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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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19
wpilibc/src/main/native/cpp/Preferences.cpp
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@@ -11,8 +11,8 @@
#include <networktables/MultiSubscriber.h>
#include <networktables/NetworkTable.h>
#include <networktables/NetworkTableInstance.h>
#include <networktables/NetworkTableListener.h>
#include <networktables/StringTopic.h>
#include <networktables/TopicListener.h>
using namespace frc;
@@ -28,7 +28,7 @@ struct Instance {
nt::StringPublisher typePublisher{table->GetStringTopic(".type").Publish()};
nt::MultiSubscriber tableSubscriber{nt::NetworkTableInstance::GetDefault(),
{{fmt::format("{}/", table->GetPath())}}};
nt::TopicListener listener;
nt::NetworkTableListener listener;
};
} // namespace
@@ -166,13 +166,14 @@ void Preferences::RemoveAll() {
Instance::Instance() {
typePublisher.Set("RobotPreferences");
listener = nt::TopicListener{
tableSubscriber, NT_TOPIC_NOTIFY_IMMEDIATE | NT_TOPIC_NOTIFY_PUBLISH,
[typeTopic = typePublisher.GetTopic().GetHandle()](
const nt::TopicNotification& event) {
if (event.info.topic != typeTopic) {
nt::SetTopicPersistent(event.info.topic, true);
listener = nt::NetworkTableListener::CreateListener(
tableSubscriber, NT_EVENT_PUBLISH | NT_EVENT_IMMEDIATE,
[typeTopic = typePublisher.GetTopic().GetHandle()](auto& event) {
if (auto topicInfo = event.GetTopicInfo()) {
if (topicInfo->topic != typeTopic) {
nt::SetTopicPersistent(topicInfo->topic, true);
}
}
}};
});
HAL_Report(HALUsageReporting::kResourceType_Preferences, 0);
}