Add NetworkTableSource

core/src/main/java/edu/wpi/grip/core/GripCoreModule.java

@@ -11,6 +11,7 @@
 import edu.wpi.grip.core.sources.HttpSource;
 import edu.wpi.grip.core.sources.ImageFileSource;
 import edu.wpi.grip.core.sources.MultiImageFileSource;
+import edu.wpi.grip.core.sources.NetworkTableEntrySource;
 import edu.wpi.grip.core.util.ExceptionWitness;
 import edu.wpi.grip.core.util.GripMode;
 
@@ -144,6 +145,9 @@ public <I> void hear(TypeLiteral<I> type, TypeEncounter<I> encounter) {
     install(new FactoryModuleBuilder()
         .implement(HttpSource.class, HttpSource.class)
         .build(HttpSource.Factory.class));
+    install(new FactoryModuleBuilder()
+        .implement(NetworkTableEntrySource.class, NetworkTableEntrySource.class)
+        .build(NetworkTableEntrySource.Factory.class));
 
     install(new FactoryModuleBuilder().build(ExceptionWitness.Factory.class));
   }

core/src/main/java/edu/wpi/grip/core/Source.java

@@ -5,6 +5,7 @@
 import edu.wpi.grip.core.sources.HttpSource;
 import edu.wpi.grip.core.sources.ImageFileSource;
 import edu.wpi.grip.core.sources.MultiImageFileSource;
+import edu.wpi.grip.core.sources.NetworkTableEntrySource;
 import edu.wpi.grip.core.util.ExceptionWitness;
 
 import com.google.common.collect.ImmutableList;
@@ -111,6 +112,8 @@ public static class SourceFactoryImpl implements SourceFactory {
     MultiImageFileSource.Factory multiImageFactory;
     @Inject
     HttpSource.Factory httpFactory;
+    @Inject
+    NetworkTableEntrySource.Factory networkTableEntryFactory;
 
     @Override
     public Source create(Class<?> type, Properties properties) throws IOException {
@@ -122,6 +125,8 @@ public Source create(Class<?> type, Properties properties) throws IOException {
         return multiImageFactory.create(properties);
       } else if (type.isAssignableFrom(HttpSource.class)) {
         return httpFactory.create(properties);
+      } else if (type.isAssignableFrom(NetworkTableEntrySource.class)) {
+        return networkTableEntryFactory.create(properties);
       } else {
         throw new IllegalArgumentException(type + " was not a valid type");
       }

core/src/main/java/edu/wpi/grip/core/operations/network/GripNetworkModule.java

@@ -34,5 +34,10 @@ protected void configure() {
     bind(ROSNetworkPublisherFactory.class)
         .annotatedWith(Names.named("rosManager"))
         .to(ROSManager.class);
+
+    // Network receiver bindings
+    bind(MapNetworkReceiverFactory.class)
+        .annotatedWith(Names.named("ntManager"))
+        .to(NTManager.class);
   }
 }

core/src/main/java/edu/wpi/grip/core/operations/network/MapNetworkReceiverFactory.java

@@ -0,0 +1,10 @@
+package edu.wpi.grip.core.operations.network;
+
+
+/**
+ * A factory to create {@link NetworkReceiver NetworkRecievers}.
+ */
+@FunctionalInterface
+public interface MapNetworkReceiverFactory {
+  NetworkReceiver create(String path);
+}

core/src/main/java/edu/wpi/grip/core/operations/network/NetworkReceiver.java

@@ -0,0 +1,34 @@
+package edu.wpi.grip.core.operations.network;
+
+import static com.google.common.base.Preconditions.checkArgument;
+
+/**
+ * Manages the interface between the {@link PublishAnnotatedOperation} and the actual network
+ * protocol implemented by a specific {@link Manager}.
+ */
+public abstract class NetworkReceiver implements AutoCloseable {
+
+  protected final String path;
+
+  /**
+   * Create a new NetworkReceiver with the specified path.
+   *
+   * @param path The path of the object to get
+   */
+  public NetworkReceiver(String path) {
+    checkArgument(!path.isEmpty(), "Name cannot be an empty string");
+    this.path = path;
+  }
+
+  /**
+   * Get the value of the object.
+   *
+   * @return The value of this NetworkReceiver
+   */
+  public abstract Object getValue();
+
+  /**
+   * Close the network reciever. This should not throw an exception.
+   */
+  public abstract void close();
+}

core/src/main/java/edu/wpi/grip/core/operations/network/networktables/NTManager.java

@@ -5,6 +5,8 @@
 import edu.wpi.grip.core.operations.network.Manager;
 import edu.wpi.grip.core.operations.network.MapNetworkPublisher;
 import edu.wpi.grip.core.operations.network.MapNetworkPublisherFactory;
+import edu.wpi.grip.core.operations.network.MapNetworkReceiverFactory;
+import edu.wpi.grip.core.operations.network.NetworkReceiver;
 import edu.wpi.grip.core.settings.ProjectSettings;
 import edu.wpi.grip.core.util.GripMode;
 
