WireTwiddler.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP2_WIRETWIDDLER
#define YARP2_WIRETWIDDLER
 
#include <yarp/conf/numeric.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/ManagedBytes.h>
#include <yarp/os/NetInt32.h>
 
#include <yarp/os/SizedWriter.h>
#include <yarp/os/InputStream.h>
#include <yarp/os/ConnectionWriter.h>
#include <yarp/os/Bytes.h>
 
#include <yarp/wire_rep_utils/api.h>
 
#include <vector>
#include <string>
 
namespace yarp {
namespace wire_rep_utils {
 
class WireTwiddlerGap
{
public:
    int buffer_start;
    int buffer_length;
    int length;
    int unit_length;
    int wire_unit_length;
    char *byte_start;
    int byte_length;
    bool ignore_external;
    bool save_external;
    bool load_external;
    bool computing;
    std::string origin;
    std::string var_name;
    int flavor;
    WireTwiddlerGap() {
        buffer_start = 0;
        buffer_length = 0;
        length = 0;
        unit_length = 0;
        byte_start = nullptr;
        byte_length = 0;
        ignore_external = false;
        wire_unit_length = -1;
        save_external = false;
        load_external = false;
        computing = false;
        flavor = 0;
    }
 
    char *getStart() const { return byte_start; }
    int getLength() const { return byte_length; }
    int getUnitLength() const { return unit_length; }
    int getExternalLength() const { return unit_length; }
    bool shouldIgnoreExternal() const { return ignore_external; }
    const std::string& getOrigin() const { return origin; }
};
 
 
class YARP_wire_rep_utils_API WireTwiddler
{
public:
    WireTwiddler() {
        buffer_start = 0;
        writer = nullptr;
    }
 
    virtual ~WireTwiddler() {
        if (writer) delete writer;
        writer = nullptr;
    }
 
    bool configure(const char *txt, const char *prompt);
 
 
    std::string fromTemplate(const yarp::os::Bottle& msg);
 
    /*
    bool setHeaderFormat(const char *txt) {
        headerFormat = txt;
    }
    */
 
private:
 
    int buffer_start;
    std::vector<yarp::os::NetInt32> buffer;
    std::vector<WireTwiddlerGap> gaps;
    yarp::os::ConnectionWriter *writer;
    std::string prompt;
 
public:
    void show();
    int configure(yarp::os::Bottle& desc, int offset, bool& ignored,
                  const std::string& vtag);
 
    int getGapCount() {
        return (int)gaps.size();
    }
 
    void clear() {
        buffer_start = 0;
        buffer.clear();
        gaps.clear();
    }
 
    const WireTwiddlerGap& getGap(int index) {
        return gaps[index];
    }
 
    std::string toString() const;
 
    const std::string& getPrompt() const {
        return prompt;
    }
 
    bool read(yarp::os::Bottle& bot, const yarp::os::Bytes& data);
 
    bool write(yarp::os::Bottle& bot, yarp::os::ManagedBytes& data);
};
 
 
/*
 
  State:
  index, sent
 
 */
 
class YARP_wire_rep_utils_API WireTwiddlerReader :
        public yarp::os::InputStream
{
private:
    yarp::os::InputStream& is;
    WireTwiddler& twiddler;
    char *cursor;
    int sent;
    int consumed;
    int override_length;
    int index;
    bool recite;
    yarp::os::NetInt32 lengthBuffer;
    int pending_length;
    int pending_strings;
    int pending_string_length;
    int pending_string_data;
    yarp::os::ManagedBytes dump;
    yarp::os::Property prop;
public:
    WireTwiddlerReader(yarp::os::InputStream& is,
                       WireTwiddler& twiddler) : is(is),
                                                 twiddler(twiddler) {
        reset();
    }
 
    void reset() {
        recite = false;
        index = -1;
        sent = 0;
        consumed = 0;
        cursor = nullptr;
        pending_length = 0;
        pending_strings = 0;
        pending_string_length = 0;
        pending_string_data = 0;
        override_length = -1;
        lengthBuffer = 0;
    }
 
    virtual ~WireTwiddlerReader() {}
 
    using yarp::os::InputStream::read;
    yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
    void close() override { is.close(); }
 
    bool isOk() const override { return is.isOk(); }
 
    yarp::conf::ssize_t readMapped(yarp::os::InputStream& is,
                                   yarp::os::Bytes& b,
                                   const WireTwiddlerGap& gap);
 
    void compute(const WireTwiddlerGap& gap);
};
 
 
class YARP_wire_rep_utils_API WireTwiddlerSrc
{
public:
    char *src;
    int len;
    int offset;
 
