Implement independent instances.

Previously, most of the classes were implemented as singletons so only one
instance was possible.

This change adds an instance handle-based API.  In Java, this API is located
in a different package than the old API (edu.wpi.first.networktables).

Backwards compatibility with ITable and the old NetworkTable API is largely
maintained, but a handful of classes have moved to the new package in Java
(ConnectionInfo and PersistentException), and the old JNI has been completed
replaced.

Also:
- Move SetTeam implementation to Dispatcher.
- Consistently pass time through Java and C++ Value API.
- Rename nt_Value.h to NetworkTableValue.h for consistency with Java.
- Improve documentation
- Make C++ and Java APIs more consistent
- Document RPC functions and support RPC in Java.
- Add polling features for entry and connection listeners and use them to
  move callback threads to Java level.
- Remove thread start and stop hooks (as polling is available).
- Make Notifiers, RpcServer, Dispatcher, and Storage mockable.
- Set NOTIFY_NEW on immediate entry notifications.
- Make GetTable("/") and GetTable("") equivalent.
- Generate local notification for flags update when loading persistent file.

And many unit test updates/changes:
- Use InitGoogleMock instead of InitGoogleTest in test main.
- Move test printers to TestPrinter.h/cpp.
- Provide printers for StringRef, EntryNotifier, and Handle.
- StorageTest: Check notifications.
- Add entry notifier unit tests.
- Storage: Add test for incoming entry assignment.
- Update connection listener tests.
- Add entry listener unit tests.

Fixes #11, #140, #189, #190, #192, #193, #221

build.gradle

@@ -90,12 +90,12 @@ dependencies {
 model {
     jniConfigs {
         ntcore(JNIConfig) {
-            jniDefinitionClasses = [ "edu.wpi.first.wpilibj.networktables.NetworkTablesJNI" ]
+            jniDefinitionClasses = [ "edu.wpi.first.networktables.NetworkTablesJNI" ]
             jniArmHeaderLocations = [ all: file("${rootDir}/src/arm-linux-jni") ]
             sourceSets = [ project.sourceSets.main ]
         }
         ntcoreJNI(JNIConfig) {
-            jniDefinitionClasses = [ "edu.wpi.first.wpilibj.networktables.NetworkTablesJNI" ]
+            jniDefinitionClasses = [ "edu.wpi.first.networktables.NetworkTablesJNI" ]
             jniArmHeaderLocations = [ all: file("${rootDir}/src/arm-linux-jni") ]
             sourceSets = [ project.sourceSets.main ]
         }

manualTests/native/client.cpp

@@ -1,25 +1,34 @@
 #include <chrono>
+#include <climits>
 #include <cstdio>
 #include <thread>
 
 #include "ntcore.h"
 
 int main() {
-  nt::SetLogger(
-      [](unsigned int level, const char* file, unsigned int line,
-         const char* msg) {
-        std::fputs(msg, stderr);
+  auto inst = nt::GetDefaultInstance();
+  nt::AddLogger(
+      inst,
+      [](const nt::LogMessage& msg) {
+        std::fputs(msg.message.c_str(), stderr);
         std::fputc('\n', stderr);
       },
-      0);
-  nt::StartClient("127.0.0.1", 10000);
+      0, UINT_MAX);
+  nt::StartClient(inst, "127.0.0.1", 10000);
   std::this_thread::sleep_for(std::chrono::seconds(2));
-  auto foo = nt::GetEntryValue("/foo");
-  if (foo && foo->IsDouble()) printf("Got foo: %g\n", foo->GetDouble());
-  nt::SetEntryValue("/bar", nt::Value::MakeBoolean(false));
-  nt::SetEntryFlags("/bar", NT_PERSISTENT);
-  nt::SetEntryValue("/bar2", nt::Value::MakeBoolean(true));
-  nt::SetEntryValue("/bar2", nt::Value::MakeBoolean(false));
-  nt::SetEntryValue("/bar2", nt::Value::MakeBoolean(true));
+
+  auto foo = nt::GetEntry(inst, "/foo");
+  auto foo_val = nt::GetEntryValue(foo);
+  if (foo_val && foo_val->IsDouble())
+    printf("Got foo: %g\n", foo_val->GetDouble());
+
+  auto bar = nt::GetEntry(inst, "/bar");
+  nt::SetEntryValue(bar, nt::Value::MakeBoolean(false));
+  nt::SetEntryFlags(bar, NT_PERSISTENT);
+
+  auto bar2 = nt::GetEntry(inst, "/bar2");
+  nt::SetEntryValue(bar2, nt::Value::MakeBoolean(true));
+  nt::SetEntryValue(bar2, nt::Value::MakeBoolean(false));
+  nt::SetEntryValue(bar2, nt::Value::MakeBoolean(true));
   std::this_thread::sleep_for(std::chrono::seconds(10));
 }

