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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 
53 class NetworkTableInstance final {
54  public:
59  enum NetworkMode {
60  kNetModeNone = NT_NET_MODE_NONE,
61  kNetModeServer = NT_NET_MODE_SERVER,
62  kNetModeClient = NT_NET_MODE_CLIENT,
63  kNetModeStarting = NT_NET_MODE_STARTING,
64  kNetModeFailure = NT_NET_MODE_FAILURE
65  };
66 
70  enum LogLevel {
71  kLogCritical = NT_LOG_CRITICAL,
72  kLogError = NT_LOG_ERROR,
73  kLogWarning = NT_LOG_WARNING,
74  kLogInfo = NT_LOG_INFO,
75  kLogDebug = NT_LOG_DEBUG,
76  kLogDebug1 = NT_LOG_DEBUG1,
77  kLogDebug2 = NT_LOG_DEBUG2,
78  kLogDebug3 = NT_LOG_DEBUG3,
79  kLogDebug4 = NT_LOG_DEBUG4
80  };
81 
85  enum { kDefaultPort = NT_DEFAULT_PORT };
86 
90  NetworkTableInstance() noexcept;
91 
97  explicit NetworkTableInstance(NT_Inst inst) noexcept;
98 
104  explicit operator bool() const { return m_handle != 0; }
105 
112 
118  static NetworkTableInstance Create();
119 
125  static void Destroy(NetworkTableInstance inst);
126 
132  NT_Inst GetHandle() const;
133 
140  NetworkTableEntry GetEntry(const Twine& name);
141 
153  std::vector<NetworkTableEntry> GetEntries(const Twine& prefix,
154  unsigned int types);
155 
167  std::vector<EntryInfo> GetEntryInfo(const Twine& prefix,
168  unsigned int types) const;
169 
176  std::shared_ptr<NetworkTable> GetTable(const Twine& key) const;
177 
182  void DeleteAllEntries();
183 
197  NT_EntryListener AddEntryListener(
198  const Twine& prefix,
199  std::function<void(const EntryNotification& event)> callback,
200  unsigned int flags) const;
201 
207  static void RemoveEntryListener(NT_EntryListener entry_listener);
208 
219  bool WaitForEntryListenerQueue(double timeout);
220 
235  NT_ConnectionListener AddConnectionListener(
236  std::function<void(const ConnectionNotification& event)> callback,
237  bool immediate_notify) const;
238 
244  static void RemoveConnectionListener(NT_ConnectionListener conn_listener);
245 
256  bool WaitForConnectionListenerQueue(double timeout);
257 
275  bool WaitForRpcCallQueue(double timeout);
276 
292  void SetNetworkIdentity(const Twine& name);
293 
299  unsigned int GetNetworkMode() const;
300 
310  void StartServer(const Twine& persist_filename = "networktables.ini",
311  const char* listen_address = "",
312  unsigned int port = kDefaultPort);
313 
317  void StopServer();
318 
322  void StartClient();
323 
330  void StartClient(const char* server_name, unsigned int port = kDefaultPort);
331 
338  void StartClient(ArrayRef<std::pair<StringRef, unsigned int>> servers);
339 
347  void StartClient(ArrayRef<StringRef> servers,
348  unsigned int port = kDefaultPort);
349 
357  void StartClientTeam(unsigned int team, unsigned int port = kDefaultPort);
358 
362  void StopClient();
363 
370  void SetServer(const char* server_name, unsigned int port = kDefaultPort);
371 
378  void SetServer(ArrayRef<std::pair<StringRef, unsigned int>> servers);
379 
387  void SetServer(ArrayRef<StringRef> servers, unsigned int port = kDefaultPort);
388 
396  void SetServerTeam(unsigned int team, unsigned int port = kDefaultPort);
397 
405  void StartDSClient(unsigned int port = kDefaultPort);
406 
410  void StopDSClient();
411 
418  void SetUpdateRate(double interval);
419 
426  void Flush() const;
427 
434  std::vector<ConnectionInfo> GetConnections() const;
435 
441  bool IsConnected() const;
442 
458  const char* SavePersistent(const Twine& filename) const;
459 
469  const char* LoadPersistent(
470  const Twine& filename,
471  std::function<void(size_t line, const char* msg)> warn);
472 
481  const char* SaveEntries(const Twine& filename, const Twine& prefix) const;
482 
492  const char* LoadEntries(
493  const Twine& filename, const Twine& prefix,
494  std::function<void(size_t line, const char* msg)> warn);
495 
515  NT_Logger AddLogger(std::function<void(const LogMessage& msg)> func,
516  unsigned int min_level, unsigned int max_level);
517 
523  static void RemoveLogger(NT_Logger logger);
524 
535  bool WaitForLoggerQueue(double timeout);
536 
543  bool operator==(const NetworkTableInstance& other) const {
544  return m_handle == other.m_handle;
545  }
546 
548  bool operator!=(const NetworkTableInstance& other) const {
549  return !(*this == other);
550  }
551 
552  private:
553  /* Native handle */
554  NT_Inst m_handle;
555 };
556 
557 } // namespace nt
558 
559 #include "networktables/NetworkTableInstance.inl"
560 
561 #endif // NTCORE_NETWORKTABLES_NETWORKTABLEINSTANCE_H_
bool operator==(const NetworkTableInstance &other) const
Equality operator.
