NetworkTable.cpp

#include <map>
#include "networktables/NetworkTable.h"
#include <string>
#include "networktables2/thread/NTThreadManager.h"
#include "networktables2/thread/DefaultThreadManager.h"
#include "networktables2/NetworkTableEntry.h"
#include "networktables2/util/StringCache.h"
#include "networktables/NetworkTableProvider.h"
#include "networktables/NetworkTableMode.h"
#include "OSAL/Synchronized.h"
#include "tables/TableKeyNotDefinedException.h"
#include "networktables2/type/DefaultEntryTypes.h"
#include "tables/ITableListener.h"
#include "networktables/NetworkTableConnectionListenerAdapter.h"
#include "networktables/NetworkTableKeyListenerAdapter.h"
#include "networktables/NetworkTableListenerAdapter.h"
#include "networktables/NetworkTableSubListenerAdapter.h"


const char NetworkTable::PATH_SEPARATOR_CHAR = '/';
const std::string NetworkTable::PATH_SEPARATOR("/");
const int NetworkTable::DEFAULT_PORT = 1735;

DefaultThreadManager NetworkTable::threadManager;
NetworkTableProvider* NetworkTable::staticProvider = NULL;
NetworkTableNode* NetworkTable::staticNode = NULL;
void* NetworkTable::streamFactory = NULL;
NetworkTableEntryTypeManager* NetworkTable::typeManager = NULL;
StreamDeleter streamDeleter = NULL;
NetworkTableMode* NetworkTable::mode = &NetworkTableMode::Server;
int NetworkTable::port = DEFAULT_PORT;
std::string NetworkTable::ipAddress;
NTReentrantSemaphore NetworkTable::STATIC_LOCK;






void NetworkTable::CheckInit(){
        printf("[NT] NetworkTable::CheckInit()...\n");
        {
                NTSynchronized sync(STATIC_LOCK);
                if(staticProvider!=NULL)
                        throw new IllegalStateException("Network tables has already been initialized");
        }
}

void NetworkTable::Initialize() {
        CheckInit();
        printf("[NT] NetworkTable::Initialize()...\n");
        staticProvider = new NetworkTableProvider(*(staticNode = mode->CreateNode(ipAddress.c_str(), port, threadManager, streamFactory, streamDeleter, typeManager)));
        printf("[NT] ...NetworkTable::Initialize().\n");
}

void NetworkTable::Shutdown() 
{
        if (staticProvider!=NULL)
        {
                delete staticProvider;
                staticProvider=NULL;
        }
        if (staticNode!=NULL)
        {
                delete staticNode;
                staticNode=NULL;
        }
        if (streamDeleter!=NULL && streamFactory!=NULL)
        {
                streamDeleter(streamFactory);
                streamFactory=NULL;
                streamDeleter=NULL;
        }
        if (typeManager!=NULL)
        {
                delete typeManager;
                typeManager=NULL;
        }
}

void NetworkTable::SetTableProvider(NetworkTableProvider* provider){
        CheckInit();
        staticProvider = provider;
}

void NetworkTable::SetClientMode(){
        CheckInit();
        mode = &NetworkTableMode::Client;
}

void NetworkTable::SetServerMode(){
        CheckInit();
        mode = &NetworkTableMode::Server;
}

void NetworkTable::SetTeam(int team){
        char tmp[30];
        sprintf(tmp, "%d.%d.%d.%d\n", 10, team/100, team%100, 2);
        SetIPAddress(tmp);
}

void NetworkTable::SetIPAddress(const char* address){
        CheckInit();
        ipAddress = address;
}

NetworkTable* NetworkTable::GetTable(std::string key) {
        printf("[NT] NetworkTable::GetTable()...\n");
        if(staticProvider==NULL){
                printf("[NT] \tInitializing...\n");
                Initialize();
        }
        std::string tmp(PATH_SEPARATOR);
        tmp+=key;
        printf("[NT] ...Ready to get Table.\n");
        return (NetworkTable*)staticProvider->GetTable(tmp);
}



