WPILibC++  unspecified
NetworkTableInstance.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #ifndef NTCORE_NETWORKTABLES_NETWORKTABLEINSTANCE_H_
9 #define NTCORE_NETWORKTABLES_NETWORKTABLEINSTANCE_H_
10 
11 #include <functional>
12 #include <memory>
13 #include <string>
14 #include <utility>
15 #include <vector>
16 
17 #include <wpi/ArrayRef.h>
18 #include <wpi/StringRef.h>
19 #include <wpi/Twine.h>
20 
21 #include "networktables/NetworkTable.h"
22 #include "networktables/NetworkTableEntry.h"
23 #include "ntcore_c.h"
24 #include "ntcore_cpp.h"
25 
26 namespace nt {
27 
28 using wpi::ArrayRef;
29 using wpi::StringRef;
30 using wpi::Twine;
31 
50 class NetworkTableInstance final {
51  public:
56  enum NetworkMode {
57  kNetModeNone = NT_NET_MODE_NONE,
58  kNetModeServer = NT_NET_MODE_SERVER,
59  kNetModeClient = NT_NET_MODE_CLIENT,
60  kNetModeStarting = NT_NET_MODE_STARTING,
61  kNetModeFailure = NT_NET_MODE_FAILURE
62  };
63 
67  enum LogLevel {
68  kLogCritical = NT_LOG_CRITICAL,
69  kLogError = NT_LOG_ERROR,
70  kLogWarning = NT_LOG_WARNING,
71  kLogInfo = NT_LOG_INFO,
72  kLogDebug = NT_LOG_DEBUG,
73  kLogDebug1 = NT_LOG_DEBUG1,
74  kLogDebug2 = NT_LOG_DEBUG2,
75  kLogDebug3 = NT_LOG_DEBUG3,
76  kLogDebug4 = NT_LOG_DEBUG4
77  };
78 
82  enum { kDefaultPort = NT_DEFAULT_PORT };
83 
87  NetworkTableInstance() noexcept;
88 
93  explicit NetworkTableInstance(NT_Inst inst) noexcept;
94 
99  explicit operator bool() const { return m_handle != 0; }
100 
106 
111  static NetworkTableInstance Create();
112 
117  static void Destroy(NetworkTableInstance inst);
118 
123  NT_Inst GetHandle() const;
124 
130  NetworkTableEntry GetEntry(const Twine& name);
131 
142  std::vector<NetworkTableEntry> GetEntries(const Twine& prefix,
143  unsigned int types);
144 
155  std::vector<EntryInfo> GetEntryInfo(const Twine& prefix,
156  unsigned int types) const;
157 
164  std::shared_ptr<NetworkTable> GetTable(const Twine& key) const;
165 
170  void DeleteAllEntries();
171 
185  NT_EntryListener AddEntryListener(
186  const Twine& prefix,
187  std::function<void(const EntryNotification& event)> callback,
188  unsigned int flags) const;
189 
194  static void RemoveEntryListener(NT_EntryListener entry_listener);
195 
205  bool WaitForEntryListenerQueue(double timeout);
206 
221  NT_ConnectionListener AddConnectionListener(
222  std::function<void(const ConnectionNotification& event)> callback,
223  bool immediate_notify) const;
224 
229  static void RemoveConnectionListener(NT_ConnectionListener conn_listener);
230 
242  bool WaitForConnectionListenerQueue(double timeout);
243 
260  bool WaitForRpcCallQueue(double timeout);
261 
275  void SetNetworkIdentity(const Twine& name);
276 
281  unsigned int GetNetworkMode() const;
282 
292  void StartServer(const Twine& persist_filename = "networktables.ini",
293  const char* listen_address = "",
294  unsigned int port = kDefaultPort);
295 
299  void StopServer();
300 
304  void StartClient();
305 
312  void StartClient(const char* server_name, unsigned int port = kDefaultPort);
313 
320  void StartClient(ArrayRef<std::pair<StringRef, unsigned int>> servers);
321 
329  void StartClient(ArrayRef<StringRef> servers,
330  unsigned int port = kDefaultPort);
331 
339  void StartClientTeam(unsigned int team, unsigned int port = kDefaultPort);
340 
344  void StopClient();
345 
352  void SetServer(const char* server_name, unsigned int port = kDefaultPort);
353 
360  void SetServer(ArrayRef<std::pair<StringRef, unsigned int>> servers);
361 
369  void SetServer(ArrayRef<StringRef> servers, unsigned int port = kDefaultPort);
370 
378  void SetServerTeam(unsigned int team, unsigned int port = kDefaultPort);
379 
