NetworkTable.hpp

/*
 * Copyright 2021 Marcus Behel
 *
 * This file is part of ArPiRobot-CoreLib.
 * 
 * ArPiRobot-CoreLib is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * ArPiRobot-CoreLib is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public License
 * along with ArPiRobot-CoreLib.  If not, see <https://www.gnu.org/licenses/>. 
 */
 
#pragma once
 
#include <unordered_map>
#include <string>
#include <mutex>
 
namespace arpirobot{
    class NetworkTable{
    public:
 
        static void set(std::string key, std::string value);
 
        static std::string get(std::string key);
 
        static bool has(std::string key);
 
        static bool changed(std::string key);
 
    private:
        static bool isInSync();
        static void startSync();
        static void sendAllValues();
        static void finishSync(std::unordered_map<std::string, std::string> dataFromDs);
        static void abortSync();
 
        static void setFromRobot(std::string key, std::string value);
        static void setFromDs(std::string key, std::string value);
    
        static std::unordered_map<std::string, std::string> data;
        static std::unordered_map<std::string, bool> dataChanged;
        static std::mutex lock;
        static bool inSync;
 
        friend class NetworkManager;
    };
 
}