manualTests/native/rpc_local.cpp

@@ -1,48 +1,60 @@
 #include <chrono>
+#include <climits>
 #include <cstdio>
 #include <thread>
 
+#include "support/json.h"
+
 #include "ntcore.h"
 
-std::string callback1(nt::StringRef name, nt::StringRef params_str,
-                      const nt::ConnectionInfo& conn_info) {
-  auto params = nt::UnpackRpcValues(params_str, NT_DOUBLE);
-  if (params.empty()) {
-    std::fputs("empty params?\n", stderr);
-    return "";
+void callback1(const nt::RpcAnswer& answer) {
+  wpi::json params;
+  try {
+    params = wpi::json::from_cbor(answer.params);
+  } catch (wpi::json::parse_error err) {
+    std::fputs("could not decode params?\n", stderr);
+    return;
+  }
+  if (!params.is_number()) {
+    std::fputs("did not get number\n", stderr);
+    return;
   }
-  std::fprintf(stderr, "called with %g\n", params[0]->GetDouble());
+  double val = params.get<double>();
+  std::fprintf(stderr, "called with %g\n", val);
 
-  return nt::PackRpcValues(nt::Value::MakeDouble(params[0]->GetDouble() + 1.2));
+  answer.PostResponse(wpi::json::to_cbor(val + 1.2));
 }
 
 int main() {
-  nt::SetLogger(
-      [](unsigned int level, const char* file, unsigned int line,
-         const char* msg) {
-        std::fputs(msg, stderr);
+  auto inst = nt::GetDefaultInstance();
+  nt::AddLogger(
+      inst,
+      [](const nt::LogMessage& msg) {
+        std::fputs(msg.message.c_str(), stderr);
         std::fputc('\n', stderr);
       },
-      0);
+      0, UINT_MAX);
 
-  nt::RpcDefinition def;
-  def.version = 1;
-  def.name = "myfunc1";
-  def.params.emplace_back("param1", nt::Value::MakeDouble(0.0));
-  def.results.emplace_back("result1", NT_DOUBLE);
-  nt::CreateRpc("func1", nt::PackRpcDefinition(def), callback1);
+  nt::StartServer(inst, "rpc_local.ini", "", 10000);
+  auto entry = nt::GetEntry(inst, "func1");
+  nt::CreateRpc(entry, nt::StringRef("", 1), callback1);
   std::fputs("calling rpc\n", stderr);
-  unsigned int call1_uid =
-      nt::CallRpc("func1", nt::PackRpcValues(nt::Value::MakeDouble(2.0)));
+  unsigned int call1_uid = nt::CallRpc(entry, wpi::json::to_cbor(2.0));
   std::string call1_result_str;
   std::fputs("waiting for rpc result\n", stderr);
-  nt::GetRpcResult(true, call1_uid, &call1_result_str);
-  auto call1_result = nt::UnpackRpcValues(call1_result_str, NT_DOUBLE);
-  if (call1_result.empty()) {
-    std::fputs("empty result?\n", stderr);
+  nt::GetRpcResult(entry, call1_uid, &call1_result_str);
+  wpi::json call1_result;
+  try {
+    call1_result = wpi::json::from_cbor(call1_result_str);
+  } catch (wpi::json::parse_error err) {
+    std::fputs("could not decode result?\n", stderr);
+    return 1;
+  }
+  if (!call1_result.is_number()) {
+    std::fputs("result is not number?\n", stderr);
     return 1;
   }
-  std::fprintf(stderr, "got %g\n", call1_result[0]->GetDouble());
+  std::fprintf(stderr, "got %g\n", call1_result.get<double>());
 
   return 0;
 }

manualTests/native/rpc_speed.cpp

@@ -1,38 +1,50 @@
 #include <chrono>
+#include <climits>
 #include <cstdio>
 #include <thread>
 #include <iostream>
 