Definition: NetworkTableInstance.h:543
void StopDSClient()
Stops requesting server address from Driver Station.
Definition: NetworkTableInstance.inl:130
const char * SavePersistent(const Twine &filename) const
Save persistent values to a file.
Definition: NetworkTableInstance.inl:149
void Flush() const
Flushes all updated values immediately to the network.
Definition: NetworkTableInstance.inl:138
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
void DeleteAllEntries()
Deletes ALL keys in ALL subtables (except persistent values).
Definition: NetworkTableInstance.inl:49
NT_ConnectionListener AddConnectionListener(std::function< void(const ConnectionNotification &event)> callback, bool immediate_notify) const
Add a connection listener.
std::vector< EntryInfo > GetEntryInfo(const Twine &prefix, unsigned int types) const
Get information about entries starting with the given prefix.
Definition: NetworkTableInstance.inl:44
void SetServerTeam(unsigned int team, unsigned int port=kDefaultPort)
Sets server addresses and port for client (without restarting client).
Definition: NetworkTableInstance.inl:121
NetworkTables log message.
Definition: ntcore_cpp.h:247
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
void StartClient()
Starts a client.
Definition: NetworkTableInstance.inl:92
static void RemoveEntryListener(NT_EntryListener entry_listener)
Remove an entry listener.
Definition: NetworkTableInstance.inl:53
NetworkTables Entry Notification.
Definition: ntcore_cpp.h:180
static NetworkTableInstance GetDefault()
Get global default instance.
Definition: NetworkTableInstance.inl:18
LogLevel
Logging levels (as used by SetLogger()).
Definition: NetworkTableInstance.h:70
ArrayRef - Represent a constant reference to an array (0 or more elements consecutively in memory)...
Definition: ArrayRef.h:41
bool IsConnected() const
Return whether or not the instance is connected to another node.
Definition: NetworkTableInstance.inl:145
NetworkTableEntry GetEntry(const Twine &name)
Gets the entry for a key.
Definition: NetworkTableInstance.inl:32
NetworkTables Instance.
Definition: NetworkTableInstance.h:53
bool WaitForConnectionListenerQueue(double timeout)
Wait for the connection listener queue to be empty.
Definition: NetworkTableInstance.inl:67
bool operator!=(const NetworkTableInstance &other) const
Inequality operator.
Definition: NetworkTableInstance.h:548
std::shared_ptr< NetworkTable > GetTable(const Twine &key) const
Gets the table with the specified key.
static void RemoveLogger(NT_Logger logger)
Remove a logger.
Definition: NetworkTableInstance.inl:177
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
std::vector< ConnectionInfo > GetConnections() const
Get information on the currently established network connections.
Definition: NetworkTableInstance.inl:140
NetworkTableInstance() noexcept
Construct invalid instance.
Definition: NetworkTableInstance.inl:13
void StopClient()
Stops the client if it is running.
Definition: NetworkTableInstance.inl:109
NetworkTables (ntcore) namespace.
Definition: ITable.h:21
static NetworkTableInstance Create()
Create an instance.
Definition: NetworkTableInstance.inl:22
const char * SaveEntries(const Twine &filename, const Twine &prefix) const
Save table values to a file.
Definition: NetworkTableInstance.inl:160
NT_Inst GetHandle() const
Gets the native handle for the entry.
Definition: NetworkTableInstance.inl:30
bool WaitForLoggerQueue(double timeout)
Wait for the incoming log event queue to be empty.
Definition: NetworkTableInstance.inl:181
NetworkTables Connection Notification.
Definition: ntcore_cpp.h:221
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
bool WaitForRpcCallQueue(double timeout)
Wait for the incoming RPC call queue to be empty.
Definition: NetworkTableInstance.inl:72
unsigned int GetNetworkMode() const
Get the current network mode.
Definition: NetworkTableInstance.inl:80
StringRef - Represent a constant reference to a string, i.e.
Definition: StringRef.h:49
NetworkMode
Client/server mode flag values (as returned by GetNetworkMode()).
Definition: NetworkTableInstance.h:59
#define NT_DEFAULT_PORT
Default network tables port number.
Definition: ntcore_c.h:49
void SetUpdateRate(double interval)
Set the periodic update rate.
Definition: NetworkTableInstance.inl:134
NetworkTables Entry.
Definition: NetworkTableEntry.h:38
static void Destroy(NetworkTableInstance inst)
Destroys an instance (note: this has global effect).
Definition: NetworkTableInstance.inl:26
void SetNetworkIdentity(const Twine &name)
Set the network identity of this node.
Definition: NetworkTableInstance.inl:76
void StartDSClient(unsigned int port=kDefaultPort)
Starts requesting server address from Driver Station.
Definition: NetworkTableInstance.inl:126
void SetServer(const char *server_name, unsigned int port=kDefaultPort)
Sets server address and port for client (without restarting client).
Definition: NetworkTableInstance.inl:111
Twine - A lightweight data structure for efficiently representing the concatenation of temporary valu...
Definition: Twine.h:79
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
bool WaitForEntryListenerQueue(double timeout)
Wait for the entry listener queue to be empty.
Definition: NetworkTableInstance.inl:58
void StopServer()
Stops the server if it is running.
Definition: NetworkTableInstance.inl:90
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
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.