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https://github.com/wpilibsuite/allwpilib
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[ntcore] Add UnitTopic<T> (C++ only) (#4497)
This avoids the need for explicit value() calls (as compared to using DoubleTopic). The unit name is published as the "unit" property. Implementation note: the test needs to be in wpilibc because ntcore does not depend on wpimath.
This commit is contained in:
Peter Johnson
411
ntcore/src/main/native/include/networktables/UnitTopic.h
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411
ntcore/src/main/native/include/networktables/UnitTopic.h
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@@ -0,0 +1,411 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include <span>
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#include <string_view>
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#include <vector>
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#include "networktables/Topic.h"
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namespace wpi {
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class json;
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} // namespace wpi
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namespace nt {
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template <typename T>
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class UnitTopic;
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/**
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* Timestamped unit.
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*
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* @tparam T unit type, e.g. units::meter_t
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*/
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template <typename T>
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struct TimestampedUnit {
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TimestampedUnit() = default;
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TimestampedUnit(int64_t time, int64_t serverTime, T value)
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: time{time}, serverTime{serverTime}, value{value} {}
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/**
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* Time in local time base.
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*/
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int64_t time = 0;
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/**
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* Time in server time base. May be 0 or 1 for locally set values.
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*/
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int64_t serverTime = 0;
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/**
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* Value.
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*/
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T value = {};
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};
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/**
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* NetworkTables unit-typed subscriber.
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*
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* @tparam T unit type, e.g. units::meter_t
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*/
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template <typename T>
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class UnitSubscriber : public Subscriber {
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public:
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using TopicType = UnitTopic<T>;
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using ValueType = T;
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using ParamType = T;
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using TimestampedValueType = TimestampedUnit<T>;
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UnitSubscriber() = default;
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/**
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* Construct from a subscriber handle; recommended to use
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* UnitTopic::Subscribe() instead.
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*
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* @param handle Native handle
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* @param defaultValue Default value
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*/
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UnitSubscriber(NT_Subscriber handle, ParamType defaultValue);
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/**
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* Get the last published value.
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* If no value has been published, returns the stored default value.
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*
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* @return value
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*/
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ValueType Get() const;
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/**
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* Get the last published value.
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* If no value has been published, returns the passed defaultValue.
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*
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* @param defaultValue default value to return if no value has been published
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* @return value
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*/
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ValueType Get(ParamType defaultValue) const;
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/**
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* Get the last published value along with its timestamp
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* If no value has been published, returns the stored default value and a
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* timestamp of 0.
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*
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* @return timestamped value
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*/
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TimestampedValueType GetAtomic() const;
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/**
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* Get the last published value along with its timestamp.
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* If no value has been published, returns the passed defaultValue and a
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* timestamp of 0.
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*
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* @param defaultValue default value to return if no value has been published
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* @return timestamped value
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*/
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TimestampedValueType GetAtomic(ParamType defaultValue) const;
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/**
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* Get an array of all value changes since the last call to ReadQueue.
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* Also provides a timestamp for each value.
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*
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* @note The "poll storage" subscribe option can be used to set the queue
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* depth.
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*
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* @return Array of timestamped values; empty array if no new changes have
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* been published since the previous call.
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*/
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std::vector<TimestampedValueType> ReadQueue();
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/**
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* Get the corresponding topic.
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*
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* @return Topic
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*/
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TopicType GetTopic() const;
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private:
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ValueType m_defaultValue;
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};
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/**
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* NetworkTables unit-typed publisher.
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*
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* @tparam T unit type, e.g. units::meter_t
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*/
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template <typename T>
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class UnitPublisher : public Publisher {
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public:
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using TopicType = UnitTopic<T>;
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using ValueType = T;
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using ParamType = T;
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using TimestampedValueType = TimestampedUnit<T>;
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UnitPublisher() = default;
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/**
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* Construct from a publisher handle; recommended to use
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* UnitTopic::Publish() instead.
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*
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* @param handle Native handle
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*/
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explicit UnitPublisher(NT_Publisher handle);
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/**
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* Publish a new value.
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*
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* @param value value to publish
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* @param time timestamp; 0 indicates current NT time should be used
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*/
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void Set(ParamType value, int64_t time = 0);
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/**
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* Publish a default value.
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* On reconnect, a default value will never be used in preference to a
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* published value.