+#include "support/json.h"
+
 #include "ntcore.h"
 
-std::string callback1(nt::StringRef name, nt::StringRef params_str,
-                      const nt::ConnectionInfo& conn_info) {
-  auto params = nt::UnpackRpcValues(params_str, NT_DOUBLE);
-  if (params.empty()) {
-    std::fputs("empty params?\n", stderr);
-    return "";
+void callback1(const nt::RpcAnswer& answer) {
+  wpi::json params;
+  try {
+    params = wpi::json::from_cbor(answer.params);
+  } catch (wpi::json::parse_error err) {
+    std::fputs("could not decode params?\n", stderr);
+    return;
+  }
+  if (!params.is_number()) {
+    std::fputs("did not get number\n", stderr);
+    return;
   }
-  return nt::PackRpcValues(nt::Value::MakeDouble(params[0]->GetDouble() + 1.2));
+  double val = params.get<double>();
+  answer.PostResponse(wpi::json::to_cbor(val + 1.2));
 }
 
 int main() {
-  nt::RpcDefinition def;
-  def.version = 1;
-  def.name = "myfunc1";
-  def.params.emplace_back("param1", nt::Value::MakeDouble(0.0));
-  def.results.emplace_back("result1", NT_DOUBLE);
-  nt::CreateRpc("func1", nt::PackRpcDefinition(def), callback1);
+  auto inst = nt::GetDefaultInstance();
+  nt::StartServer(inst, "rpc_speed.ini", "", 10000);
+  auto entry = nt::GetEntry(inst, "func1");
+  nt::CreateRpc(entry, nt::StringRef("", 1), callback1);
   std::string call1_result_str;
 
   auto start2 = std::chrono::high_resolution_clock::now();
   auto start = nt::Now();
   for (int i=0; i<10000; ++i) {
-    unsigned int call1_uid =
-        nt::CallRpc("func1", nt::PackRpcValues(nt::Value::MakeDouble(i)));
-    nt::GetRpcResult(true, call1_uid, &call1_result_str);
-    auto call1_result = nt::UnpackRpcValues(call1_result_str, NT_DOUBLE);
-    if (call1_result.empty()) {
-      std::fputs("empty result?\n", stderr);
+    unsigned int call1_uid = nt::CallRpc(entry, wpi::json::to_cbor(i));
+    nt::GetRpcResult(entry, call1_uid, &call1_result_str);
+    wpi::json call1_result;
+    try {
+      call1_result = wpi::json::from_cbor(call1_result_str);
+    } catch (wpi::json::parse_error err) {
+      std::fputs("could not decode result?\n", stderr);
+      return 1;
+    }
+    if (!call1_result.is_number()) {
+      std::fputs("result is not number?\n", stderr);
       return 1;
     }
   }

manualTests/native/server.cpp

@@ -1,24 +1,31 @@
 #include <chrono>
+#include <climits>
 #include <cstdio>
 #include <thread>
 
 #include "ntcore.h"
 
 int main() {
-  nt::SetLogger(
-      [](unsigned int level, const char* file, unsigned int line,
-         const char* msg) {
-        std::fputs(msg, stderr);
+  auto inst = nt::GetDefaultInstance();
+  nt::AddLogger(
+      inst,
+      [](const nt::LogMessage& msg) {
+        std::fputs(msg.message.c_str(), stderr);
         std::fputc('\n', stderr);
       },
-      0);
-  nt::StartServer("persistent.ini", "", 10000);
+      0, UINT_MAX);
+  nt::StartServer(inst, "persistent.ini", "", 10000);
   std::this_thread::sleep_for(std::chrono::seconds(1));
-  nt::SetEntryValue("/foo", nt::Value::MakeDouble(0.5));
-  nt::SetEntryFlags("/foo", NT_PERSISTENT);
-  nt::SetEntryValue("/foo2", nt::Value::MakeDouble(0.5));
-  nt::SetEntryValue("/foo2", nt::Value::MakeDouble(0.7));
-  nt::SetEntryValue("/foo2", nt::Value::MakeDouble(0.6));
-  nt::SetEntryValue("/foo2", nt::Value::MakeDouble(0.5));
+
+  auto foo = nt::GetEntry(inst, "/foo");
+  nt::SetEntryValue(foo, nt::Value::MakeDouble(0.5));
+  nt::SetEntryFlags(foo, NT_PERSISTENT);
+
+  auto foo2 = nt::GetEntry(inst, "/foo2");
+  nt::SetEntryValue(foo2, nt::Value::MakeDouble(0.5));
+  nt::SetEntryValue(foo2, nt::Value::MakeDouble(0.7));
+  nt::SetEntryValue(foo2, nt::Value::MakeDouble(0.6));
+  nt::SetEntryValue(foo2, nt::Value::MakeDouble(0.5));
+
   std::this_thread::sleep_for(std::chrono::seconds(10));
 }

