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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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93
glass/src/libnt/native/cpp/NTPIDController.cpp
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@@ -10,76 +10,65 @@
using namespace glass;
NTPIDControllerModel::NTPIDControllerModel(std::string_view path)
: NTPIDControllerModel(nt::GetDefaultInstance(), path) {}
: NTPIDControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
NTPIDControllerModel::NTPIDControllerModel(NT_Inst instance,
NTPIDControllerModel::NTPIDControllerModel(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_p(m_nt.GetEntry(fmt::format("{}/p", path))),
m_i(m_nt.GetEntry(fmt::format("{}/i", path))),
m_d(m_nt.GetEntry(fmt::format("{}/d", path))),
m_setpoint(m_nt.GetEntry(fmt::format("{}/setpoint", path))),
m_pData(fmt::format("NTPIDCtrlP:{}", path)),
m_iData(fmt::format("NTPIDCtrlI:{}", path)),
m_dData(fmt::format("NTPIDCtrlD:{}", path)),
m_setpointData(fmt::format("NTPIDCtrlStpt:{}", path)),
m_nameValue(wpi::rsplit(path, '/').second) {
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
m_nt.AddListener(m_p);
m_nt.AddListener(m_i);
m_nt.AddListener(m_d);
m_nt.AddListener(m_setpoint);
}
: m_inst{inst},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
.Subscribe(false)},
m_p{inst.GetDoubleTopic(fmt::format("{}/p", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_i{inst.GetDoubleTopic(fmt::format("{}/i", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_d{inst.GetDoubleTopic(fmt::format("{}/d", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_setpoint{inst.GetDoubleTopic(fmt::format("{}/setpoint", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_pData{fmt::format("NTPIDCtrlP:{}", path)},
m_iData{fmt::format("NTPIDCtrlI:{}", path)},
m_dData{fmt::format("NTPIDCtrlD:{}", path)},
m_setpointData{fmt::format("NTPIDCtrlStpt:{}", path)},
m_nameValue{wpi::rsplit(path, '/').second} {}
void NTPIDControllerModel::SetP(double value) {
nt::SetEntryValue(m_p, nt::NetworkTableValue::MakeDouble(value));
m_p.Set(value);
}
void NTPIDControllerModel::SetI(double value) {
nt::SetEntryValue(m_i, nt::NetworkTableValue::MakeDouble(value));
m_i.Set(value);
}
void NTPIDControllerModel::SetD(double value) {
nt::SetEntryValue(m_d, nt::NetworkTableValue::MakeDouble(value));
m_d.Set(value);
}
void NTPIDControllerModel::SetSetpoint(double value) {
nt::SetEntryValue(m_setpoint, nt::NetworkTableValue::MakeDouble(value));
m_setpoint.Set(value);
}
void NTPIDControllerModel::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_p) {
if (event.value && event.value->IsDouble()) {
m_pData.SetValue(event.value->GetDouble());
}
} else if (event.entry == m_i) {
if (event.value && event.value->IsDouble()) {
m_iData.SetValue(event.value->GetDouble());
}
} else if (event.entry == m_d) {
if (event.value && event.value->IsDouble()) {
m_dData.SetValue(event.value->GetDouble());
}
} else if (event.entry == m_setpoint) {
if (event.value && event.value->IsDouble()) {
m_setpointData.SetValue(event.value->GetDouble());
}
} else if (event.entry == m_controllable) {
if (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_p.ReadQueue()) {
m_pData.SetValue(v.value, v.time);
}
for (auto&& v : m_i.ReadQueue()) {
m_iData.SetValue(v.value, v.time);
}
for (auto&& v : m_d.ReadQueue()) {
m_dData.SetValue(v.value, v.time);
}
for (auto&& v : m_setpoint.ReadQueue()) {
m_setpointData.SetValue(v.value, v.time);
}
for (auto&& v : m_controllable.ReadQueue()) {
m_controllableValue = v.value;
}
}
bool NTPIDControllerModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_setpoint) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_setpoint.Exists();
}