allwpilib/ntcore/src/main/native/cpp/Value.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2015-2018. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <stdint.h>

#include <wpi/timestamp.h>

#include "Value_internal.h"
#include "networktables/NetworkTableValue.h"

using namespace nt;

Value::Value() {
  m_val.type = NT_UNASSIGNED;
  m_val.last_change = wpi::Now();
}

Value::Value(NT_Type type, uint64_t time, const private_init&) {
  m_val.type = type;
  if (time == 0)
    m_val.last_change = wpi::Now();
  else
    m_val.last_change = time;
  if (m_val.type == NT_BOOLEAN_ARRAY)
    m_val.data.arr_boolean.arr = nullptr;
  else if (m_val.type == NT_DOUBLE_ARRAY)
    m_val.data.arr_double.arr = nullptr;
  else if (m_val.type == NT_STRING_ARRAY)
    m_val.data.arr_string.arr = nullptr;
}

Value::~Value() {
  if (m_val.type == NT_BOOLEAN_ARRAY)
    delete[] m_val.data.arr_boolean.arr;
  else if (m_val.type == NT_DOUBLE_ARRAY)
    delete[] m_val.data.arr_double.arr;
  else if (m_val.type == NT_STRING_ARRAY)
    delete[] m_val.data.arr_string.arr;
}

std::shared_ptr<Value> Value::MakeBooleanArray(wpi::ArrayRef<int> value,
                                               uint64_t time) {
  auto val = std::make_shared<Value>(NT_BOOLEAN_ARRAY, time, private_init());
  val->m_val.data.arr_boolean.arr = new int[value.size()];
  val->m_val.data.arr_boolean.size = value.size();
  std::copy(value.begin(), value.end(), val->m_val.data.arr_boolean.arr);
  return val;
}

std::shared_ptr<Value> Value::MakeDoubleArray(wpi::ArrayRef<double> value,
                                              uint64_t time) {
  auto val = std::make_shared<Value>(NT_DOUBLE_ARRAY, time, private_init());
  val->m_val.data.arr_double.arr = new double[value.size()];
  val->m_val.data.arr_double.size = value.size();
  std::copy(value.begin(), value.end(), val->m_val.data.arr_double.arr);
  return val;
}

std::shared_ptr<Value> Value::MakeStringArray(wpi::ArrayRef<std::string> value,
                                              uint64_t time) {
  auto val = std::make_shared<Value>(NT_STRING_ARRAY, time, private_init());
  val->m_string_array = value;
  // point NT_Value to the contents in the vector.
  val->m_val.data.arr_string.arr = new NT_String[value.size()];
  val->m_val.data.arr_string.size = val->m_string_array.size();
  for (size_t i = 0; i < value.size(); ++i) {
    val->m_val.data.arr_string.arr[i].str = const_cast<char*>(value[i].c_str());
    val->m_val.data.arr_string.arr[i].len = value[i].size();
  }
  return val;
}

std::shared_ptr<Value> Value::MakeStringArray(std::vector<std::string>&& value,
                                              uint64_t time) {
  auto val = std::make_shared<Value>(NT_STRING_ARRAY, time, private_init());
  val->m_string_array = std::move(value);
  value.clear();
  // point NT_Value to the contents in the vector.
  val->m_val.data.arr_string.arr = new NT_String[val->m_string_array.size()];
  val->m_val.data.arr_string.size = val->m_string_array.size();
  for (size_t i = 0; i < val->m_string_array.size(); ++i) {
    val->m_val.data.arr_string.arr[i].str =
        const_cast<char*>(val->m_string_array[i].c_str());
    val->m_val.data.arr_string.arr[i].len = val->m_string_array[i].size();
  }
  return val;
}

