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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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17
wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp
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@@ -4,9 +4,10 @@
#include "frc/livewindow/LiveWindow.h"
#include <networktables/BooleanTopic.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/StringTopic.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableRegistry.h>
@@ -19,12 +20,15 @@ namespace {
struct Component {
bool firstTime = true;
bool telemetryEnabled = false;
nt::StringPublisher namePub;
nt::StringPublisher typePub;
};
struct Instance {
Instance() {
wpi::SendableRegistry::SetLiveWindowBuilderFactory(
[] { return std::make_unique<SendableBuilderImpl>(); });
enabledPub.Set(false);
}
wpi::mutex mutex;
@@ -35,7 +39,8 @@ struct Instance {
nt::NetworkTableInstance::GetDefault().GetTable("LiveWindow");
std::shared_ptr<nt::NetworkTable> statusTable =
liveWindowTable->GetSubTable(".status");
nt::NetworkTableEntry enabledEntry = statusTable->GetEntry("LW Enabled");
nt::BooleanPublisher enabledPub =
statusTable->GetBooleanTopic("LW Enabled").Publish();
bool startLiveWindow = false;
bool liveWindowEnabled = false;
@@ -139,7 +144,7 @@ void LiveWindow::SetEnabled(bool enabled) {
inst.disabled();
}
}
inst.enabledEntry.SetBoolean(enabled);
inst.enabledPub.Set(enabled);
}
void LiveWindow::UpdateValues() {
@@ -186,10 +191,12 @@ void LiveWindow::UpdateValuesUnsafe() {
} else {
table = ssTable->GetSubTable(cbdata.name);
}
table->GetEntry(".name").SetString(cbdata.name);
comp.namePub = nt::StringTopic{table->GetTopic(".name")}.Publish();
comp.namePub.Set(cbdata.name);
static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
cbdata.sendable->InitSendable(cbdata.builder);
ssTable->GetEntry(".type").SetString("LW Subsystem");
comp.typePub = nt::StringTopic{ssTable->GetTopic(".type")}.Publish();
comp.typePub.Set("LW Subsystem");
comp.firstTime = false;
}