387  void StartDSClient(unsigned int port = kDefaultPort);
388 
392  void StopDSClient();
393 
400  void SetUpdateRate(double interval);
401 
408  void Flush() const;
409 
415  std::vector<ConnectionInfo> GetConnections() const;
416 
421  bool IsConnected() const;
422 
437  const char* SavePersistent(const Twine& filename) const;
438 
447  const char* LoadPersistent(
448  const Twine& filename,
449  std::function<void(size_t line, const char* msg)> warn);
450 
458  const char* SaveEntries(const Twine& filename, const Twine& prefix) const;
459 
468  const char* LoadEntries(
469  const Twine& filename, const Twine& prefix,
470  std::function<void(size_t line, const char* msg)> warn);
471 
491  NT_Logger AddLogger(std::function<void(const LogMessage& msg)> func,
492  unsigned int min_level, unsigned int max_level);
493 
498  static void RemoveLogger(NT_Logger logger);
499 
510  bool WaitForLoggerQueue(double timeout);
511 
518  bool operator==(const NetworkTableInstance& other) const {
519  return m_handle == other.m_handle;
520  }
521 
523  bool operator!=(const NetworkTableInstance& other) const {
524  return !(*this == other);
525  }
526 
527  private:
528  /* Native handle */
529  NT_Inst m_handle;
530 };
531 
532 } // namespace nt
533 
534 #include "networktables/NetworkTableInstance.inl"
535 
536 #endif // NTCORE_NETWORKTABLES_NETWORKTABLEINSTANCE_H_
bool WaitForConnectionListenerQueue(double timeout)
Wait for the connection listener queue to be empty.
Definition: NetworkTableInstance.inl:67
bool operator==(const NetworkTableInstance &other) const
Equality operator.
Definition: NetworkTableInstance.h:518
std::vector< ConnectionInfo > GetConnections() const
Get information on the currently established network connections.
Definition: NetworkTableInstance.inl:140
const char * SaveEntries(const Twine &filename, const Twine &prefix) const
Save table values to a file.
Definition: NetworkTableInstance.inl:160
NT_EntryListener AddEntryListener(const Twine &prefix, std::function< void(const EntryNotification &event)> callback, unsigned int flags) const
Add a listener for all entries starting with a certain prefix.
Definition: NetworkTableInstance.cpp:48
void SetServerTeam(unsigned int team, unsigned int port=kDefaultPort)
Sets server addresses and port for client (without restarting client).
Definition: NetworkTableInstance.inl:121
void DeleteAllEntries()
Deletes ALL keys in ALL subtables (except persistent values).
Definition: NetworkTableInstance.inl:49
std::vector< EntryInfo > GetEntryInfo(const Twine &prefix, unsigned int types) const
Get information about entries starting with the given prefix.
Definition: NetworkTableInstance.inl:44
std::shared_ptr< NetworkTable > GetTable(const Twine &key) const
Gets the table with the specified key.
Definition: NetworkTableInstance.cpp:14
bool WaitForRpcCallQueue(double timeout)
Wait for the incoming RPC call queue to be empty.
Definition: NetworkTableInstance.inl:72
NetworkTables log message.
Definition: ntcore_cpp.h:238
void StopDSClient()
Stops requesting server address from Driver Station.
Definition: NetworkTableInstance.inl:130
bool WaitForEntryListenerQueue(double timeout)
Wait for the entry listener queue to be empty.
Definition: NetworkTableInstance.inl:58
void SetUpdateRate(double interval)
Set the periodic update rate.
Definition: NetworkTableInstance.inl:134
NetworkTables Entry Notification.
Definition: ntcore_cpp.h:171
static NetworkTableInstance GetDefault()
Get global default instance.
Definition: NetworkTableInstance.inl:18
void StartClientTeam(unsigned int team, unsigned int port=kDefaultPort)
Starts a client using commonly known robot addresses for the specified team.
