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a865f48e96
In Java, PubSubOption is still used for passing options, but this simplifies C++ use substantially, as it allows aggregate construction.
34 lines
1.0 KiB
C++
34 lines
1.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "glass/networktables/NTGyro.h"
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#include <fmt/format.h>
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#include <wpi/StringExtras.h>
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using namespace glass;
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NTGyroModel::NTGyroModel(std::string_view path)
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: NTGyroModel(nt::NetworkTableInstance::GetDefault(), path) {}
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NTGyroModel::NTGyroModel(nt::NetworkTableInstance inst, std::string_view path)
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: m_inst{inst},
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m_angle{inst.GetDoubleTopic(fmt::format("{}/Value", path)).Subscribe(0)},
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m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe({})},
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m_angleData{fmt::format("NT_Gyro:{}", path)},
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m_nameValue{wpi::rsplit(path, '/').second} {}
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void NTGyroModel::Update() {
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for (auto&& v : m_name.ReadQueue()) {
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m_nameValue = std::move(v.value);
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}
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for (auto&& v : m_angle.ReadQueue()) {
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m_angleData.SetValue(v.value, v.time);
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}
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}
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bool NTGyroModel::Exists() {
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return m_angle.Exists();
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}
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