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https://github.com/wpilibsuite/allwpilib
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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
63 lines
2.0 KiB
C++
63 lines
2.0 KiB
C++
#include <chrono>
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#include <climits>
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#include <cstdio>
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#include <thread>
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#include <iostream>
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#include "support/json.h"
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#include "ntcore.h"
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void callback1(const nt::RpcAnswer& answer) {
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wpi::json params;
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try {
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params = wpi::json::from_cbor(answer.params);
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} catch (wpi::json::parse_error err) {
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std::fputs("could not decode params?\n", stderr);
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return;
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}
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if (!params.is_number()) {
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std::fputs("did not get number\n", stderr);
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return;
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}
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double val = params.get<double>();
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answer.PostResponse(wpi::json::to_cbor(val + 1.2));
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}
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int main() {
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auto inst = nt::GetDefaultInstance();
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nt::StartServer(inst, "rpc_speed.ini", "", 10000);
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auto entry = nt::GetEntry(inst, "func1");
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nt::CreateRpc(entry, nt::StringRef("", 1), callback1);
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std::string call1_result_str;
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auto start2 = std::chrono::high_resolution_clock::now();
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auto start = nt::Now();
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for (int i=0; i<10000; ++i) {
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unsigned int call1_uid = nt::CallRpc(entry, wpi::json::to_cbor(i));
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nt::GetRpcResult(entry, call1_uid, &call1_result_str);
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wpi::json call1_result;
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try {
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call1_result = wpi::json::from_cbor(call1_result_str);
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} catch (wpi::json::parse_error err) {
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std::fputs("could not decode result?\n", stderr);
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return 1;
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}
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if (!call1_result.is_number()) {
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std::fputs("result is not number?\n", stderr);
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return 1;
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}
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}
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auto end2 = std::chrono::high_resolution_clock::now();
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auto end = nt::Now();
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std::cerr << "nt::Now start=" << start << " end=" << end << '\n';
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std::cerr << "std::chrono start=" <<
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std::chrono::duration_cast<std::chrono::nanoseconds>(start2.time_since_epoch()).count() << " end=" <<
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std::chrono::duration_cast<std::chrono::nanoseconds>(end2.time_since_epoch()).count() << '\n';
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std::fprintf(stderr, "time/call = %g us\n", (end-start) / 10.0 / 10000.0);
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std::chrono::duration<double, std::micro> diff = end2-start2;
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std::cerr << "time/call = " << (diff.count() / 10000.0) << " us\n";
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return 0;
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}
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