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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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48
glass/src/libnt/native/cpp/NTSpeedController.cpp
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@@ -10,43 +10,35 @@
using namespace glass;
NTSpeedControllerModel::NTSpeedControllerModel(std::string_view path)
: NTSpeedControllerModel(nt::GetDefaultInstance(), path) {}
: NTSpeedControllerModel(nt::NetworkTableInstance::GetDefault(), path) {}
NTSpeedControllerModel::NTSpeedControllerModel(NT_Inst instance,
NTSpeedControllerModel::NTSpeedControllerModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_nt(instance),
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))),
m_valueData(fmt::format("NT_SpdCtrl:{}", path)),
m_nameValue(wpi::rsplit(path, '/').second) {
m_nt.AddListener(m_value);
m_nt.AddListener(m_name);
m_nt.AddListener(m_controllable);
}
: m_inst{inst},
m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path))
.GetEntry(0, {{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_SpdCtrl:{}", path)},
m_nameValue{wpi::rsplit(path, '/').second} {}
void NTSpeedControllerModel::SetPercent(double value) {
nt::SetEntryValue(m_value, nt::NetworkTableValue::MakeDouble(value));
m_value.Set(value);
}
void NTSpeedControllerModel::Update() {
for (auto&& event : m_nt.PollListener()) {
if (event.entry == m_value) {
if (event.value && event.value->IsDouble()) {
m_valueData.SetValue(event.value->GetDouble());
}
} 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 NTSpeedControllerModel::Exists() {
return m_nt.IsConnected() && nt::GetEntryType(m_value) != NT_UNASSIGNED;
return m_inst.IsConnected() && m_value.Exists();
}