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[ntcore] Pass pub/sub options as a unified PubSubOptions struct (#4794)

Browse Source 
In Java, PubSubOption is still used for passing options, but this
simplifies C++ use substantially, as it allows aggregate construction.
This commit is contained in:
Peter Johnson
2022-12-12 19:28:15 -08:00
committed by GitHub
parent f66a667321
commit a865f48e96
53 changed files with 695 additions and 623 deletions
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4
glass/src/libnt/native/cpp/NTDigitalInput.cpp
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@@ -15,8 +15,8 @@ NTDigitalInputModel::NTDigitalInputModel(std::string_view path)
NTDigitalInputModel::NTDigitalInputModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_inst{inst},
m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
.Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
m_value{
inst.GetBooleanTopic(fmt::format("{}/Value", path)).Subscribe(false)},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_valueData{fmt::format("NT_DIn:{}", path)},
m_nameValue{wpi::rsplit(path, '/').second} {

4
glass/src/libnt/native/cpp/NTDigitalOutput.cpp
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@@ -14,8 +14,8 @@ NTDigitalOutputModel::NTDigitalOutputModel(std::string_view path)
NTDigitalOutputModel::NTDigitalOutputModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_inst{inst},
m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
.GetEntry(false, {{nt::PubSubOption::SendAll(true)}})},
m_value{
inst.GetBooleanTopic(fmt::format("{}/Value", path)).GetEntry(false)},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
.Subscribe(false)},

6
glass/src/libnt/native/cpp/NTFMS.cpp
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@@ -21,11 +21,11 @@ NTFMSModel::NTFMSModel(nt::NetworkTableInstance inst, std::string_view path)
inst.GetStringTopic(fmt::format("{}/GameSpecificMessage", path))
.Subscribe("")},
m_alliance{inst.GetBooleanTopic(fmt::format("{}/IsRedAlliance", path))
.Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
.Subscribe(false)},
m_station{inst.GetIntegerTopic(fmt::format("{}/StationNumber", path))
.Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
.Subscribe(0)},
m_controlWord{inst.GetIntegerTopic(fmt::format("{}/FMSControlData", path))
.Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
.Subscribe(0)},
m_fmsAttached{fmt::format("NT_FMS:FMSAttached:{}", path)},
m_dsAttached{fmt::format("NT_FMS:DSAttached:{}", path)},
m_allianceStationId{fmt::format("NT_FMS:AllianceStationID:{}", path)},

5
glass/src/libnt/native/cpp/NTField2D.cpp
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@@ -112,10 +112,7 @@ NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_path{fmt::format("{}/", path)},
m_inst{inst},
m_tableSub{inst,
{{m_path}},
{{nt::PubSubOption::SendAll(true),
nt::PubSubOption::Periodic(0.05)}}},
m_tableSub{inst, {{m_path}}, {.periodic = 0.05, .sendAll = true}},
m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
m_poller{inst} {
m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |

3
glass/src/libnt/native/cpp/NTGyro.cpp
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@@ -14,8 +14,7 @@ NTGyroModel::NTGyroModel(std::string_view path)
NTGyroModel::NTGyroModel(nt::NetworkTableInstance inst, std::string_view path)
: m_inst{inst},
m_angle{inst.GetDoubleTopic(fmt::format("{}/Value", path))
.Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
m_angle{inst.GetDoubleTopic(fmt::format("{}/Value", path)).Subscribe(0)},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe({})},
m_angleData{fmt::format("NT_Gyro:{}", path)},
m_nameValue{wpi::rsplit(path, '/').second} {}

8
glass/src/libnt/native/cpp/NTMecanumDrive.cpp
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@@ -22,16 +22,16 @@ NTMecanumDriveModel::NTMecanumDriveModel(nt::NetworkTableInstance inst,
.Subscribe(0)},
m_flPercent{
inst.GetDoubleTopic(fmt::format("{}/Front Left Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
.GetEntry(0)},
m_frPercent{
inst.GetDoubleTopic(fmt::format("{}/Front Right Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
.GetEntry(0)},
m_rlPercent{
inst.GetDoubleTopic(fmt::format("{}/Rear Left Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
.GetEntry(0)},
m_rrPercent{
inst.GetDoubleTopic(fmt::format("{}/Rear Right Motor Speed", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
.GetEntry(0)},
m_nameValue{wpi::rsplit(path, '/').second},
m_flPercentData{fmt::format("NTMcnmDriveFL:{}", path)},
m_frPercentData{fmt::format("NTMcnmDriveFR:{}", path)},

5
glass/src/libnt/native/cpp/NTMechanism2D.cpp
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@@ -240,10 +240,7 @@ NTMechanism2DModel::NTMechanism2DModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_inst{inst},
m_path{fmt::format("{}/", path)},
m_tableSub{inst,
{{m_path}},
{{nt::PubSubOption::SendAll(true),
nt::PubSubOption::Periodic(0.05)}}},
m_tableSub{inst, {{m_path}}, {.periodic = 0.05, .sendAll = true}},
m_nameTopic{m_inst.GetTopic(fmt::format("{}/.name", path))},
m_dimensionsTopic{m_inst.GetTopic(fmt::format("{}/dims", path))},
m_bgColorTopic{m_inst.GetTopic(fmt::format("{}/backgroundColor", path))},

3
glass/src/libnt/native/cpp/NTMotorController.cpp
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@@ -15,8 +15,7 @@ NTMotorControllerModel::NTMotorControllerModel(std::string_view path)
NTMotorControllerModel::NTMotorControllerModel(nt::NetworkTableInstance inst,
std::string_view path)
: m_inst{inst},
m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path))
.GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path)).GetEntry(0)},
m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
.Subscribe(false)},

13
glass/src/libnt/native/cpp/NTPIDController.cpp
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@@ -18,14 +18,11 @@ NTPIDControllerModel::NTPIDControllerModel(nt::NetworkTableInstance 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_p{inst.GetDoubleTopic(fmt::format("{}/p", path)).GetEntry(0)},
m_i{inst.GetDoubleTopic(fmt::format("{}/i", path)).GetEntry(0)},
m_d{inst.GetDoubleTopic(fmt::format("{}/d", path)).GetEntry(0)},
m_setpoint{
inst.GetDoubleTopic(fmt::format("{}/setpoint", path)).GetEntry(0)},
m_pData{fmt::format("NTPIDCtrlP:{}", path)},
m_iData{fmt::format("NTPIDCtrlI:{}", path)},
m_dData{fmt::format("NTPIDCtrlD:{}", path)},