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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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108
glass/src/libnt/native/cpp/NetworkTables.cpp
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@@ -110,15 +110,10 @@ NetworkTablesModel::NetworkTablesModel()
: NetworkTablesModel{nt::NetworkTableInstance::GetDefault()} {}
NetworkTablesModel::NetworkTablesModel(nt::NetworkTableInstance inst)
: m_inst{inst},
m_subscriber{inst, {{"", "$"}}},
m_topicPoller{inst},
m_valuePoller{inst} {
m_topicPoller.Add(m_subscriber,
NT_TOPIC_NOTIFY_IMMEDIATE | NT_TOPIC_NOTIFY_PROPERTIES |
NT_TOPIC_NOTIFY_PUBLISH | NT_TOPIC_NOTIFY_UNPUBLISH);
m_valuePoller.Add(m_subscriber,
NT_VALUE_NOTIFY_IMMEDIATE | NT_VALUE_NOTIFY_LOCAL);
: m_inst{inst}, m_poller{inst} {
m_poller.AddListener({{"", "$"}}, nt::EventFlags::kTopic |
nt::EventFlags::kValueAll |
nt::EventFlags::kImmediate);
}
NetworkTablesModel::Entry::~Entry() {
@@ -426,56 +421,57 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
void NetworkTablesModel::Update() {
bool updateTree = false;
for (auto&& event : m_topicPoller.ReadQueue()) {
auto& entry = m_entries[event.info.topic];
if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
if (!entry) {
entry = std::make_unique<Entry>();
m_sortedEntries.emplace_back(entry.get());
for (auto&& event : m_poller.ReadQueue()) {
if (auto info = event.GetTopicInfo()) {
auto& entry = m_entries[info->topic];
if (event.flags & nt::EventFlags::kPublish) {
if (!entry) {
entry = std::make_unique<Entry>();
m_sortedEntries.emplace_back(entry.get());
updateTree = true;
}
}
if (event.flags & nt::EventFlags::kUnpublish) {
auto it = std::find(m_sortedEntries.begin(), m_sortedEntries.end(),
entry.get());
// will be removed completely below
if (it != m_sortedEntries.end()) {
*it = nullptr;
}
m_entries.erase(info->topic);
updateTree = true;
continue;
}
if (event.flags & nt::EventFlags::kProperties) {
updateTree = true;
}
}
if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
auto it = std::find(m_sortedEntries.begin(), m_sortedEntries.end(),
entry.get());
// will be removed completely below
if (it != m_sortedEntries.end()) {
*it = nullptr;
if (entry) {
entry->UpdateTopic(std::move(event));
}
m_entries.erase(event.info.topic);
updateTree = true;
continue;
}
if (event.flags & NT_TOPIC_NOTIFY_PROPERTIES) {
updateTree = true;
}
if (entry) {
entry->UpdateTopic(std::move(event));
}
}
for (auto&& event : m_valuePoller.ReadQueue()) {
auto& entry = m_entries[event.topic];
if (entry) {
entry->UpdateFromValue(std::move(event.value), entry->info.name,
entry->info.type_str);
if (wpi::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
entry->info.type_str == "msgpack") {
// meta topic handling
if (entry->info.name == "$clients") {
UpdateClients(entry->value.GetRaw());
} else if (entry->info.name == "$serverpub") {
m_server.UpdatePublishers(entry->value.GetRaw());
} else if (entry->info.name == "$serversub") {
m_server.UpdateSubscribers(entry->value.GetRaw());
} else if (wpi::starts_with(entry->info.name, "$clientpub$")) {
auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
if (it != m_clients.end()) {
it->second.UpdatePublishers(entry->value.GetRaw());
}
} else if (wpi::starts_with(entry->info.name, "$clientsub$")) {
auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
if (it != m_clients.end()) {
it->second.UpdateSubscribers(entry->value.GetRaw());
} else if (auto valueData = event.GetValueEventData()) {
auto& entry = m_entries[valueData->topic];
if (entry) {
entry->UpdateFromValue(std::move(valueData->value), entry->info.name,
entry->info.type_str);
if (wpi::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
entry->info.type_str == "msgpack") {
// meta topic handling
if (entry->info.name == "$clients") {
UpdateClients(entry->value.GetRaw());
} else if (entry->info.name == "$serverpub") {
m_server.UpdatePublishers(entry->value.GetRaw());
} else if (entry->info.name == "$serversub") {
m_server.UpdateSubscribers(entry->value.GetRaw());
} else if (wpi::starts_with(entry->info.name, "$clientpub$")) {
auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
if (it != m_clients.end()) {
it->second.UpdatePublishers(entry->value.GetRaw());
}
} else if (wpi::starts_with(entry->info.name, "$clientsub$")) {
auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
if (it != m_clients.end()) {
it->second.UpdateSubscribers(entry->value.GetRaw());
}
}
}
}