src/dev/java/edu/wpi/first/ntcore/DevMain.java

@@ -1,12 +1,12 @@
 package edu.wpi.first.ntcore;
 
-import edu.wpi.first.wpilibj.networktables.NetworkTablesJNI;
+import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public class DevMain {
     public static void main(String[] args) {
         System.out.println("Hello World!");
         System.out.println(RuntimeDetector.getPlatformPath());
-        NetworkTablesJNI.flush();
+        NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
     }
 }

src/dev/native/cpp/main.cpp

@@ -1,9 +1,10 @@
 #include "ntcore.h"
-#include "nt_Value.h"
 #include <iostream>
 
 int main() {
-    nt::SetEntryValue("MyValue", nt::Value::MakeString("Hello World"));
+    auto myValue = nt::GetEntry(nt::GetDefaultInstance(), "MyValue");
 
-    std::cout << nt::GetEntryValue("MyValue")->GetString() << std::endl;
+    nt::SetEntryValue(myValue, nt::Value::MakeString("Hello World"));
+
+    std::cout << nt::GetEntryValue(myValue)->GetString() << std::endl;
 }

src/main/java/edu/wpi/first/networktables/ConnectionInfo.java

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.networktables;
+
+/**
+ * NetworkTables Connection information.
+ */
+public final class ConnectionInfo {
+  /**
+   * The remote identifier (as set on the remote node by
+   * {@link NetworkTableInstance#setNetworkIdentity(String)}).
+   */
+  public final String remote_id;
+
+  /**
+   * The IP address of the remote node.
+   */
+  public final String remote_ip;
+
+  /**
+   * The port number of the remote node.
+   */
+  public final int remote_port;
+
+  /**
+   * The last time any update was received from the remote node (same scale as
+   * returned by {@link NetworkTablesJNI#now()}).
+   */
+  public final long last_update;
+
+  /**
+   * The protocol version being used for this connection.  This is in protocol
+   * layer format, so 0x0200 = 2.0, 0x0300 = 3.0).
+   */
+  public final int protocol_version;
+
+  /** Constructor.
+   * This should generally only be used internally to NetworkTables.
+   * @param remote_id Remote identifier
+   * @param remote_ip Remote IP address
+   * @param remote_port Remote port number
+   * @param last_update Last time an update was received
+   * @param protocol_version The protocol version used for the connection
+   */
+  public ConnectionInfo(String remote_id, String remote_ip, int remote_port, long last_update, int protocol_version) {
+    this.remote_id = remote_id;
+    this.remote_ip = remote_ip;
+    this.remote_port = remote_port;
+    this.last_update = last_update;
+    this.protocol_version = protocol_version;
+  }
+}

src/main/java/edu/wpi/first/networktables/ConnectionNotification.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2017. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.networktables;
+
+/**
+ * NetworkTables Connection notification.
+ */
+public final class ConnectionNotification {
+  /**
+   *  Listener that was triggered.
+   */
+  public final int listener;
+
+  /**
+   * True if event is due to connection being established.
+   */
+  public final boolean connected;
+
+  /**
+   * Connection information.
+   */
+  public final ConnectionInfo conn;
+
+  /** Constructor.
+   * This should generally only be used internally to NetworkTables.
+   * @param inst Instance
+   * @param listener Listener that was triggered
+   * @param connected Connected if true
+   * @param conn Connection information
+   */
+  public ConnectionNotification(NetworkTableInstance inst, int listener, boolean connected, ConnectionInfo conn) {
+    this.inst = inst;
+    this.listener = listener;
+    this.connected = connected;
+    this.conn = conn;
+  }
+
+  private final NetworkTableInstance inst;
+
+  public NetworkTableInstance getInstance() {
+    return inst;
+  }
+}