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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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45
glass/src/libnt/native/cpp/NTDigitalOutput.cpp
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@@ -9,43 +9,36 @@
using namespace glass;
NTDigitalOutputModel::NTDigitalOutputModel(std::string_view path)
: NTDigitalOutputModel{nt::GetDefaultInstance(), path} {}
: NTDigitalOutputModel{nt::NetworkTableInstance::GetDefault(), path} {}
NTDigitalOutputModel::NTDigitalOutputModel(NT_Inst inst, std::string_view path)
: m_nt{inst},
m_value{m_nt.GetEntry(fmt::format("{}/Value", path))},
m_name{m_nt.GetEntry(fmt::format("{}/.name", path))},
m_controllable{m_nt.GetEntry(fmt::format("{}/.controllable", path))},
NTDigitalOutputModel::NTDigitalOutputModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_inst{inst},
m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
.GetEntry(false, {{nt::PubSubOption::SendAll(true)}})},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
.Subscribe(false)},
m_valueData{fmt::format("NT_DOut:{}", path)} {
m_nt.AddListener(m_value);
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_valueData.SetDigital(true);
}
void NTDigitalOutputModel::SetValue(bool val) {
nt::SetEntryValue(m_value, nt::Value::MakeBoolean(val));
m_value.Set(val);
}
void NTDigitalOutputModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_value) {
if (event.value && event.value->IsBoolean()) {
m_valueData.SetValue(event.value->GetBoolean());
}
} else if (event.entry == m_name) {
if (event.value && event.value->IsString()) {
m_nameValue = event.value->GetString();
}
} else if (event.entry == m_controllable) {
if (event.value && event.value->IsBoolean()) {
m_controllableValue = event.value->GetBoolean();
}
}
for (auto&& v : m_value.ReadQueue()) {
m_valueData.SetValue(v.value, v.time);
}
for (auto&& v : m_name.ReadQueue()) {
m_nameValue = std::move(v.value);
}
for (auto&& v : m_controllable.ReadQueue()) {
m_controllableValue = v.value;
}
}
bool NTDigitalOutputModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_value) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_value.Exists();
}