allwpilib/glass/src/libnt/native/cpp/NTGyro.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "glass/networktables/NTGyro.h"

using namespace glass;

NTGyroModel::NTGyroModel(wpi::StringRef path)
    : NTGyroModel(nt::GetDefaultInstance(), path) {}

NTGyroModel::NTGyroModel(NT_Inst instance, wpi::StringRef path)
    : m_nt(instance),
      m_angle(m_nt.GetEntry(path + "/Value")),
      m_name(m_nt.GetEntry(path + "/.name")),
      m_angleData("NT_Gyro:" + path),
      m_nameValue(path.rsplit('/').second) {
  m_nt.AddListener(m_angle);
  m_nt.AddListener(m_name);
}

void NTGyroModel::Update() {
  for (auto&& event : m_nt.PollListener()) {
    if (event.entry == m_angle) {
      if (event.value && event.value->IsDouble()) {
        m_angleData.SetValue(event.value->GetDouble());
      }
    } else if (event.entry == m_name) {
      if (event.value && event.value->IsString()) {
        m_nameValue = event.value->GetString();
      }
    }
  }
}

bool NTGyroModel::Exists() {
  return m_nt.IsConnected() && nt::GetEntryType(m_angle) != NT_UNASSIGNED;
}