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*
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* @param value value
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*/
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void SetDefault(ParamType value);
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/**
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* Get the corresponding topic.
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*
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* @return Topic
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*/
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TopicType GetTopic() const;
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};
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/**
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* NetworkTables unit-typed entry.
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*
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* @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
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*
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* @tparam T unit type, e.g. units::meter_t
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*/
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template <typename T>
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class UnitEntry final : public UnitSubscriber<T>, public UnitPublisher<T> {
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public:
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using SubscriberType = UnitSubscriber<T>;
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using PublisherType = UnitPublisher<T>;
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using TopicType = UnitTopic<T>;
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using ValueType = T;
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using ParamType = T;
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using TimestampedValueType = TimestampedUnit<T>;
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UnitEntry() = default;
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/**
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* Construct from an entry handle; recommended to use
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* UnitTopic::GetEntry() instead.
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*
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* @param handle Native handle
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* @param defaultValue Default value
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*/
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UnitEntry(NT_Entry handle, ParamType defaultValue);
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/**
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* Determines if the native handle is valid.
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*
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* @return True if the native handle is valid, false otherwise.
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*/
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explicit operator bool() const { return this->m_subHandle != 0; }
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/**
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* Gets the native handle for the entry.
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*
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* @return Native handle
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*/
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NT_Entry GetHandle() const { return this->m_subHandle; }
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/**
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* Get the corresponding topic.
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*
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* @return Topic
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*/
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TopicType GetTopic() const;
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/**
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* Stops publishing the entry if it's published.
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*/
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void Unpublish();
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};
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/**
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* NetworkTables unit-typed topic. Publishers publish the type name (e.g.
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* "meter") as the "unit" property. Type conversions are not performed--for
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* correct behavior the publisher and subscriber must use the same unit type,
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* but this can be checked at runtime using IsMatchingUnit().
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*
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* @tparam T unit type, e.g. units::meter_t
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*/
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template <typename T>
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class UnitTopic final : public Topic {
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public:
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using SubscriberType = UnitSubscriber<T>;
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using PublisherType = UnitPublisher<T>;
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using EntryType = UnitEntry<T>;
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using ValueType = T;
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using ParamType = T;
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using TimestampedValueType = TimestampedUnit<T>;
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/** The default type string for this topic type. */
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static constexpr std::string_view kTypeString = "double";
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UnitTopic() = default;
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/**
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* Construct from a topic handle.
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*
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* @param handle Native handle
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*/
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explicit UnitTopic(NT_Topic handle) : Topic{handle} {}
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/**
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* Construct from a generic topic.
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*
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* @param topic Topic
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*/
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explicit UnitTopic(Topic topic) : Topic{topic} {}
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/**
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* Verify the topic has a matching unit type (if the topic is published).
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*
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* @return True if unit matches, false if not matching or topic not published.
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*/
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bool IsMatchingUnit() const;
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/**
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* Create a new subscriber to the topic.
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*
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* <p>The subscriber is only active as long as the returned object
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* is not destroyed.
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*
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* @note Subscribers that do not match the published data type do not return
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* any values. To determine if the data type matches, use the appropriate
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* Topic functions.
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*
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* @param defaultValue default value used when a default is not provided to a
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* getter function
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* @param options subscribe options
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* @return subscriber
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*/
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[[nodiscard]] SubscriberType Subscribe(
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ParamType defaultValue, std::span<const PubSubOption> options = {});
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/**
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* Create a new subscriber to the topic, with specific type string.
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*
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* <p>The subscriber is only active as long as the returned object
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* is not destroyed.
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*
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* @note Subscribers that do not match the published data type do not return
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* any values. To determine if the data type matches, use the appropriate
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* Topic functions.
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*
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* @param typeString type string
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* @param defaultValue default value used when a default is not provided to a
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* getter function
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* @param options subscribe options
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* @return subscriber
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*/
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[[nodiscard]] SubscriberType SubscribeEx(
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std::string_view typeString, ParamType defaultValue,
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std::span<const PubSubOption> options = {});
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/**
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* Create a new publisher to the topic.
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*
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* The publisher is only active as long as the returned object
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* is not destroyed.
