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[ntcore] Unify listeners (#4536)

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This combines all 4 NT listener APIs (topic, value, connection, and
logging) into a single unified listener API.
This commit is contained in:
Peter Johnson
2022-10-31 21:52:14 -07:00
committed by GitHub
parent 32fbfb7da6
commit b114006543
71 changed files with 3613 additions and 5786 deletions
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83
glass/src/libnt/native/cpp/NTField2D.cpp
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@@ -117,58 +117,55 @@ NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
{{nt::PubSubOption::SendAll(true),
nt::PubSubOption::Periodic(0.05)}}},
m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
m_topicListener{inst},
m_valueListener{inst} {
m_topicListener.Add(m_tableSub, NT_TOPIC_NOTIFY_PUBLISH |
NT_TOPIC_NOTIFY_UNPUBLISH |
NT_TOPIC_NOTIFY_IMMEDIATE);
m_valueListener.Add(m_tableSub,
NT_VALUE_NOTIFY_IMMEDIATE | NT_VALUE_NOTIFY_LOCAL);
m_poller{inst} {
m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
nt::EventFlags::kValueAll |
nt::EventFlags::kImmediate);
}
NTField2DModel::~NTField2DModel() = default;
void NTField2DModel::Update() {
// handle publish/unpublish
for (auto&& event : m_topicListener.ReadQueue()) {
auto name = wpi::drop_front(event.info.name, m_path.size());
if (name.empty() || name[0] == '.') {
continue;
}
auto [it, match] = Find(event.info.name);
if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
if (match) {
m_objects.erase(it);
for (auto&& event : m_poller.ReadQueue()) {
if (auto info = event.GetTopicInfo()) {
// handle publish/unpublish
auto name = wpi::drop_front(info->name, m_path.size());
if (name.empty() || name[0] == '.') {
continue;
}
continue;
} else if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
if (!match) {
it = m_objects.emplace(
it, std::make_unique<ObjectModel>(
event.info.name, nt::DoubleArrayTopic{event.info.topic}));
auto [it, match] = Find(info->name);
if (event.flags & nt::EventFlags::kUnpublish) {
if (match) {
m_objects.erase(it);
}
continue;
} else if (event.flags & nt::EventFlags::kPublish) {
if (!match) {
it = m_objects.emplace(
it, std::make_unique<ObjectModel>(
info->name, nt::DoubleArrayTopic{info->topic}));
}
} else if (!match) {
continue;
}
} else if (auto valueData = event.GetValueEventData()) {
// update values
// .name
if (valueData->topic == m_nameTopic.GetHandle()) {
if (valueData->value && valueData->value.IsString()) {
m_nameValue = valueData->value.GetString();
}
continue;
}
} else if (!match) {
continue;
}
}
// update values
for (auto&& event : m_valueListener.ReadQueue()) {
// .name
if (event.topic == m_nameTopic.GetHandle()) {
if (event.value && event.value.IsString()) {
m_nameValue = event.value.GetString();
auto it =
std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
return e->GetTopic().GetHandle() == valueData->topic;
});
if (it != m_objects.end()) {
(*it)->NTUpdate(valueData->value);
continue;
}
continue;
}
auto it =
std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
return e->GetTopic().GetHandle() == event.topic;
});
if (it != m_objects.end()) {
(*it)->NTUpdate(event.value);
continue;
}
}
}