void NetworkTableConnection::read(ConnectionAdapter& adapter) {
int messageType = ioStream->readByte();
switch (messageType) {
case KEEP_ALIVE:
adapter.keepAlive();
return;
case CLIENT_HELLO: {
uint16_t protocolRevision = ioStream->read2BytesBE();
adapter.clientHello(protocolRevision);
return;
}
case SERVER_HELLO_COMPLETE: {
adapter.serverHelloComplete();
return;
}
case PROTOCOL_VERSION_UNSUPPORTED: {
uint16_t protocolRevision = ioStream->read2BytesBE();
adapter.protocolVersionUnsupported(protocolRevision);
return;
}
case ENTRY_ASSIGNMENT: {
std::string* entryName = ioStream->readString();
TypeId typeId = ioStream->readByte();
NetworkTableEntryType* entryType = typeManager.GetType(typeId);
if (!entryType){
char exceptionMessageBuffer[50];
sprintf (exceptionMessageBuffer, "Unknown data type: %#x", typeId);
throw BadMessageException(exceptionMessageBuffer);
}
EntryId entryId = ioStream->read2BytesBE();
SequenceNumber entrySequenceNumber = ioStream->read2BytesBE();
EntryValue value = entryType->readValue(*ioStream);
adapter.offerIncomingAssignment(new NetworkTableEntry(entryId, *entryName, entrySequenceNumber, entryType, value));
entryType->deleteValue(value);
delete entryName;
return;
}
case FIELD_UPDATE: {
EntryId entryId = ioStream->read2BytesBE();
SequenceNumber entrySequenceNumber = ioStream->read2BytesBE();
NetworkTableEntry* entry = adapter.GetEntry(entryId);
if (!entry){
char exceptionMessageBuffer[50];
sprintf (exceptionMessageBuffer, "Received update for unknown entry id: %d", entryId);
throw BadMessageException(exceptionMessageBuffer);
}
EntryValue value = entry->GetType()->readValue(*ioStream);
adapter.offerIncomingUpdate(entry, entrySequenceNumber, value);
entry->GetType()->deleteValue(value);
return;
}
default:
char exceptionMessageBuffer[50];
sprintf (exceptionMessageBuffer, "Unknown Network Table Message Type: %d", messageType);
throw BadMessageException(exceptionMessageBuffer);
}
}
EntryValue NetworkTableNode::GetValue(std::string& name){//TODO don't allow get of complex types
{
NTSynchronized sync(entryStore.LOCK);
NetworkTableEntry* entry = entryStore.GetEntry(name);
if(entry==NULL)
throw TableKeyNotDefinedException(name);
return entry->GetValue();
}
}
void NetworkTableConnection::sendEntryUpdate(NetworkTableEntry& entry) {
{
Synchronized sync(WRITE_LOCK);
sendMessageHeader(FIELD_UPDATE);
ioStream->write2BytesBE(entry.GetId());
ioStream->write2BytesBE(entry.GetSequenceNumber());
entry.SendValue(*ioStream);
}
}
/**
* Called to say that a listener should notify the listener manager of all of the entries
* @param listener
* @param table
*/
void AbstractNetworkTableEntryStore::notifyEntries(ITable* table, ITableListener* listener){
{
Synchronized sync(LOCK);
std::map<std::string, NetworkTableEntry*>::iterator itr;
for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
{
NetworkTableEntry* entry = itr->second;
listener->ValueChanged(table, itr->first, entry->GetValue(), true);
}
}
}
void NetworkTableConnection::sendEntryAssignment(NetworkTableEntry& entry) {
{
Synchronized sync(WRITE_LOCK);
sendMessageHeader(ENTRY_ASSIGNMENT);
ioStream->writeString(entry.name);
ioStream->writeByte(entry.GetType()->id);
ioStream->write2BytesBE(entry.GetId());
ioStream->write2BytesBE(entry.GetSequenceNumber());
entry.SendValue(*ioStream);
}
}
void NetworkTableNode::retrieveValue(std::string& name, ComplexData& externalData){
{
NTSynchronized sync(entryStore.LOCK);
NetworkTableEntry* entry = entryStore.GetEntry(name);
if(entry==NULL)
throw TableKeyNotDefinedException(name);
NetworkTableEntryType* entryType = entry->GetType();
if(!entryType->isComplex())
throw TableKeyExistsWithDifferentTypeException(name, entryType, "Is not a complex data type");
ComplexEntryType* complexType = (ComplexEntryType*)entryType;
complexType->exportValue(name, entry->GetValue(), externalData);
}
}
/**
* Send all unknown entries in the entry store to the given connection
* @param connection
* @throws IOException
*/
void ClientNetworkTableEntryStore::sendUnknownEntries(NetworkTableConnection& connection) {
{
Synchronized sync(LOCK);
std::map<std::string, NetworkTableEntry*>::iterator itr;
for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
{
NetworkTableEntry* entry = (*itr).second;
if(entry && entry->GetId()==NetworkTableEntry::UNKNOWN_ID)
connection.sendEntryAssignment(*entry);
}
connection.flush();
}
}
void WriteManager::run() {
{
Synchronized sync(transactionsLock);
//swap the assignment and update queue
volatile std::queue<NetworkTableEntry*>* tmp = incomingAssignmentQueue;
incomingAssignmentQueue = outgoingAssignmentQueue;
outgoingAssignmentQueue = tmp;
tmp = incomingUpdateQueue;
incomingUpdateQueue = outgoingUpdateQueue;
outgoingUpdateQueue = tmp;
}
bool wrote = false;
NetworkTableEntry* entry;
while(!((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->empty()){
entry = ((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->front();
((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->pop();
{
Synchronized sync(entryStore.LOCK);
entry->MakeClean();
wrote = true;
receiver.offerOutgoingAssignment(entry);
}
}
while(!((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->empty()){
entry = ((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->front();
((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->pop();
{
Synchronized sync(entryStore.LOCK);
entry->MakeClean();
wrote = true;
receiver.offerOutgoingUpdate(entry);
}
}
if(wrote){
receiver.flush();
lastWrite = currentTimeMillis();
}
else if(currentTimeMillis()-lastWrite>keepAliveDelay)
receiver.ensureAlive();
sleep_ms(20);
}
/**
* Stores the given value under the given name and queues it for
* transmission to the server.
