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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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105
glass/src/libnt/native/cpp/NTMecanumDrive.cpp
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@@ -12,69 +12,62 @@
using namespace glass;
NTMecanumDriveModel::NTMecanumDriveModel(std::string_view path)
: NTMecanumDriveModel(nt::GetDefaultInstance(), path) {}
: NTMecanumDriveModel(nt::NetworkTableInstance::GetDefault(), path) {}
NTMecanumDriveModel::NTMecanumDriveModel(NT_Inst instance,
NTMecanumDriveModel::NTMecanumDriveModel(nt::NetworkTableInstance inst,
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_flPercent(
m_nt.GetEntry(fmt::format("{}/Front Left Motor Speed", path))),
m_frPercent(
m_nt.GetEntry(fmt::format("{}/Front Right Motor Speed", path))),
m_rlPercent(m_nt.GetEntry(fmt::format("{}/Rear Left Motor Speed", path))),
m_rrPercent(
m_nt.GetEntry(fmt::format("{}/Rear Right Motor Speed", path))),
m_nameValue(wpi::rsplit(path, '/').second),
m_flPercentData(fmt::format("NTMcnmDriveFL:{}", path)),
m_frPercentData(fmt::format("NTMcnmDriveFR:{}", path)),
m_rlPercentData(fmt::format("NTMcnmDriveRL:{}", path)),
m_rrPercentData(fmt::format("NTMcnmDriveRR:{}", path)) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_nt.AddListener(m_flPercent);
m_nt.AddListener(m_frPercent);
m_nt.AddListener(m_rlPercent);
m_nt.AddListener(m_rrPercent);
: m_inst{inst},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
.Subscribe(0)},
m_flPercent{
inst.GetDoubleTopic(fmt::format("{}/Front Left Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_frPercent{
inst.GetDoubleTopic(fmt::format("{}/Front Right Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_rlPercent{
inst.GetDoubleTopic(fmt::format("{}/Rear Left Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_rrPercent{
inst.GetDoubleTopic(fmt::format("{}/Rear Right Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_nameValue{wpi::rsplit(path, '/').second},
m_flPercentData{fmt::format("NTMcnmDriveFL:{}", path)},
m_frPercentData{fmt::format("NTMcnmDriveFR:{}", path)},
m_rlPercentData{fmt::format("NTMcnmDriveRL:{}", path)},
m_rrPercentData{fmt::format("NTMcnmDriveRR:{}", path)} {
m_wheels.emplace_back("FL % Output", &m_flPercentData,
[this](auto value) { m_flPercent.Set(value); });
m_wheels.emplace_back("FL % Output", &m_flPercentData, [this](auto value) {
nt::SetEntryValue(m_flPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("FR % Output", &m_frPercentData,
[this](auto value) { m_frPercent.Set(value); });
m_wheels.emplace_back("FR % Output", &m_frPercentData, [this](auto value) {
nt::SetEntryValue(m_frPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("RL % Output", &m_rlPercentData,
[this](auto value) { m_rlPercent.Set(value); });
m_wheels.emplace_back("RL % Output", &m_rlPercentData, [this](auto value) {
nt::SetEntryValue(m_rlPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("RR % Output", &m_rrPercentData, [this](auto value) {
nt::SetEntryValue(m_rrPercent, nt::NetworkTableValue::MakeDouble(value));
});
m_wheels.emplace_back("RR % Output", &m_rrPercentData,
[this](auto value) { m_rrPercent.Set(value); });
}
void NTMecanumDriveModel::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_flPercent && event.value &&
event.value->IsDouble()) {
m_flPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_frPercent && event.value &&
event.value->IsDouble()) {
m_frPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_rlPercent && event.value &&
event.value->IsDouble()) {
m_rlPercentData.SetValue(event.value->GetDouble());
} else if (event.entry == m_rrPercent && event.value &&
event.value->IsDouble()) {
m_rrPercentData.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_flPercent.ReadQueue()) {
m_flPercentData.SetValue(v.value, v.time);
}
for (auto&& v : m_frPercent.ReadQueue()) {
m_frPercentData.SetValue(v.value, v.time);
}
for (auto&& v : m_rlPercent.ReadQueue()) {
m_rlPercentData.SetValue(v.value, v.time);
}
for (auto&& v : m_rrPercent.ReadQueue()) {
m_rrPercentData.SetValue(v.value, v.time);
}
for (auto&& v : m_controllable.ReadQueue()) {
m_controllableValue = v.value;
}
double fl = m_flPercentData.GetValue();
@@ -88,5 +81,5 @@ void NTMecanumDriveModel::Update() {
}
bool NTMecanumDriveModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_flPercent) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_flPercent.Exists();
}