mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
112 lines
3.4 KiB
C++
112 lines
3.4 KiB
C++
// 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.
|
|
|
|
#ifndef NTCORE_RPCSERVER_H_
|
|
#define NTCORE_RPCSERVER_H_
|
|
|
|
#include <utility>
|
|
|
|
#include <wpi/CallbackManager.h>
|
|
#include <wpi/DenseMap.h>
|
|
#include <wpi/mutex.h>
|
|
|
|
#include "Handle.h"
|
|
#include "IRpcServer.h"
|
|
#include "Log.h"
|
|
|
|
namespace nt {
|
|
|
|
namespace impl {
|
|
|
|
using RpcIdPair = std::pair<unsigned int, unsigned int>;
|
|
|
|
struct RpcNotifierData : public RpcAnswer {
|
|
RpcNotifierData(NT_Entry entry_, NT_RpcCall call_, std::string_view name_,
|
|
std::string_view params_, const ConnectionInfo& conn_,
|
|
IRpcServer::SendResponseFunc send_response_)
|
|
: RpcAnswer{entry_, call_, name_, params_, conn_},
|
|
send_response{std::move(send_response_)} {}
|
|
|
|
IRpcServer::SendResponseFunc send_response;
|
|
};
|
|
|
|
using RpcListenerData =
|
|
wpi::CallbackListenerData<std::function<void(const RpcAnswer& answer)>>;
|
|
|
|
class RpcServerThread
|
|
: public wpi::CallbackThread<RpcServerThread, RpcAnswer, RpcListenerData,
|
|
RpcNotifierData> {
|
|
public:
|
|
RpcServerThread(int inst, wpi::Logger& logger)
|
|
: m_inst(inst), m_logger(logger) {}
|
|
|
|
bool Matches(const RpcListenerData& /*listener*/,
|
|
const RpcNotifierData& data) {
|
|
return !data.name.empty() && data.send_response;
|
|
}
|
|
|
|
void SetListener(RpcNotifierData* data, unsigned int /*listener_uid*/) {
|
|
unsigned int local_id = Handle{data->entry}.GetIndex();
|
|
unsigned int call_uid = Handle{data->call}.GetIndex();
|
|
RpcIdPair lookup_uid{local_id, call_uid};
|
|
m_response_map.insert(std::make_pair(lookup_uid, data->send_response));
|
|
}
|
|
|
|
void DoCallback(std::function<void(const RpcAnswer& call)> callback,
|
|
const RpcNotifierData& data) {
|
|
DEBUG4("rpc calling {}", data.name);
|
|
unsigned int local_id = Handle{data.entry}.GetIndex();
|
|
unsigned int call_uid = Handle{data.call}.GetIndex();
|
|
RpcIdPair lookup_uid{local_id, call_uid};
|
|
callback(data);
|
|
{
|
|
std::scoped_lock lock(m_mutex);
|
|
auto i = m_response_map.find(lookup_uid);
|
|
if (i != m_response_map.end()) {
|
|
// post an empty response and erase it
|
|
(i->getSecond())("");
|
|
m_response_map.erase(i);
|
|
}
|
|
}
|
|
}
|
|
|
|
int m_inst;
|
|
wpi::Logger& m_logger;
|
|
wpi::DenseMap<RpcIdPair, IRpcServer::SendResponseFunc> m_response_map;
|
|
};
|
|
|
|
} // namespace impl
|
|
|
|
class RpcServer
|
|
: public IRpcServer,
|
|
public wpi::CallbackManager<RpcServer, impl::RpcServerThread> {
|
|
friend class RpcServerTest;
|
|
friend class wpi::CallbackManager<RpcServer, impl::RpcServerThread>;
|
|
|
|
public:
|
|
RpcServer(int inst, wpi::Logger& logger);
|
|
|
|
void Start();
|
|
|
|
unsigned int Add(std::function<void(const RpcAnswer& answer)> callback);
|
|
unsigned int AddPolled(unsigned int poller_uid);
|
|
void RemoveRpc(unsigned int rpc_uid) override;
|
|
|
|
void ProcessRpc(unsigned int local_id, unsigned int call_uid,
|
|
std::string_view name, std::string_view params,
|
|
const ConnectionInfo& conn, SendResponseFunc send_response,
|
|
unsigned int rpc_uid) override;
|
|
|
|
bool PostRpcResponse(unsigned int local_id, unsigned int call_uid,
|
|
std::string_view result);
|
|
|
|
private:
|
|
int m_inst;
|
|
wpi::Logger& m_logger;
|
|
};
|
|
|
|
} // namespace nt
|
|
|
|
#endif // NTCORE_RPCSERVER_H_
|