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*
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* @note It is not possible to publish two different data types to the same
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* topic. Conflicts between publishers are typically resolved by the
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* server on a first-come, first-served basis. Any published values that
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* do not match the topic's data type are dropped (ignored). To determine
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* if the data type matches, use the appropriate Topic functions.
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*
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* @param options publish options
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* @return publisher
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*/
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[[nodiscard]] PublisherType Publish(
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std::span<const PubSubOption> options = {});
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/**
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* Create a new publisher to the topic, with type string and initial
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* properties.
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*
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* The publisher is only active as long as the returned object
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* is not destroyed.
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*
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* @note It is not possible to publish two different data types to the same
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* topic. Conflicts between publishers are typically resolved by the
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* server on a first-come, first-served basis. Any published values that
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* do not match the topic's data type are dropped (ignored). To determine
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* if the data type matches, use the appropriate Topic functions.
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*
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* @param typeString type string
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* @param properties JSON properties
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* @param options publish options
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* @return publisher
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*/
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[[nodiscard]] PublisherType PublishEx(
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std::string_view typeString, const wpi::json& properties,
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std::span<const PubSubOption> options = {});
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/**
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* Create a new entry for the topic.
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*
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* Entries act as a combination of a subscriber and a weak publisher. The
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* subscriber is active as long as the entry is not destroyed. The publisher
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* is created when the entry is first written to, and remains active until
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* either Unpublish() is called or the entry is destroyed.
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*
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* @note It is not possible to use two different data types with the same
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* topic. Conflicts between publishers are typically resolved by the
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* server on a first-come, first-served basis. Any published values that
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* do not match the topic's data type are dropped (ignored), and the entry
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* will show no new values if the data type does not match. To determine
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* if the data type matches, use the appropriate Topic functions.
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*
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* @param defaultValue default value used when a default is not provided to a
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* getter function
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* @param options publish and/or subscribe options
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* @return entry
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*/
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[[nodiscard]] EntryType GetEntry(ParamType defaultValue,
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std::span<const PubSubOption> options = {});
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/**
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* Create a new entry for the topic, with specific type string.
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*
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* Entries act as a combination of a subscriber and a weak publisher. The
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* subscriber is active as long as the entry is not destroyed. The publisher
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* is created when the entry is first written to, and remains active until
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* either Unpublish() is called or the entry is destroyed.
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*
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* @note It is not possible to use two different data types with the same
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* topic. Conflicts between publishers are typically resolved by the
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* server on a first-come, first-served basis. Any published values that
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* do not match the topic's data type are dropped (ignored), and the entry
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* will show no new values if the data type does not match. To determine
|
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* if the data type matches, use the appropriate Topic functions.
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*
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* @param typeString type string
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* @param defaultValue default value used when a default is not provided to a
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* getter function
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* @param options publish and/or subscribe options
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* @return entry
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*/
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[[nodiscard]] EntryType GetEntryEx(
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std::string_view typeString, ParamType defaultValue,
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std::span<const PubSubOption> options = {});
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};
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} // namespace nt
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#include "networktables/UnitTopic.inc"
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142
ntcore/src/main/native/include/networktables/UnitTopic.inc
Normal file
142
ntcore/src/main/native/include/networktables/UnitTopic.inc
Normal file
@@ -0,0 +1,142 @@
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// Copyright (c) FIRST and other WPILib contributors.
