mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
acfbb1a44a
This is faster on some platforms than steady_clock, and will more consistently support simulation timing.
152 lines
4.6 KiB
C++
152 lines
4.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2015-2020 FIRST. 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 NTCORE_DISPATCHER_H_
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#define NTCORE_DISPATCHER_H_
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#include <atomic>
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#include <functional>
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#include <memory>
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#include <string>
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#include <thread>
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#include <utility>
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#include <vector>
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#include <wpi/StringRef.h>
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#include <wpi/Twine.h>
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#include <wpi/condition_variable.h>
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#include <wpi/mutex.h>
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#include "IDispatcher.h"
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#include "INetworkConnection.h"
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namespace wpi {
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class Logger;
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class NetworkAcceptor;
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class NetworkStream;
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} // namespace wpi
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namespace nt {
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class IConnectionNotifier;
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class IStorage;
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class NetworkConnection;
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class DispatcherBase : public IDispatcher {
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friend class DispatcherTest;
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public:
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typedef std::function<std::unique_ptr<wpi::NetworkStream>()> Connector;
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DispatcherBase(IStorage& storage, IConnectionNotifier& notifier,
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wpi::Logger& logger);
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virtual ~DispatcherBase();
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unsigned int GetNetworkMode() const;
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void StartLocal();
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void StartServer(const Twine& persist_filename,
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std::unique_ptr<wpi::NetworkAcceptor> acceptor);
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void StartClient();
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void Stop();
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void SetUpdateRate(double interval);
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void SetIdentity(const Twine& name);
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void Flush();
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std::vector<ConnectionInfo> GetConnections() const;
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bool IsConnected() const;
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unsigned int AddListener(
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std::function<void(const ConnectionNotification& event)> callback,
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bool immediate_notify) const;
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unsigned int AddPolledListener(unsigned int poller_uid,
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bool immediate_notify) const;
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void SetConnector(Connector connector);
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void SetConnectorOverride(Connector connector);
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void ClearConnectorOverride();
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bool active() const { return m_active; }
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DispatcherBase(const DispatcherBase&) = delete;
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DispatcherBase& operator=(const DispatcherBase&) = delete;
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private:
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void DispatchThreadMain();
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void ServerThreadMain();
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void ClientThreadMain();
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bool ClientHandshake(
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NetworkConnection& conn,
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std::function<std::shared_ptr<Message>()> get_msg,
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std::function<void(wpi::ArrayRef<std::shared_ptr<Message>>)> send_msgs);
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bool ServerHandshake(
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NetworkConnection& conn,
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std::function<std::shared_ptr<Message>()> get_msg,
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std::function<void(wpi::ArrayRef<std::shared_ptr<Message>>)> send_msgs);
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void ClientReconnect(unsigned int proto_rev = 0x0300);
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void QueueOutgoing(std::shared_ptr<Message> msg, INetworkConnection* only,
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INetworkConnection* except) override;
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IStorage& m_storage;
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IConnectionNotifier& m_notifier;
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unsigned int m_networkMode = NT_NET_MODE_NONE;
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std::string m_persist_filename;
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std::thread m_dispatch_thread;
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std::thread m_clientserver_thread;
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std::unique_ptr<wpi::NetworkAcceptor> m_server_acceptor;
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Connector m_client_connector_override;
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Connector m_client_connector;
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uint8_t m_connections_uid = 0;
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// Mutex for user-accessible items
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mutable wpi::mutex m_user_mutex;
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std::vector<std::shared_ptr<INetworkConnection>> m_connections;
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std::string m_identity;
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std::atomic_bool m_active; // set to false to terminate threads
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std::atomic_uint m_update_rate; // periodic dispatch update rate, in ms
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// Condition variable for forced dispatch wakeup (flush)
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wpi::mutex m_flush_mutex;
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wpi::condition_variable m_flush_cv;
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uint64_t m_last_flush;
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bool m_do_flush = false;
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// Condition variable for client reconnect (uses user mutex)
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wpi::condition_variable m_reconnect_cv;
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unsigned int m_reconnect_proto_rev = 0x0300;
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bool m_do_reconnect = true;
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protected:
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wpi::Logger& m_logger;
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};
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class Dispatcher : public DispatcherBase {
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friend class DispatcherTest;
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public:
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Dispatcher(IStorage& storage, IConnectionNotifier& notifier,
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wpi::Logger& logger)
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: DispatcherBase(storage, notifier, logger) {}
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void StartServer(const Twine& persist_filename, const char* listen_address,
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unsigned int port);
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void SetServer(const char* server_name, unsigned int port);
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void SetServer(ArrayRef<std::pair<StringRef, unsigned int>> servers);
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void SetServerTeam(unsigned int team, unsigned int port);
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void SetServerOverride(const char* server_name, unsigned int port);
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void ClearServerOverride();
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};
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} // namespace nt
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#endif // NTCORE_DISPATCHER_H_
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