw");
+    ByteBuffer bb = ByteBuffer.allocateDirect(3);
+    bb.put(new byte[] {5, 6, 7});
+    entry.setRaw(bb.position(1), 15);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6, 7}));
+    entry.setRaw(bb.limit(2), 16);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {6}));
+    bb.clear();
+    bb.put(new byte[] {8, 9, 0});
+    entry.setRaw(bb, 1, 2, 20);
+    assertTrue(Arrays.equals(entry.getRaw(new byte[] {}), new byte[] {9, 0}));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(bb, -1, 1, 25));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(bb, 1, -1, 25));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.setRaw(bb, 2, 2, 25));
+  }
+
+  @Test
+  void testRawNativeByteBuffer() {
+    RawEntry entry = m_inst.getRawTopic("test").getEntry("raw", new byte[] {});
+    ByteBuffer bb = ByteBuffer.allocateDirect(3);
+    bb.put(new byte[] {5, 6, 7});
+    entry.set(bb.position(1), 15);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6, 7}));
+    entry.set(bb.limit(2), 16);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {6}));
+    bb.clear();
+    bb.put(new byte[] {8, 9, 0});
+    entry.set(bb, 1, 2, 20);
+    assertTrue(Arrays.equals(entry.get(new byte[] {}), new byte[] {9, 0}));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.set(bb, -1, 1, 25));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.set(bb, 1, -1, 25));
+    assertThrows(IndexOutOfBoundsException.class, () -> entry.set(bb, 2, 2, 25));
+  }
+}