Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

[ntcore] NetworkTables 4 (#3217)

Browse Source
This commit is contained in:
Peter Johnson
2022-10-08 10:01:31 -07:00
committed by GitHub
parent 90cfa00115
commit 77301b126c
380 changed files with 34573 additions and 22095 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
glass/src/libnt/native/cpp/NTCommandScheduler.cpp
View File

@@ -10,49 +10,38 @@
using namespace glass;
NTCommandSchedulerModel::NTCommandSchedulerModel(std::string_view path)
: NTCommandSchedulerModel(nt::GetDefaultInstance(), path) {}
: NTCommandSchedulerModel(nt::NetworkTableInstance::GetDefault(), path) {}
NTCommandSchedulerModel::NTCommandSchedulerModel(NT_Inst instance,
NTCommandSchedulerModel::NTCommandSchedulerModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_nt(instance),
m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
m_commands(m_nt.GetEntry(fmt::format("{}/Names", path))),
m_ids(m_nt.GetEntry(fmt::format("{}/Ids", path))),
m_cancel(m_nt.GetEntry(fmt::format("{}/Cancel", path))),
m_nameValue(wpi::rsplit(path, '/').second) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_commands);
m_nt.AddListener(m_ids);
m_nt.AddListener(m_cancel);
}
: m_inst{inst},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_commands{inst.GetStringArrayTopic(fmt::format("{}/Names", path))
.Subscribe({})},
m_ids{
inst.GetIntegerArrayTopic(fmt::format("{}/Ids", path)).Subscribe({})},
m_cancel{
inst.GetIntegerArrayTopic(fmt::format("{}/Cancel", path)).Publish()},
m_nameValue{wpi::rsplit(path, '/').second} {}
void NTCommandSchedulerModel::CancelCommand(size_t index) {
if (index < m_idsValue.size()) {
nt::SetEntryValue(
m_cancel, nt::NetworkTableValue::MakeDoubleArray({m_idsValue[index]}));
m_cancel.Set({{m_idsValue[index]}});
}
}
void NTCommandSchedulerModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_name) {
if (event.value && event.value->IsString()) {
m_nameValue = event.value->GetString();
}
} else if (event.entry == m_commands) {
if (event.value && event.value->IsStringArray()) {
auto arr = event.value->GetStringArray();
m_commandsValue.assign(arr.begin(), arr.end());
}
} else if (event.entry == m_ids) {
if (event.value && event.value->IsDoubleArray()) {
auto arr = event.value->GetDoubleArray();
m_idsValue.assign(arr.begin(), arr.end());
}
}
for (auto&& v : m_name.ReadQueue()) {
m_nameValue = std::move(v.value);
}
for (auto&& v : m_commands.ReadQueue()) {
m_commandsValue = std::move(v.value);
}
for (auto&& v : m_ids.ReadQueue()) {
m_idsValue = std::move(v.value);
}
}
bool NTCommandSchedulerModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_commands) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_commands.Exists();
}