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[ntcore] Add NetworkTable table-specific listeners (#4640)

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These are similar, but not quite identical to, the NT3 NetworkTable
table listeners.

Also add table topic-only multi-subscriber to ensure functions like
getKeys() work properly regardless of other subscriptions.
This commit is contained in:
Peter Johnson
2022-11-27 19:46:34 -08:00
committed by GitHub
parent 8958b2a4da
commit ffbfc61532
7 changed files with 381 additions and 4 deletions
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60
ntcore/src/test/native/cpp/TableListenerTest.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <memory>
#include "TestPrinters.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
#include "networktables/DoubleTopic.h"
#include "networktables/NetworkTableInstance.h"
#include "ntcore_cpp.h"
using ::testing::_;
using MockTableEventListener = testing::MockFunction<void(
nt::NetworkTable* table, std::string_view key, const nt::Event& event)>;
using MockSubTableListener =
testing::MockFunction<void(nt::NetworkTable* parent, std::string_view name,
std::shared_ptr<nt::NetworkTable> table)>;
class TableListenerTest : public ::testing::Test {
public:
TableListenerTest() : m_inst(nt::NetworkTableInstance::Create()) {}
~TableListenerTest() override { nt::NetworkTableInstance::Destroy(m_inst); }
void PublishTopics();
protected:
nt::NetworkTableInstance m_inst;
nt::DoublePublisher m_foovalue;
nt::DoublePublisher m_barvalue;
nt::DoublePublisher m_bazvalue;
};
void TableListenerTest::PublishTopics() {
m_foovalue = m_inst.GetDoubleTopic("/foo/foovalue").Publish();
m_barvalue = m_inst.GetDoubleTopic("/foo/bar/barvalue").Publish();
m_bazvalue = m_inst.GetDoubleTopic("/baz/bazvalue").Publish();
}
TEST_F(TableListenerTest, AddListener) {
auto table = m_inst.GetTable("/foo");
MockTableEventListener listener;
table->AddListener(NT_EVENT_TOPIC | NT_EVENT_IMMEDIATE,
listener.AsStdFunction());
EXPECT_CALL(listener, Call(table.get(), "foovalue", _));
PublishTopics();
EXPECT_TRUE(m_inst.WaitForListenerQueue(1.0));
}
TEST_F(TableListenerTest, AddSubTableListener) {
auto table = m_inst.GetTable("/foo");
MockSubTableListener listener;
table->AddSubTableListener(listener.AsStdFunction());
EXPECT_CALL(listener, Call(table.get(), "bar", _));
PublishTopics();
EXPECT_TRUE(m_inst.WaitForListenerQueue(1.0));
}