    WireTwiddlerSrc(char *src, int len, int offset) {
        this->src = src;
        this->len = len;
        this->offset = offset;
    }
};
 
class YARP_wire_rep_utils_API WireTwiddlerWriter :
        public yarp::os::SizedWriter
{
private:
    yarp::os::SizedWriter *parent;
    WireTwiddler *twiddler;
    std::vector<WireTwiddlerSrc> srcs;
    int block;
    int lastBlock;
    int offset;
    const char *blockPtr;
    int blockLen;
    yarp::os::NetInt32 lengthBuffer;
    yarp::os::Bytes lengthBytes;
    yarp::os::ManagedBytes zeros;
    yarp::os::ManagedBytes scratch;
    int accumOffset;
    const char *activeEmit;
    const WireTwiddlerGap *activeGap;
    int activeEmitLength;
    int activeEmitOffset;
    const char *activeCheck;
    bool errorState;
    size_t scratchOffset;
    yarp::os::NetInt32 codeExpected;
    yarp::os::NetInt32 codeReceived;
 
    void showBrokenExpectation(const yarp::os::NetInt32& expected,
                               const yarp::os::NetInt32& received,
                               int evidence);
public:
    WireTwiddlerWriter(yarp::os::SizedWriter& parent,
                       WireTwiddler& twiddler) :
        parent(&parent),
        twiddler(&twiddler),
        srcs(),
        block(0),
        lastBlock(0),
        offset(0),
        blockPtr(nullptr),
        blockLen(0),
        lengthBuffer(0),
        lengthBytes(),
        zeros(0),
        scratch(0),
        accumOffset(0),
        activeEmit(nullptr),
        activeGap(nullptr),
        activeEmitLength(0),
        activeEmitOffset(0),
        activeCheck(nullptr),
        errorState(false),
        scratchOffset(0),
        codeExpected(),
        codeReceived()
    {
        update();
    }
 
    WireTwiddlerWriter() :
        parent(nullptr),
        twiddler(nullptr),
        srcs(),
        block(0),
        lastBlock(0),
        offset(0),
        blockPtr(nullptr),
        blockLen(0),
        lengthBuffer(0),
        lengthBytes(),
        zeros(0),
        scratch(0),
        accumOffset(0),
        activeEmit(nullptr),
        activeGap(nullptr),
        activeEmitLength(0),
        activeEmitOffset(0),
        activeCheck(nullptr),
        errorState(false),
        scratchOffset(0),
        codeExpected(),
        codeReceived()
    {}
 
    virtual ~WireTwiddlerWriter();
 
    void attach(yarp::os::SizedWriter& parent,
                WireTwiddler& twiddler) {
        this->parent = &parent;
        this->twiddler = &twiddler;
        update();
    }
 
    bool update();
 
    size_t length() const override {
        return srcs.size();
    }
 
    size_t headerLength() const override {
        return 0;
    }
 
    size_t length(size_t index) const override {
        return srcs[index].len;
    }
 
    const char *data(size_t index) const override {
        if (srcs[index].offset<0) return srcs[index].src;
        return scratch.get()+srcs[index].offset;
    }
 
    yarp::os::PortReader *getReplyHandler() override {
        return parent->getReplyHandler();
    }
 
    yarp::os::Portable *getReference() override {
        return parent->getReference();
    }
 
    bool skip(const char *start, int len);
 
    bool transform(const WireTwiddlerGap& gap);
 
    bool pass(int len);
 
    bool pad(size_t len);
 
    bool readLengthAndPass(int unitLength, const WireTwiddlerGap *gap = nullptr);
 
    bool advance(int length, bool shouldEmit, bool shouldAccum=false,
                 bool shouldCheck=false);
 
    bool emit(const char *src, int len);
 
    int readLength();
 
    //virtual void write(OutputStream& os);
    bool dropRequested() override {
        return false;
    }
 
    void startWrite() const override {
        parent->startWrite();
    }
 
    void stopWrite() const override {
        parent->stopWrite();
    }
};
 
} // namespace wire_rep_utils
} // namespace yarp
 
#endif