[ntcore] NetworkTables 4 (#3217)

wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -12,8 +12,9 @@
 #include <frc/livewindow/LiveWindow.h>
 #include <hal/FRCUsageReporting.h>
 #include <hal/HALBase.h>
+#include <networktables/IntegerArrayTopic.h>
 #include <networktables/NTSendableBuilder.h>
-#include <networktables/NetworkTableEntry.h>
+#include <networktables/StringArrayTopic.h>
 #include <wpi/DenseMap.h>
 #include <wpi/SmallVector.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -418,34 +419,35 @@ void CommandScheduler::OnCommandFinish(Action action) {
 
 void CommandScheduler::InitSendable(nt::NTSendableBuilder& builder) {
   builder.SetSmartDashboardType("Scheduler");
-  auto namesEntry = builder.GetEntry("Names");
-  auto idsEntry = builder.GetEntry("Ids");
-  auto cancelEntry = builder.GetEntry("Cancel");
+  builder.SetUpdateTable(
+      [this,
+       namesPub = nt::StringArrayTopic{builder.GetTopic("Names")}.Publish(),
+       idsPub = nt::IntegerArrayTopic{builder.GetTopic("Ids")}.Publish(),
+       cancelEntry = nt::IntegerArrayTopic{builder.GetTopic("Cancel")}.GetEntry(
+           {})]() mutable {
+        auto toCancel = cancelEntry.Get();
+        if (!toCancel.empty()) {
+          for (auto cancel : cancelEntry.Get()) {
+            uintptr_t ptrTmp = static_cast<uintptr_t>(cancel);
+            Command* command = reinterpret_cast<Command*>(ptrTmp);
+            if (m_impl->scheduledCommands.find(command) !=
+                m_impl->scheduledCommands.end()) {
+              Cancel(command);
+            }
+          }
+          cancelEntry.Set({});
+        }
 
-  builder.SetUpdateTable([=] {
-    double tmp[1];
-    tmp[0] = 0;
-    auto toCancel = cancelEntry.GetDoubleArray(tmp);
-    for (auto cancel : toCancel) {
-      uintptr_t ptrTmp = static_cast<uintptr_t>(cancel);
-      Command* command = reinterpret_cast<Command*>(ptrTmp);
-      if (m_impl->scheduledCommands.find(command) !=
-          m_impl->scheduledCommands.end()) {
-        Cancel(command);
-      }
-      nt::NetworkTableEntry(cancelEntry).SetDoubleArray({});
-    }
-
-    wpi::SmallVector<std::string, 8> names;
-    wpi::SmallVector<double, 8> ids;
-    for (Command* command : m_impl->scheduledCommands) {
-      names.emplace_back(command->GetName());
-      uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command);
-      ids.emplace_back(static_cast<double>(ptrTmp));
-    }
-    nt::NetworkTableEntry(namesEntry).SetStringArray(names);
-    nt::NetworkTableEntry(idsEntry).SetDoubleArray(ids);
-  });
+        wpi::SmallVector<std::string, 8> names;
+        wpi::SmallVector<int64_t, 8> ids;
+        for (Command* command : m_impl->scheduledCommands) {
+          names.emplace_back(command->GetName());
+          uintptr_t ptrTmp = reinterpret_cast<uintptr_t>(command);
+          ids.emplace_back(static_cast<int64_t>(ptrTmp));
+        }
+        namesPub.Set(names);
+        idsPub.Set(ids);
+      });
 }
 
 void CommandScheduler::SetDefaultCommandImpl(Subsystem* subsystem,

wpilibNewCommands/src/main/native/cpp/frc2/command/button/NetworkButton.cpp

@@ -6,15 +6,21 @@
 
 using namespace frc2;
 
-NetworkButton::NetworkButton(nt::NetworkTableEntry entry)
-    : Button([entry] {
-        return entry.GetInstance().IsConnected() && entry.GetBoolean(false);
+NetworkButton::NetworkButton(nt::BooleanTopic topic)
+    : NetworkButton(topic.Subscribe(false)) {}
+
+NetworkButton::NetworkButton(nt::BooleanSubscriber sub)
+    : Button([sub = std::make_shared<nt::BooleanSubscriber>(std::move(sub))] {
+        return sub->GetTopic().GetInstance().IsConnected() && sub->Get();
       }) {}
 
 NetworkButton::NetworkButton(std::shared_ptr<nt::NetworkTable> table,
                              std::string_view field)
-    : NetworkButton(table->GetEntry(field)) {}
+    : NetworkButton(table->GetBooleanTopic(field)) {}
 
 NetworkButton::NetworkButton(std::string_view table, std::string_view field)
-    : NetworkButton(nt::NetworkTableInstance::GetDefault().GetTable(table),
-                    field) {}
+    : NetworkButton(nt::NetworkTableInstance::GetDefault(), table, field) {}
+
+NetworkButton::NetworkButton(nt::NetworkTableInstance inst,
+                             std::string_view table, std::string_view field)
+    : NetworkButton(inst.GetTable(table), field) {}

wpilibNewCommands/src/main/native/include/frc2/command/button/NetworkButton.h

@@ -7,6 +7,7 @@
 #include <memory>
 #include <string_view>
 
+#include <networktables/BooleanTopic.h>
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 
@@ -23,9 +24,16 @@ class NetworkButton : public Button {
   /**
    * Creates a NetworkButton that commands can be bound to.
    *
-   * @param entry The entry that is the value.
+   * @param topic The boolean topic that contains the value.
    */
-  explicit NetworkButton(nt::NetworkTableEntry entry);
+  explicit NetworkButton(nt::BooleanTopic topic);
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param sub The boolean subscriber that provides the value.
+   */
+  explicit NetworkButton(nt::BooleanSubscriber sub);
 
   /**
    * Creates a NetworkButton that commands can be bound to.
@@ -43,5 +51,15 @@ class NetworkButton : public Button {
    * @param field The field that is the value.
    */
   NetworkButton(std::string_view table, std::string_view field);
+
+  /**
+   * Creates a NetworkButton that commands can be bound to.
+   *
+   * @param inst The NetworkTable instance to use
+   * @param table The table where the networktable value is located.
+   * @param field The field that is the value.
+   */
+  NetworkButton(nt::NetworkTableInstance inst, std::string_view table,
+                std::string_view field);
 };
 }  // namespace frc2