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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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84
glass/src/libnt/native/cpp/NTFMS.cpp
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@@ -13,15 +13,19 @@
using namespace glass;
NTFMSModel::NTFMSModel(std::string_view path)
: NTFMSModel{nt::GetDefaultInstance(), path} {}
: NTFMSModel{nt::NetworkTableInstance::GetDefault(), path} {}
NTFMSModel::NTFMSModel(NT_Inst inst, std::string_view path)
: m_nt{inst},
NTFMSModel::NTFMSModel(nt::NetworkTableInstance inst, std::string_view path)
: m_inst{inst},
m_gameSpecificMessage{
m_nt.GetEntry(fmt::format("{}/GameSpecificMessage", path))},
m_alliance{m_nt.GetEntry(fmt::format("{}/IsRedAlliance", path))},
m_station{m_nt.GetEntry(fmt::format("{}/StationNumber", path))},
m_controlWord{m_nt.GetEntry(fmt::format("{}/FMSControlData", path))},
inst.GetStringTopic(fmt::format("{}/GameSpecificMessage", path))
.Subscribe("")},
m_alliance{inst.GetBooleanTopic(fmt::format("{}/IsRedAlliance", path))
.Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
m_station{inst.GetIntegerTopic(fmt::format("{}/StationNumber", path))
.Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
m_controlWord{inst.GetIntegerTopic(fmt::format("{}/FMSControlData", path))
.Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
m_fmsAttached{fmt::format("NT_FMS:FMSAttached:{}", path)},
m_dsAttached{fmt::format("NT_FMS:DSAttached:{}", path)},
m_allianceStationId{fmt::format("NT_FMS:AllianceStationID:{}", path)},
@@ -29,10 +33,6 @@ NTFMSModel::NTFMSModel(NT_Inst inst, std::string_view path)
m_enabled{fmt::format("NT_FMS:RobotEnabled:{}", path)},
m_test{fmt::format("NT_FMS:TestMode:{}", path)},
m_autonomous{fmt::format("NT_FMS:AutonomousMode:{}", path)} {
m_nt.AddListener(m_alliance);
m_nt.AddListener(m_station);
m_nt.AddListener(m_controlWord);
m_fmsAttached.SetDigital(true);
m_dsAttached.SetDigital(true);
m_estop.SetDigital(true);
@@ -43,49 +43,35 @@ NTFMSModel::NTFMSModel(NT_Inst inst, std::string_view path)
std::string_view NTFMSModel::GetGameSpecificMessage(
wpi::SmallVectorImpl<char>& buf) {
buf.clear();
auto value = nt::GetEntryValue(m_gameSpecificMessage);
if (value && value->IsString()) {
auto str = value->GetString();
buf.append(str.begin(), str.end());
}
return std::string_view{buf.data(), buf.size()};
return m_gameSpecificMessage.Get(buf, "");
}
void NTFMSModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_alliance) {
if (event.value && event.value->IsBoolean()) {
int allianceStationId = m_allianceStationId.GetValue();
allianceStationId %= 3;
// true if red
allianceStationId += 3 * (event.value->GetBoolean() ? 0 : 1);
m_allianceStationId.SetValue(allianceStationId);
}
} else if (event.entry == m_station) {
if (event.value && event.value->IsDouble()) {
int allianceStationId = m_allianceStationId.GetValue();
bool isRed = (allianceStationId < 3);
// the NT value is 1-indexed
m_allianceStationId.SetValue(event.value->GetDouble() - 1 +
3 * (isRed ? 0 : 1));
}
} else if (event.entry == m_controlWord) {
if (event.value && event.value->IsDouble()) {
uint32_t controlWord = event.value->GetDouble();
// See HAL_ControlWord definition
auto time = wpi::Now();
m_enabled.SetValue(((controlWord & 0x01) != 0) ? 1 : 0, time);
m_autonomous.SetValue(((controlWord & 0x02) != 0) ? 1 : 0, time);
m_test.SetValue(((controlWord & 0x04) != 0) ? 1 : 0, time);
m_estop.SetValue(((controlWord & 0x08) != 0) ? 1 : 0, time);
m_fmsAttached.SetValue(((controlWord & 0x10) != 0) ? 1 : 0, time);
m_dsAttached.SetValue(((controlWord & 0x20) != 0) ? 1 : 0, time);
}
}
for (auto&& v : m_alliance.ReadQueue()) {
int allianceStationId = m_allianceStationId.GetValue();
allianceStationId %= 3;
// true if red
allianceStationId += 3 * (v.value ? 0 : 1);
m_allianceStationId.SetValue(allianceStationId, v.time);
}
for (auto&& v : m_station.ReadQueue()) {
int allianceStationId = m_allianceStationId.GetValue();
bool isRed = (allianceStationId < 3);
// the NT value is 1-indexed
m_allianceStationId.SetValue(v.value - 1 + 3 * (isRed ? 0 : 1), v.time);
}
for (auto&& v : m_controlWord.ReadQueue()) {
uint32_t controlWord = v.value;
// See HAL_ControlWord definition
m_enabled.SetValue(((controlWord & 0x01) != 0) ? 1 : 0, v.time);
m_autonomous.SetValue(((controlWord & 0x02) != 0) ? 1 : 0, v.time);
m_test.SetValue(((controlWord & 0x04) != 0) ? 1 : 0, v.time);
m_estop.SetValue(((controlWord & 0x08) != 0) ? 1 : 0, v.time);
m_fmsAttached.SetValue(((controlWord & 0x10) != 0) ? 1 : 0, v.time);
m_dsAttached.SetValue(((controlWord & 0x20) != 0) ? 1 : 0, v.time);
}
}
bool NTFMSModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_controlWord) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_controlWord.Exists();
}