Merge pull request #340 from ThomasJClark/nt

Remove network protocol setting

Author: JLLeitschuh

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

@@ -169,8 +169,8 @@ public synchronized void removeStep(Step step) {
         for (OutputSocket<?> socket : step.getOutputSockets()) {
             socket.setPreviewed(false);
         }
-        this.eventBus.post(new StepRemovedEvent(step));
         this.eventBus.unregister(step);
+        this.eventBus.post(new StepRemovedEvent(step));
     }
 
     public synchronized void moveStep(Step step, int delta) {

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

@@ -4,7 +4,9 @@
 import com.google.inject.Singleton;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.networktables.NetworkTablesJNI;
+import edu.wpi.grip.core.Pipeline;
 import edu.wpi.grip.core.events.ProjectSettingsChangedEvent;
+import edu.wpi.grip.core.events.StepRemovedEvent;
 import edu.wpi.grip.core.settings.ProjectSettings;
 
 import javax.inject.Inject;
@@ -37,6 +39,8 @@ public class NTManager {
         put(6, Level.FINEST);
     }};
 
+    @Inject Pipeline pipeline;
+
     @Inject
     public NTManager(Logger logger) {
         // We may have another instance of this method lying around
@@ -51,18 +55,26 @@ public NTManager(Logger logger) {
         NetworkTable.setClientMode();
     }
 
-
     /**
      * Change the server address according to the project setting.
      */
     @Subscribe
     public void updateSettings(ProjectSettingsChangedEvent event) {
         final ProjectSettings projectSettings = event.getProjectSettings();
 
-        NetworkTable.shutdown();
-        if (projectSettings.getNetworkProtocol() == ProjectSettings.NetworkProtocol.NETWORK_TABLES) {
+        synchronized (NetworkTable.class) {
+            NetworkTable.shutdown();
             NetworkTable.setIPAddress(projectSettings.computePublishAddress());
-            NetworkTable.initialize();
+        }
+    }
+
+    /**
+     * If there are no NTPublishOperation steps, we can shut down NetworkTables
+     */
+    @Subscribe
+    public void disableNetworkTables(StepRemovedEvent event) {
+        if (!pipeline.getSteps().stream().anyMatch(step -> step.getOperation() instanceof NTPublishOperation)) {
+            NetworkTable.shutdown();
         }
     }
 }

core/src/main/java/edu/wpi/grip/core/operations/networktables/NTPublishOperation.java

@@ -23,12 +23,10 @@
  */
 public class NTPublishOperation<T extends NTPublishable> implements Operation {
 
-    private final NetworkTable table;
     private final Class<T> type;
     private final List<Method> ntValueMethods = new ArrayList<>();
 
     public NTPublishOperation(Class<T> type) {
-        this.table = NetworkTable.getTable("GRIP");
         this.type = checkNotNull(type, "Type was null");
 
         // Any accessor method with an @NTValue annotation can be published to NetworkTables.
@@ -99,7 +97,10 @@ public void perform(InputSocket<?>[] inputs, OutputSocket<?>[] outputs) {
 
         // Get a subtable to put the values in.  Each NTPublishable has multiple properties that are published (such as
         // x, y, width, height, etc...), so they're grouped together in a subtable.
-        final ITable subtable = table.getSubTable(subtableName);
+        final ITable subtable;
+        synchronized (NetworkTable.class) {
+            subtable = NetworkTable.getTable("GRIP").getSubTable(subtableName);
+        }
 
         // For each NTValue method in the object being published, put it in the table if the the corresponding
         // checkbox is selected.

core/src/main/java/edu/wpi/grip/core/settings/ProjectSettings.java

@@ -12,18 +12,6 @@
  */
 public class ProjectSettings implements Cloneable {
 
-    /**
-     * What protocol to use to publish values.  Only NetworkTables is supported right now, but in the future we may
-     * make the publish operations work with other protocols like ROS.
-     */
-    public enum NetworkProtocol {
-        NETWORK_TABLES,
-        NONE
-    }
-
-    @Setting(label = "Network Protocol", description = "The protocol to use to publish results")
-    private NetworkProtocol networkProtocol = NetworkProtocol.NONE;
-
     @Setting(label = "FRC Team Number", description = "The team number, if used for FRC")
     private int teamNumber = 0;
 
@@ -36,14 +24,6 @@ public enum NetworkProtocol {
             "not specified, the hostname is derived from the team number.")
     private String deployAddress = "";
 
-    public void setNetworkProtocol(NetworkProtocol networkProtocol) {
-        this.networkProtocol = checkNotNull(networkProtocol, "Network protocol cannot be null");
-    }
-
-    public NetworkProtocol getNetworkProtocol() {
-        return networkProtocol;
-    }
-
     public void setTeamNumber(int teamNumber) {
         checkArgument(teamNumber >= 0, "Team number cannot be negative");
         this.teamNumber = teamNumber;
@@ -94,7 +74,6 @@ private String computeFRCAddress(String address) {
     @Override
     public String toString() {
         return MoreObjects.toStringHelper(this)
-                .add("networkProtocol", networkProtocol)
                 .add("publishAddress", publishAddress)
                 .add("deployAddress", deployAddress)
                 .add("teamNumber", teamNumber)

core/src/test/java/edu/wpi/grip/core/serialization/ProjectTest.java

@@ -235,14 +235,14 @@ public void testSerializePipelineWithSource() throws Exception {
     public void testSerializedProjectSettings() {
         ProjectSettings projectSettings = new ProjectSettings();
         projectSettings.setTeamNumber(190);
-        projectSettings.setNetworkProtocol(ProjectSettings.NetworkProtocol.NETWORK_TABLES);
+        projectSettings.setDeployAddress("roborio-191-frc.local");
         eventBus.post(new ProjectSettingsChangedEvent(projectSettings));
 
         serializeAndDeserialize();
 
         assertEquals("Team number was not serialized/deserialized",
                 190, pipeline.getProjectSettings().getTeamNumber());
-        assertEquals("Network protocol was not serialized/deserialized",
-                ProjectSettings.NetworkProtocol.NETWORK_TABLES, pipeline.getProjectSettings().getNetworkProtocol());
+        assertEquals("Deploy address was not serialized/deserialized",
+                "roborio-191-frc.local", pipeline.getProjectSettings().getDeployAddress());
     }
 }