void nt::ConvertToC(const Value& in, NT_Value* out) {
  out->type = NT_UNASSIGNED;
  switch (in.type()) {
    case NT_UNASSIGNED:
      return;
    case NT_BOOLEAN:
      out->data.v_boolean = in.GetBoolean() ? 1 : 0;
      break;
    case NT_DOUBLE:
      out->data.v_double = in.GetDouble();
      break;
    case NT_STRING:
      ConvertToC(in.GetString(), &out->data.v_string);
      break;
    case NT_RAW:
      ConvertToC(in.GetRaw(), &out->data.v_raw);
      break;
    case NT_RPC:
      ConvertToC(in.GetRpc(), &out->data.v_raw);
      break;
    case NT_BOOLEAN_ARRAY: {
      auto v = in.GetBooleanArray();
      out->data.arr_boolean.arr =
          static_cast<int*>(std::malloc(v.size() * sizeof(int)));
      out->data.arr_boolean.size = v.size();
      std::copy(v.begin(), v.end(), out->data.arr_boolean.arr);
      break;
    }
    case NT_DOUBLE_ARRAY: {
      auto v = in.GetDoubleArray();
      out->data.arr_double.arr =
          static_cast<double*>(std::malloc(v.size() * sizeof(double)));
      out->data.arr_double.size = v.size();
      std::copy(v.begin(), v.end(), out->data.arr_double.arr);
      break;
    }
    case NT_STRING_ARRAY: {
      auto v = in.GetStringArray();
      out->data.arr_string.arr =
          static_cast<NT_String*>(std::malloc(v.size() * sizeof(NT_String)));
      for (size_t i = 0; i < v.size(); ++i)
        ConvertToC(v[i], &out->data.arr_string.arr[i]);
      out->data.arr_string.size = v.size();
      break;
    }
    default:
      // assert(false && "unknown value type");
      return;
  }
  out->type = in.type();
}

void nt::ConvertToC(wpi::StringRef in, NT_String* out) {
  out->len = in.size();
  out->str = static_cast<char*>(std::malloc(in.size() + 1));
  std::memcpy(out->str, in.data(), in.size());
  out->str[in.size()] = '\0';
}

std::shared_ptr<Value> nt::ConvertFromC(const NT_Value& value) {
  switch (value.type) {
    case NT_UNASSIGNED:
      return nullptr;
    case NT_BOOLEAN:
      return Value::MakeBoolean(value.data.v_boolean != 0);
    case NT_DOUBLE:
      return Value::MakeDouble(value.data.v_double);
    case NT_STRING:
      return Value::MakeString(ConvertFromC(value.data.v_string));
    case NT_RAW:
      return Value::MakeRaw(ConvertFromC(value.data.v_raw));
    case NT_RPC:
      return Value::MakeRpc(ConvertFromC(value.data.v_raw));
    case NT_BOOLEAN_ARRAY:
      return Value::MakeBooleanArray(wpi::ArrayRef<int>(
          value.data.arr_boolean.arr, value.data.arr_boolean.size));
    case NT_DOUBLE_ARRAY:
      return Value::MakeDoubleArray(wpi::ArrayRef<double>(
          value.data.arr_double.arr, value.data.arr_double.size));
    case NT_STRING_ARRAY: {
      std::vector<std::string> v;
      v.reserve(value.data.arr_string.size);
      for (size_t i = 0; i < value.data.arr_string.size; ++i)
        v.push_back(ConvertFromC(value.data.arr_string.arr[i]));
      return Value::MakeStringArray(std::move(v));
    }
    default:
      // assert(false && "unknown value type");
      return nullptr;
  }
}

bool nt::operator==(const Value& lhs, const Value& rhs) {
  if (lhs.type() != rhs.type()) return false;
  switch (lhs.type()) {
    case NT_UNASSIGNED:
      return true;  // XXX: is this better being false instead?
    case NT_BOOLEAN:
      return lhs.m_val.data.v_boolean == rhs.m_val.data.v_boolean;
    case NT_DOUBLE:
      return lhs.m_val.data.v_double == rhs.m_val.data.v_double;
    case NT_STRING:
    case NT_RAW:
    case NT_RPC:
      return lhs.m_string == rhs.m_string;
    case NT_BOOLEAN_ARRAY:
      if (lhs.m_val.data.arr_boolean.size != rhs.m_val.data.arr_boolean.size)
        return false;
      return std::memcmp(lhs.m_val.data.arr_boolean.arr,
                         rhs.m_val.data.arr_boolean.arr,
                         lhs.m_val.data.arr_boolean.size *
                             sizeof(lhs.m_val.data.arr_boolean.arr[0])) == 0;
    case NT_DOUBLE_ARRAY:
      if (lhs.m_val.data.arr_double.size != rhs.m_val.data.arr_double.size)
        return false;
      return std::memcmp(lhs.m_val.data.arr_double.arr,
                         rhs.m_val.data.arr_double.arr,
                         lhs.m_val.data.arr_double.size *
                             sizeof(lhs.m_val.data.arr_double.arr[0])) == 0;
    case NT_STRING_ARRAY:
      return lhs.m_string_array == rhs.m_string_array;
    default:
      // assert(false && "unknown value type");
      return false;
  }
}