@@ -25,7 +27,7 @@
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.logging.Level;
 import java.util.logging.Logger;
-
+import javafx.beans.property.SimpleObjectProperty;
 import javax.inject.Inject;
 
 import static com.google.common.base.Preconditions.checkNotNull;
@@ -34,11 +36,11 @@
  * This class encapsulates the way we map various settings to the global NetworkTables state.
  */
 @Singleton
-public class NTManager implements Manager, MapNetworkPublisherFactory {
+public class NTManager implements Manager, MapNetworkPublisherFactory, MapNetworkReceiverFactory {
   /*
    * Nasty hack that is unavoidable because of how NetworkTables works.
    */
-  private static final AtomicInteger publisherCount = new AtomicInteger(0);
+  private static final AtomicInteger count = new AtomicInteger(0);
 
   /**
    * Information from: https://github.com/PeterJohnson/ntcore/blob/master/src/Log.h and
@@ -120,11 +122,65 @@ public void updateSettings(ProjectSettingsChangedEvent event) {
 
   @Override
   public <P> MapNetworkPublisher<P> create(Set<String> keys) {
-    // Keep track of ever publisher created.
-    publisherCount.getAndAdd(1);
+    // Keep track of every publisher created.
+    count.getAndAdd(1);
     return new NTPublisher<>(keys);
   }
 
+  @Override
+  public NetworkReceiver create(String path) {
+    count.getAndAdd(1);
+    return new NTReceiver(path);
+  }
+
+  private static final class NTReceiver extends NetworkReceiver {
+
+    private int entryListenerFunctionUid;
+    private final SimpleObjectProperty objectProperty = new SimpleObjectProperty();
+
+    protected NTReceiver(String path) {
+      super(path);
+      NetworkTablesJNI.addConnectionListener((uid, connected, conn) -> {
+        System.out.println("\t" + uid + "\t" + connected + "\t" + conn);
+        if (connected) {
+          addListener();
+          NetworkTablesJNI.removeConnectionListener(uid);
+        }
+      }, true);
+      synchronized (NetworkTable.class) {
+        NetworkTable.initialize();
+      }
+    }
+
+    private void addListener() {
+      entryListenerFunctionUid = NetworkTablesJNI.addEntryListener(path, (uid, key, value, flags)
+              -> objectProperty.set(value),
+          ITable.NOTIFY_IMMEDIATE
+              | ITable.NOTIFY_NEW
+              | ITable.NOTIFY_UPDATE
+              | ITable.NOTIFY_DELETE
+              | ITable.NOTIFY_LOCAL);
+    }
+
+    @Override
+    public Object getValue() {
+      return objectProperty.getValue();
+    }
+
+    @Override
+    public void close() {
+      NetworkTablesJNI.removeEntryListener(entryListenerFunctionUid);
+
+      synchronized (NetworkTable.class) {
+        // This publisher is no longer used.
+        if (NTManager.count.addAndGet(-1) == 0) {
+          // We are the last publisher so shut it down
+          NetworkTable.shutdown();
+        }
+      }
+    }
+  }
+
   private static final class NTPublisher<P> extends MapNetworkPublisher<P> {
     private final ImmutableSet<String> keys;
     private Optional<String> name = Optional.empty();
@@ -184,7 +240,7 @@ public void close() {
       }
       synchronized (NetworkTable.class) {
         // This publisher is no longer used.
-        if (NTManager.publisherCount.addAndGet(-1) == 0) {
+        if (NTManager.count.addAndGet(-1) == 0) {
           // We are the last publisher so shut it down
           NetworkTable.shutdown();
         }

core/src/main/java/edu/wpi/grip/core/sockets/SocketHints.java

@@ -193,5 +193,13 @@ public static SocketHint<Number> createNumberSocketHint(final String identifier,
         defaultValue) {
       return createNumberSocketHintBuilder(identifier, defaultValue).build();
     }
+
+    public static SocketHint<String> createStringSocketHint(final String identifier,
+                                                            String defaultValue) {
+      return new SocketHint.Builder<String>(String.class)
+          .identifier(identifier)
+          .initialValue(defaultValue)
+          .build();
+    }
   }
 }

