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5ab20bb27c
Previously, most of the classes were implemented as singletons so only one
instance was possible.
This change adds an instance handle-based API. In Java, this API is located
in a different package than the old API (edu.wpi.first.networktables).
Backwards compatibility with ITable and the old NetworkTable API is largely
maintained, but a handful of classes have moved to the new package in Java
(ConnectionInfo and PersistentException), and the old JNI has been completed
replaced.
Also:
- Move SetTeam implementation to Dispatcher.
- Consistently pass time through Java and C++ Value API.
- Rename nt_Value.h to NetworkTableValue.h for consistency with Java.
- Improve documentation
- Make C++ and Java APIs more consistent
- Document RPC functions and support RPC in Java.
- Add polling features for entry and connection listeners and use them to
move callback threads to Java level.
- Remove thread start and stop hooks (as polling is available).
- Make Notifiers, RpcServer, Dispatcher, and Storage mockable.
- Set NOTIFY_NEW on immediate entry notifications.
- Make GetTable("/") and GetTable("") equivalent.
- Generate local notification for flags update when loading persistent file.
And many unit test updates/changes:
- Use InitGoogleMock instead of InitGoogleTest in test main.
- Move test printers to TestPrinter.h/cpp.
- Provide printers for StringRef, EntryNotifier, and Handle.
- StorageTest: Check notifications.
- Add entry notifier unit tests.
- Storage: Add test for incoming entry assignment.
- Update connection listener tests.
- Add entry listener unit tests.
Fixes #11, #140, #189, #190, #192, #193, #221
104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2015. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#ifndef NT_WIREENCODER_H_
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#define NT_WIREENCODER_H_
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#include <cassert>
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#include <cstddef>
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#include "llvm/SmallVector.h"
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#include "llvm/StringRef.h"
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#include "networktables/NetworkTableValue.h"
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namespace nt {
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/* Encodes native data for network transmission.
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* This class maintains an internal memory buffer for written data so that
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* it can be efficiently bursted to the network after a number of writes
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* have been performed. For this reason, all operations are non-blocking.
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*/
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class WireEncoder {
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public:
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explicit WireEncoder(unsigned int proto_rev);
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/* Change the protocol revision (mostly affects value encoding). */
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void set_proto_rev(unsigned int proto_rev) { m_proto_rev = proto_rev; }
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/* Get the active protocol revision. */
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unsigned int proto_rev() const { return m_proto_rev; }
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/* Clears buffer and error indicator. */
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void Reset() {
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m_data.clear();
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m_error = nullptr;
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}
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/* Returns error indicator (a string describing the error). Returns nullptr
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* if no error has occurred.
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*/
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const char* error() const { return m_error; }
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/* Returns pointer to start of memory buffer with written data. */
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const char* data() const { return m_data.data(); }
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/* Returns number of bytes written to memory buffer. */
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std::size_t size() const { return m_data.size(); }
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llvm::StringRef ToStringRef() const {
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return llvm::StringRef(m_data.data(), m_data.size());
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}
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/* Writes a single byte. */
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void Write8(unsigned int val) { m_data.push_back((char)(val & 0xff)); }
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/* Writes a 16-bit word. */
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void Write16(unsigned int val) {
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m_data.append({(char)((val >> 8) & 0xff), (char)(val & 0xff)});
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}
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/* Writes a 32-bit word. */
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void Write32(unsigned long val) {
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m_data.append({(char)((val >> 24) & 0xff), (char)((val >> 16) & 0xff),
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(char)((val >> 8) & 0xff), (char)(val & 0xff)});
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}
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/* Writes a double. */
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void WriteDouble(double val);
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/* Writes an ULEB128-encoded unsigned integer. */
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void WriteUleb128(unsigned long val);
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void WriteType(NT_Type type);
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void WriteValue(const Value& value);
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void WriteString(llvm::StringRef str);
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/* Utility function to get the written size of a value (without actually
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* writing it).
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*/
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std::size_t GetValueSize(const Value& value) const;
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/* Utility function to get the written size of a string (without actually
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* writing it).
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*/
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std::size_t GetStringSize(llvm::StringRef str) const;
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protected:
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/* The protocol revision. E.g. 0x0200 for version 2.0. */
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unsigned int m_proto_rev;
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/* Error indicator. */
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const char* m_error;
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private:
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llvm::SmallVector<char, 256> m_data;
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};
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} // namespace nt
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#endif // NT_WIREENCODER_H_
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