*
* @param name The name under which to store the given value.
* @param type The type of the given value.
* @param value The value to store.
* @throws TableKeyExistsWithDifferentTypeException Thrown if an
* entry already exists with the given name and is of a different type.
*/
void AbstractNetworkTableEntryStore::PutOutgoing(std::string& name, NetworkTableEntryType* type, EntryValue value){
{
NTSynchronized sync(LOCK);
std::map<std::string, NetworkTableEntry*>::iterator index = namedEntries.find(name);
NetworkTableEntry* tableEntry;
if(index == namedEntries.end())//if the name does not exist in the current entries
{
tableEntry = new NetworkTableEntry(name, type, value);
if(addEntry(tableEntry))
{
tableEntry->FireListener(listenerManager);
outgoingReceiver->offerOutgoingAssignment(tableEntry);
}
}
else
{
tableEntry = index->second;
if(tableEntry->GetType()->id != type->id){
throw TableKeyExistsWithDifferentTypeException(name, tableEntry->GetType());
}
EntryValue oldValue = tableEntry->GetValue();
if(!type->areEqual(value, oldValue)){
if(updateEntry(tableEntry, (SequenceNumber)(tableEntry->GetSequenceNumber() + 1), value)){
outgoingReceiver->offerOutgoingUpdate(tableEntry);
}
tableEntry->FireListener(listenerManager);
}
}
}
}
void AbstractNetworkTableEntryStore::offerIncomingAssignment(NetworkTableEntry* entry){
{
NTSynchronized sync(LOCK);
std::map<std::string, NetworkTableEntry*>::iterator itr = namedEntries.find(entry->name);
NetworkTableEntry* tableEntry;
if(addEntry(entry)){
if(itr != namedEntries.end()){
tableEntry = itr->second;
}
else{
tableEntry = entry;
}
tableEntry->FireListener(listenerManager);//if we didnt have a pointer, then the copy of the version in the list would call this method, however with the pointer we are updating the version in the list
incomingReceiver->offerOutgoingAssignment(tableEntry);
}
else
delete entry;
}
}
bool ClientNetworkTableEntryStore::addEntry(NetworkTableEntry* newEntry){
{
Synchronized sync(LOCK);
NetworkTableEntry* entry = (NetworkTableEntry*)namedEntries[newEntry->name];
if(entry!=NULL){
if(entry->GetId()!=newEntry->GetId()){
idEntries.erase(entry->GetId());
if(newEntry->GetId()!=NetworkTableEntry::UNKNOWN_ID){
entry->SetId(newEntry->GetId());
idEntries[newEntry->GetId()] = entry;
}
}
entry->ForcePut(newEntry->GetSequenceNumber(), newEntry->GetType(), newEntry->GetValue());
}
else{
if(newEntry->GetId()!=NetworkTableEntry::UNKNOWN_ID)
idEntries[newEntry->GetId()] = newEntry;
namedEntries[newEntry->name] = newEntry;
}
}
return true;
}
void NetworkTableNode::PutValue(std::string& name, NetworkTableEntryType* type, EntryValue value){
if(type->isComplex()){
{
NTSynchronized sync(entryStore.LOCK);
ComplexData* complexData = (ComplexData*)value.ptr;
ComplexEntryType* entryType = (ComplexEntryType*)type;
NetworkTableEntry* entry = entryStore.GetEntry(name);
if(entry!=NULL)
entryStore.PutOutgoing(entry, entryType->internalizeValue(entry->name, *complexData, entry->GetValue()));
else{
EntryValue nullValue = {0};
EntryValue entryValue = entryType->internalizeValue(name, *complexData, nullValue);
entryStore.PutOutgoing(name, type, entryValue);//TODO the entry gets copied when creating the entry should make lifecycle cleaner
type->deleteValue(entryValue);
}
}
}
else
entryStore.PutOutgoing(name, type, value);
}
std::string& NetworkTableNode::GetString(std::string& name) {
NetworkTableEntry* entry = entryStore.GetEntry(name);
if(entry==NULL)
throw TableKeyNotDefinedException(name);
return *(std::string*)(entry->GetValue().ptr);
}
double NetworkTableNode::GetDouble(std::string& name){
NetworkTableEntry* entry = entryStore.GetEntry(name);
if(entry==NULL)
throw TableKeyNotDefinedException(name);
return entry->GetValue().f;
}