NetworkTable::NetworkTable(std::string _path, NetworkTableProvider& _provider) :
                path(_path), entryCache(_path), absoluteKeyCache(_path), provider(_provider), node(provider.GetNode()) {
}
NetworkTable::~NetworkTable(){
}

bool NetworkTable::IsConnected() {
        return node.IsConnected();
}

bool NetworkTable::IsServer() {
        return node.IsServer();
}


void NetworkTable::AddConnectionListener(IRemoteConnectionListener* listener, bool immediateNotify) {
        map<IRemoteConnectionListener*, NetworkTableConnectionListenerAdapter*>::iterator itr = connectionListenerMap.find(listener);
        if(itr != connectionListenerMap.end()){
                throw IllegalStateException("Cannot add the same listener twice");
        }
        else{
                NetworkTableConnectionListenerAdapter* adapter = new NetworkTableConnectionListenerAdapter(this, listener);
                connectionListenerMap[listener] = adapter;
                node.AddConnectionListener(adapter, immediateNotify);
        }
}

void NetworkTable::RemoveConnectionListener(IRemoteConnectionListener* listener) {
        map<IRemoteConnectionListener*, NetworkTableConnectionListenerAdapter*>::iterator itr = connectionListenerMap.find(listener);
        if(itr != connectionListenerMap.end()){
                node.RemoveConnectionListener(itr->second);
                delete itr->second;
                connectionListenerMap.erase(itr);
        }
}


void NetworkTable::AddTableListener(ITableListener* listener) {
        AddTableListener(listener, false);
}

void NetworkTable::AddTableListener(ITableListener* listener, bool immediateNotify) {
        std::string tmp(path);
        tmp+=PATH_SEPARATOR;
        NetworkTableListenerAdapter* adapter = new NetworkTableListenerAdapter(tmp, this, listener);
        listenerMap.insert ( pair<ITableListener*,ITableListener*>(listener, adapter) );
        node.AddTableListener(adapter, immediateNotify);
}
void NetworkTable::AddTableListener(std::string key, ITableListener* listener, bool immediateNotify) {
        NetworkTableKeyListenerAdapter* adapter = new NetworkTableKeyListenerAdapter(key, absoluteKeyCache.Get(key), this, listener);
        listenerMap.insert ( pair<ITableListener*,ITableListener*>(listener, adapter) );
        node.AddTableListener(adapter, immediateNotify);
}
void NetworkTable::AddSubTableListener(ITableListener* listener) {
        NetworkTableSubListenerAdapter* adapter = new NetworkTableSubListenerAdapter(path, this, listener);
        listenerMap.insert ( pair<ITableListener*,ITableListener*>(listener, adapter) );
        node.AddTableListener(adapter, true);
}

void NetworkTable::RemoveTableListener(ITableListener* listener) {
        multimap<ITableListener*,ITableListener*>::iterator itr;
        pair<multimap<ITableListener*,ITableListener*>::iterator,multimap<ITableListener*,ITableListener*>::iterator> itrs = listenerMap.equal_range(listener);
        for (itr=itrs.first; itr!=itrs.second; ++itr){
                node.RemoveTableListener(itr->second);
                delete itr->second;
        }
        listenerMap.erase(itrs.first, itrs.second);
}

NetworkTableEntry* NetworkTable::GetEntry(std::string key){
        { 
                NTSynchronized sync(LOCK);
                return entryCache.Get(key);
        }
}