core/src/main/java/edu/wpi/grip/core/sources/NetworkTableEntrySource.java

@@ -0,0 +1,138 @@
+package edu.wpi.grip.core.sources;
+
+import edu.wpi.grip.core.Source;
+import edu.wpi.grip.core.events.SourceRemovedEvent;
+import edu.wpi.grip.core.operations.network.MapNetworkReceiverFactory;
+import edu.wpi.grip.core.operations.network.NetworkReceiver;
+import edu.wpi.grip.core.sockets.OutputSocket;
+import edu.wpi.grip.core.sockets.SocketHints;
+import edu.wpi.grip.core.util.ExceptionWitness;
+
+import com.google.common.collect.ImmutableList;
+import com.google.common.eventbus.Subscribe;
+import com.google.inject.assistedinject.Assisted;
+import com.google.inject.assistedinject.AssistedInject;
+import com.google.inject.name.Named;
+import com.thoughtworks.xstream.annotations.XStreamAlias;
+
+import java.util.List;
+import java.util.Properties;
+
+/**
+ * Provides a way to get a {@link Types Type} from a NetworkTable that GRIP is connected to.
+ */
+@XStreamAlias("grip:NetworkValue")
+public class NetworkTableEntrySource extends Source {
+
+  private static final String PATH_PROPERTY = "networktable_path";
+  private static final String TYPE_PROPERTY = "BOOLEAN";
+
+  private final OutputSocket output;
+  private final String path;
+  private final Types type;
+  private NetworkReceiver networkReceiver;
+
+  public interface Factory {
+    NetworkTableEntrySource create(Properties properties);
+
+    NetworkTableEntrySource create(String path, Types type);
+  }
+
+  public enum Types {
+    BOOLEAN, NUMBER, STRING;
+
+    @Override
+    public String toString() {
+      return super.toString().charAt(0) + super.toString().substring(1).toLowerCase();
+    }
+
+  }
+
+  @AssistedInject
+  NetworkTableEntrySource(
+      ExceptionWitness.Factory exceptionWitnessFactory,
+      OutputSocket.Factory osf,
+      @Named("ntManager") MapNetworkReceiverFactory ntManager,
+      @Assisted Properties properties) {
+    this(exceptionWitnessFactory,
+        osf,
+        ntManager,
+        properties.getProperty(PATH_PROPERTY),
+        Types.valueOf(properties.getProperty(TYPE_PROPERTY)));
+  }
+
+  @AssistedInject
+  NetworkTableEntrySource(
+      ExceptionWitness.Factory exceptionWitnessFactory,
+      OutputSocket.Factory osf,
+      @Named("ntManager") MapNetworkReceiverFactory ntManager,
+      @Assisted String path,
+      @Assisted Types type) {
+    super(exceptionWitnessFactory);
+    this.path = path;
+    this.type = type;
+    networkReceiver = ntManager.create(path);
+
+    switch (type) {
+      case BOOLEAN:
+        output = osf.create(
+            SocketHints.Outputs.createBooleanSocketHint(Types.BOOLEAN.toString(), false));
+        break;
+      case NUMBER:
+        output = osf.create(
+            SocketHints.Outputs.createNumberSocketHint(Types.NUMBER.toString(), 0.0));
+        break;
+      case STRING:
+        output = osf.create(
+            SocketHints.Outputs.createStringSocketHint(Types.STRING.toString(), ""));
+        break;
+      default:
+        throw new IllegalArgumentException("Invalid NetworkTable source type");
+    }
+  }
+
+  @Override
+  public String getName() {
+    return path;
+  }
+
+  @Override
+  protected List<OutputSocket> createOutputSockets() {
+    return ImmutableList.of(
+        output
+    );
+  }
+
+  @Override
+  protected boolean updateOutputSockets() {
+    try {
+      output.setValue(networkReceiver.getValue());
+    } catch (ClassCastException ex) {
+      getExceptionWitness().flagException(ex, getName() + " is not of type "
+          + output.getSocketHint().getTypeLabel());
+      return false;
+    }
+    return true;
+  }
+
+  @Override
+  public Properties getProperties() {
+    Properties properties = new Properties();
+    properties.setProperty(PATH_PROPERTY, path);
+    properties.setProperty(TYPE_PROPERTY, type.toString().toUpperCase());
+    return properties;
+  }
+
+  @Override
+  public void initialize() {
+    updateOutputSockets();
+  }
+
+  @Subscribe
+  public void onSourceRemovedEvent(SourceRemovedEvent event) {
+    if (event.getSource() == this) {
+      networkReceiver.close();
+    }
+  }
+
+}

core/src/test/java/edu/wpi/grip/core/operations/network/MockGripNetworkModule.java

@@ -21,5 +21,9 @@ protected void configure() {
     bind(ROSNetworkPublisherFactory.class)
         .annotatedWith(Names.named("rosManager"))
         .to(MockROSManager.class);
+
+    bind(MapNetworkReceiverFactory.class)
+        .annotatedWith(Names.named("ntManager"))
+        .to(MockNetworkReceiver.class);
   }
 }

core/src/test/java/edu/wpi/grip/core/operations/network/MockMapNetworkPublisher.java

@@ -7,7 +7,7 @@
 
 @SuppressWarnings("PMD.UncommentedEmptyMethodBody")
 public class MockMapNetworkPublisher<T> extends MapNetworkPublisher<T> implements
-    MapNetworkPublisherFactory {
+    MapNetworkPublisherFactory, MapNetworkReceiverFactory {
 
   public MockMapNetworkPublisher() {
     this(Collections.emptySet());
@@ -46,4 +46,9 @@ public void close() {
   public <T> MapNetworkPublisher<T> create(Set<String> keys) {
     return new MockMapNetworkPublisher<>(keys);
   }
+
+  @Override
+  public NetworkReceiver create(String path) {
+    return new MockNetworkReceiver(path);
+  }
 }