|
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// Open Source Software; you can modify and/or share it under the terms of
|
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <vector>
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#include <wpi/json.h>
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#include "networktables/NetworkTableType.h"
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#include "networktables/UnitTopic.h"
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#include "ntcore_cpp.h"
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namespace nt {
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template <typename T>
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inline UnitSubscriber<T>::UnitSubscriber(NT_Subscriber handle, T defaultValue)
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: Subscriber{handle}, m_defaultValue{defaultValue} {}
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template <typename T>
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inline T UnitSubscriber<T>::Get() const {
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return Get(m_defaultValue);
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}
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template <typename T>
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inline T UnitSubscriber<T>::Get(T defaultValue) const {
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return T{::nt::GetDouble(m_subHandle, defaultValue.value())};
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}
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template <typename T>
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inline TimestampedUnit<T> UnitSubscriber<T>::GetAtomic() const {
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return GetAtomic(m_defaultValue);
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}
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template <typename T>
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inline TimestampedUnit<T> UnitSubscriber<T>::GetAtomic(T defaultValue) const {
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auto doubleVal = ::nt::GetAtomicDouble(m_subHandle, defaultValue.value());
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return {doubleVal.time, doubleVal.serverTime, doubleVal.value};
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}
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template <typename T>
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inline std::vector<TimestampedUnit<T>> UnitSubscriber<T>::ReadQueue() {
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std::vector<TimestampedUnit<T>> vals;
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auto doubleVals = ::nt::ReadQueueDouble(m_subHandle);
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vals.reserve(doubleVals.size());
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for (auto&& val : doubleVals) {
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vals.emplace_back(val.time, val.serverTime, val.value);
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}
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}
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template <typename T>
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inline UnitTopic<T> UnitSubscriber<T>::GetTopic() const {
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return UnitTopic<T>{::nt::GetTopicFromHandle(m_subHandle)};
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}
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template <typename T>
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inline UnitPublisher<T>::UnitPublisher(NT_Publisher handle)
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: Publisher{handle} {}
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template <typename T>
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inline void UnitPublisher<T>::Set(T value, int64_t time) {
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::nt::SetDouble(m_pubHandle, value.value(), time);
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}
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template <typename T>
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inline void UnitPublisher<T>::SetDefault(T value) {
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::nt::SetDefaultDouble(m_pubHandle, value.value());
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}
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||||
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template <typename T>
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inline UnitTopic<T> UnitPublisher<T>::GetTopic() const {
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return UnitTopic<T>{::nt::GetTopicFromHandle(m_pubHandle)};
|
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}
|
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template <typename T>
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inline UnitEntry<T>::UnitEntry(NT_Entry handle, T defaultValue)
|
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: UnitSubscriber<T>{handle, defaultValue}, UnitPublisher<T>{handle} {}
|
||||
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template <typename T>
|
||||
inline UnitTopic<T> UnitEntry<T>::GetTopic() const {
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||||
return UnitTopic<T>{::nt::GetTopicFromHandle(this->m_subHandle)};
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline void UnitEntry<T>::Unpublish() {
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||||
::nt::Unpublish(this->m_pubHandle);
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline bool UnitTopic<T>::IsMatchingUnit() const {
|
||||
return GetProperty("unit") == T{}.name();
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline UnitSubscriber<T> UnitTopic<T>::Subscribe(
|
||||
T defaultValue, std::span<const PubSubOption> options) {
|
||||
return UnitSubscriber<T>{
|
||||
::nt::Subscribe(m_handle, NT_DOUBLE, "double", options), defaultValue};
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline UnitSubscriber<T> UnitTopic<T>::SubscribeEx(
|
||||
std::string_view typeString, T defaultValue,
|
||||
std::span<const PubSubOption> options) {
|
||||
return UnitSubscriber<T>{
|
||||
::nt::Subscribe(m_handle, NT_DOUBLE, typeString, options), defaultValue};
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline UnitPublisher<T> UnitTopic<T>::Publish(
|
||||
std::span<const PubSubOption> options) {
|
||||
return UnitPublisher<T>{::nt::PublishEx(m_handle, NT_DOUBLE, "double",
|
||||
{{"unit", T{}.name()}}, options)};
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline UnitPublisher<T> UnitTopic<T>::PublishEx(
|
||||
std::string_view typeString, const wpi::json& properties,
|
||||
std::span<const PubSubOption> options) {
|
||||
wpi::json props = properties;
|
||||
props["unit"] = T{}.name();
|
||||
return UnitPublisher<T>{
|
||||
::nt::PublishEx(m_handle, NT_DOUBLE, typeString, props, options)};
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline UnitEntry<T> UnitTopic<T>::GetEntry(
|
||||
T defaultValue, std::span<const PubSubOption> options) {
|
||||
return UnitEntry<T>{::nt::GetEntry(m_handle, NT_DOUBLE, "double", options),
|
||||
defaultValue};
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
inline UnitEntry<T> UnitTopic<T>::GetEntryEx(
|
||||
std::string_view typeString, T defaultValue,
|
||||
std::span<const PubSubOption> options) {
|
||||
return UnitEntry<T>{::nt::GetEntry(m_handle, NT_DOUBLE, typeString, options),
|
||||
defaultValue};
|
||||
}
|
||||
|
||||
} // namespace nt
|
||||
Reference in New Issue
Block a user