Definition: NetworkTableInstance.inl:104
void StartDSClient(unsigned int port=kDefaultPort)
Starts requesting server address from Driver Station.
Definition: NetworkTableInstance.inl:126
ArrayRef - Represent a constant reference to an array (0 or more elements consecutively in memory)...
Definition: ArrayRef.h:41
void StopClient()
Stops the client if it is running.
Definition: NetworkTableInstance.inl:109
const char * SavePersistent(const Twine &filename) const
Save persistent values to a file.
Definition: NetworkTableInstance.inl:149
NetworkMode
Client/server mode flag values (as returned by GetNetworkMode()).
Definition: NetworkTableInstance.h:56
const char * LoadPersistent(const Twine &filename, std::function< void(size_t line, const char *msg)> warn)
Load persistent values from a file.
Definition: NetworkTableInstance.inl:154
NetworkTableEntry GetEntry(const Twine &name)
Gets the entry for a key.
Definition: NetworkTableInstance.inl:32
NetworkTables Instance.
Definition: NetworkTableInstance.h:50
bool operator!=(const NetworkTableInstance &other) const
Inequality operator.
Definition: NetworkTableInstance.h:523
void SetNetworkIdentity(const Twine &name)
Set the network identity of this node.
Definition: NetworkTableInstance.inl:76
static void RemoveEntryListener(NT_EntryListener entry_listener)
Remove an entry listener.
Definition: NetworkTableInstance.inl:53
NetworkTableInstance() noexcept
Construct invalid instance.
Definition: NetworkTableInstance.inl:13
void SetServer(const char *server_name, unsigned int port=kDefaultPort)
Sets server address and port for client (without restarting client).
Definition: NetworkTableInstance.inl:111
const char * LoadEntries(const Twine &filename, const Twine &prefix, std::function< void(size_t line, const char *msg)> warn)
Load table values from a file.
Definition: NetworkTableInstance.inl:165
Definition: IStorage.h:21
static NetworkTableInstance Create()
Create an instance.
Definition: NetworkTableInstance.inl:22
LogLevel
Logging levels (as used by SetLogger()).
Definition: NetworkTableInstance.h:67
NT_Inst GetHandle() const
Gets the native handle for the entry.
Definition: NetworkTableInstance.inl:30
void StartServer(const Twine &persist_filename="networktables.ini", const char *listen_address="", unsigned int port=kDefaultPort)
Starts a server using the specified filename, listening address, and port.
Definition: NetworkTableInstance.inl:84
bool IsConnected() const
Return whether or not the instance is connected to another node.
Definition: NetworkTableInstance.inl:145
NetworkTables Connection Notification.
Definition: ntcore_cpp.h:212
std::vector< NetworkTableEntry > GetEntries(const Twine &prefix, unsigned int types)
Get entries starting with the given prefix.
Definition: NetworkTableInstance.inl:36
static void RemoveConnectionListener(NT_ConnectionListener conn_listener)
Remove a connection listener.
Definition: NetworkTableInstance.inl:62
NT_Logger AddLogger(std::function< void(const LogMessage &msg)> func, unsigned int min_level, unsigned int max_level)
Add logger callback function.
Definition: NetworkTableInstance.inl:171
static void RemoveLogger(NT_Logger logger)
Remove a logger.
Definition: NetworkTableInstance.inl:177
NT_ConnectionListener AddConnectionListener(std::function< void(const ConnectionNotification &event)> callback, bool immediate_notify) const
Add a connection listener.
Definition: NetworkTableInstance.cpp:55
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
unsigned int GetNetworkMode() const
Get the current network mode.
Definition: NetworkTableInstance.inl:80
NetworkTables Entry.
Definition: NetworkTableEntry.h:35
static void Destroy(NetworkTableInstance inst)
Destroys an instance (note: this has global effect).
Definition: NetworkTableInstance.inl:26
void StartClient()
Starts a client.
Definition: NetworkTableInstance.inl:92
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
void Flush() const
Flushes all updated values immediately to the network.
Definition: NetworkTableInstance.inl:138
void StopServer()
Stops the server if it is running.
Definition: NetworkTableInstance.inl:90
bool WaitForLoggerQueue(double timeout)
Wait for the incoming log event queue to be empty.
Definition: NetworkTableInstance.inl:181