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[ntcore] NetworkTables 4 (#3217)

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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
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66
glass/src/libnt/native/cpp/NTDifferentialDrive.cpp
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@@ -12,46 +12,40 @@
using namespace glass;
NTDifferentialDriveModel::NTDifferentialDriveModel(std::string_view path)
: NTDifferentialDriveModel(nt::GetDefaultInstance(), path) {}
: NTDifferentialDriveModel(nt::NetworkTableInstance::GetDefault(), path) {}
NTDifferentialDriveModel::NTDifferentialDriveModel(NT_Inst instance,
std::string_view path)
: m_nt(instance),
m_name(m_nt.GetEntry(fmt::format("{}/.name", path))),
m_controllable(m_nt.GetEntry(fmt::format("{}/.controllable", path))),
m_lPercent(m_nt.GetEntry(fmt::format("{}/Left Motor Speed", path))),
m_rPercent(m_nt.GetEntry(fmt::format("{}/Right Motor Speed", path))),
m_nameValue(wpi::rsplit(path, '/').second),
m_lPercentData(fmt::format("NTDiffDriveL:{}", path)),
m_rPercentData(fmt::format("NTDiffDriveR:{}", path)) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_nt.AddListener(m_lPercent);
m_nt.AddListener(m_rPercent);
NTDifferentialDriveModel::NTDifferentialDriveModel(
nt::NetworkTableInstance inst, std::string_view path)
: m_inst{inst},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
.Subscribe(false)},
m_lPercent{inst.GetDoubleTopic(fmt::format("{}/Left Motor Speed", path))
.GetEntry(0)},
m_rPercent{inst.GetDoubleTopic(fmt::format("{}/Right Motor Speed", path))
.GetEntry(0)},
m_nameValue{wpi::rsplit(path, '/').second},
m_lPercentData{fmt::format("NTDiffDriveL:{}", path)},
m_rPercentData{fmt::format("NTDiffDriveR:{}", path)} {
m_wheels.emplace_back("L % Output", &m_lPercentData,
[this](auto value) { m_lPercent.Set(value); });
m_wheels.emplace_back("L % Output", &m_lPercentData, [this](auto value) {
nt::SetEntryValue(m_lPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("R % Output", &m_rPercentData, [this](auto value) {
nt::SetEntryValue(m_rPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("R % Output", &m_rPercentData,
[this](auto value) { m_rPercent.Set(value); });
}
void NTDifferentialDriveModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_name && event.value && event.value->IsString()) {
m_nameValue = event.value->GetString();
} else if (event.entry == m_lPercent && event.value &&
event.value->IsDouble()) {
m_lPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_rPercent && event.value &&
event.value->IsDouble()) {
m_rPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_controllable && event.value &&
event.value->IsBoolean()) {
m_controllableValue = event.value->GetBoolean();
}
for (auto&& v : m_name.ReadQueue()) {
m_nameValue = std::move(v.value);
}
for (auto&& v : m_lPercent.ReadQueue()) {
m_lPercentData.SetValue(v.value, v.time);
}
for (auto&& v : m_rPercent.ReadQueue()) {
m_rPercentData.SetValue(v.value, v.time);
}
for (auto&& v : m_controllable.ReadQueue()) {
m_controllableValue = v.value;
}
double l = m_lPercentData.GetValue();
@@ -62,5 +56,5 @@ void NTDifferentialDriveModel::Update() {
}
bool NTDifferentialDriveModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_lPercent) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_lPercent.Exists();
}