NetworkTable* NetworkTable::GetSubTable(std::string key) {
        { 
                NTSynchronized sync(LOCK);
                return (NetworkTable*)provider.GetTable(absoluteKeyCache.Get(key));
        }
}


bool NetworkTable::ContainsKey(std::string key) {
        return node.ContainsKey(absoluteKeyCache.Get(key));
}
        
bool NetworkTable::ContainsSubTable(std::string key){
        std::string subtablePrefix(absoluteKeyCache.Get(key));
        subtablePrefix+=PATH_SEPARATOR;
        std::vector<std::string>* keys = node.GetEntryStore().keys();
        for(unsigned int i = 0; i<keys->size(); ++i){
                if(keys->at(i).compare(0, subtablePrefix.size(), subtablePrefix)==0){
                        delete keys;
                        return true;
                }
        }
        delete keys;
        return false;
}


void NetworkTable::PutNumber(std::string key, double value) {
        EntryValue eValue;
        eValue.f = value;
        PutValue(key, &DefaultEntryTypes::DOUBLE, eValue);
}


double NetworkTable::GetNumber(std::string key) {
        return node.GetDouble(absoluteKeyCache.Get(key));
}


double NetworkTable::GetNumber(std::string key, double defaultValue) {
        try {
                return node.GetDouble(absoluteKeyCache.Get(key));
        } catch (TableKeyNotDefinedException& e) {
                return defaultValue;
        }
}


void NetworkTable::PutString(std::string key, std::string value) {
        EntryValue eValue;
        eValue.ptr = &value;
        PutValue(key, &DefaultEntryTypes::STRING, eValue);
}


std::string NetworkTable::GetString(std::string key) {
        return node.GetString(absoluteKeyCache.Get(key));
}


std::string NetworkTable::GetString(std::string key, std::string defaultValue) {
        try {
                return node.GetString(absoluteKeyCache.Get(key));
        } catch (TableKeyNotDefinedException& e) {
                return defaultValue;
        }
}


void NetworkTable::PutBoolean(std::string key, bool value) {
        EntryValue eValue;
        eValue.b = value;
        PutValue(key, &DefaultEntryTypes::BOOLEAN, eValue);
}


bool NetworkTable::GetBoolean(std::string key) {
        return node.GetBoolean(absoluteKeyCache.Get(key));
}


bool NetworkTable::GetBoolean(std::string key, bool defaultValue) {
        try {
                return node.GetBoolean(absoluteKeyCache.Get(key));
        } catch (TableKeyNotDefinedException& e) {
                return defaultValue;
        }
}

void NetworkTable::PutValue(std::string key, NetworkTableEntryType* type, EntryValue value){
        NetworkTableEntry* entry = entryCache.Get(key);
        if(entry!=NULL)
                node.PutValue(entry, value);//TODO pass type along or do some kind of type check
        else
                node.PutValue(absoluteKeyCache.Get(key), type, value);
}

void NetworkTable::RetrieveValue(std::string key, ComplexData& externalValue) {
        node.retrieveValue(absoluteKeyCache.Get(key), externalValue);
}


void NetworkTable::PutValue(std::string key, ComplexData& value){
        EntryValue eValue;
        eValue.ptr = &value;
        PutValue(key, &value.GetType(), eValue);
}


EntryValue NetworkTable::GetValue(std::string key) {
        return node.GetValue(absoluteKeyCache.Get(key));
}

EntryValue NetworkTable::GetValue(std::string key, EntryValue defaultValue) {
        try {
                return node.GetValue(absoluteKeyCache.Get(key));
        } catch(TableKeyNotDefinedException& e){
                return defaultValue;
        }
}






//NetworkTableKeyCache
NetworkTableKeyCache::NetworkTableKeyCache(std::string _path):path(_path){}
NetworkTableKeyCache::~NetworkTableKeyCache(){}
std::string NetworkTableKeyCache::Calc(const std::string& key){
  std::string tmp(path);
  tmp+=NetworkTable::PATH_SEPARATOR;
  tmp+=key;
  return tmp;
}
//Entry Cache
EntryCache::EntryCache(std::string& _path):path(_path){}
EntryCache::~EntryCache(){}

NetworkTableEntry* EntryCache::Get(std::string& key){
        return cache[key];
}