ntcore_c.h File Reference

#include <stdint.h>
#include <wpi/string.h>
#include <cstddef>
#include "ntcore_c_types.h"

Go to the source code of this file.

Classes
struct	NT_Value
	NetworkTables Entry Value. More...
struct	NT_TopicInfo
	NetworkTables Topic Information. More...
struct	NT_ConnectionInfo
	NetworkTables Connection Information. More...
struct	NT_ValueEventData
	NetworkTables value event data. More...
struct	NT_LogMessage
	NetworkTables log message. More...
struct	NT_TimeSyncEventData
	NetworkTables time sync event data. More...
struct	NT_Event
	NetworkTables event. More...
struct	NT_PubSubOptions
	NetworkTables publish/subscribe options. More...
struct	NT_Meta_SubscriberOptions
	Subscriber options. More...
struct	NT_Meta_TopicPublisher
	Topic publisher (as published via $pub$<topic>). More...
struct	NT_Meta_TopicSubscriber
	Topic subscriber (as published via $sub$<topic>). More...
struct	NT_Meta_ClientPublisher
	Client publisher (as published via $clientpub$<client> or $serverpub). More...
struct	NT_Meta_ClientSubscriber
	Client subscriber (as published via $clientsub$<client> or $serversub). More...
struct	NT_Meta_Client
	Client (as published via $clients). More...

Macros
#define	NT_DEFAULT_PORT   5810
	Default network tables port number.

Typedefs
typedef int	NT_Bool
	Typedefs.
typedef unsigned int	NT_Handle
typedef NT_Handle	NT_ConnectionDataLogger
typedef NT_Handle	NT_DataLogger
typedef NT_Handle	NT_Entry
typedef NT_Handle	NT_Inst
typedef NT_Handle	NT_Listener
typedef NT_Handle	NT_ListenerPoller
typedef NT_Handle	NT_MultiSubscriber
typedef NT_Handle	NT_Topic
typedef NT_Handle	NT_Subscriber
typedef NT_Handle	NT_Publisher
typedef void(*	NT_ListenerCallback) (void *data, const struct NT_Event *event)
	Event listener callback function.

Enumerations
enum	NT_Type {   NT_UNASSIGNED = 0 , NT_BOOLEAN = 0x01 , NT_DOUBLE = 0x02 , NT_STRING = 0x04 ,   NT_RAW = 0x08 , NT_BOOLEAN_ARRAY = 0x10 , NT_DOUBLE_ARRAY = 0x20 , NT_STRING_ARRAY = 0x40 ,   NT_RPC = 0x80 , NT_INTEGER = 0x100 , NT_FLOAT = 0x200 , NT_INTEGER_ARRAY = 0x400 ,   NT_FLOAT_ARRAY = 0x800 }
	NetworkTables data types. More...
enum	NT_EntryFlags { NT_PERSISTENT = 0x01 , NT_RETAINED = 0x02 , NT_UNCACHED = 0x04 }
	NetworkTables entry flags. More...
enum	NT_LogLevel {   NT_LOG_CRITICAL = 50 , NT_LOG_ERROR = 40 , NT_LOG_WARNING = 30 , NT_LOG_INFO = 20 ,   NT_LOG_DEBUG = 10 , NT_LOG_DEBUG1 = 9 , NT_LOG_DEBUG2 = 8 , NT_LOG_DEBUG3 = 7 ,   NT_LOG_DEBUG4 = 6 }
	NetworkTables logging levels. More...
enum	NT_NetworkMode {   NT_NET_MODE_NONE = 0x00 , NT_NET_MODE_SERVER = 0x01 , NT_NET_MODE_CLIENT = 0x04 , NT_NET_MODE_STARTING = 0x08 ,   NT_NET_MODE_LOCAL = 0x10 }
	Client/server modes. More...
enum	NT_EventFlags {   NT_EVENT_NONE = 0 , NT_EVENT_IMMEDIATE = 0x01 , NT_EVENT_CONNECTED = 0x02 , NT_EVENT_DISCONNECTED = 0x04 ,   NT_EVENT_CONNECTION = NT_EVENT_CONNECTED | NT_EVENT_DISCONNECTED , NT_EVENT_PUBLISH = 0x08 , NT_EVENT_UNPUBLISH = 0x10 , NT_EVENT_PROPERTIES = 0x20 ,   NT_EVENT_TOPIC = NT_EVENT_PUBLISH | NT_EVENT_UNPUBLISH | NT_EVENT_PROPERTIES , NT_EVENT_VALUE_REMOTE = 0x40 , NT_EVENT_VALUE_LOCAL = 0x80 , NT_EVENT_VALUE_ALL = NT_EVENT_VALUE_REMOTE | NT_EVENT_VALUE_LOCAL ,   NT_EVENT_LOGMESSAGE = 0x100 , NT_EVENT_TIMESYNC = 0x200 }
	Event notification flags. More...

Functions
NT_Inst	NT_GetDefaultInstance (void)
	Get default instance.
NT_Inst	NT_CreateInstance (void)
	Create an instance.
void	NT_DestroyInstance (NT_Inst inst)
	Destroy an instance.
NT_Inst	NT_GetInstanceFromHandle (NT_Handle handle)
	Get instance handle from another handle.
NT_Entry	NT_GetEntry (NT_Inst inst, const struct WPI_String *name)
	Get Entry Handle.
void	NT_GetEntryName (NT_Entry entry, struct WPI_String *name)
	Gets the name of the specified entry.
enum NT_Type	NT_GetEntryType (NT_Entry entry)
	Gets the type for the specified key, or unassigned if non existent.
uint64_t	NT_GetEntryLastChange (NT_Entry entry)
	Gets the last time the entry was changed.
void	NT_GetEntryValue (NT_Entry entry, struct NT_Value *value)
	Get Entry Value.
void	NT_GetEntryValueType (NT_Entry entry, unsigned int types, struct NT_Value *value)
	Get Entry Value.
NT_Bool	NT_SetDefaultEntryValue (NT_Entry entry, const struct NT_Value *default_value)
	Set Default Entry Value.
NT_Bool	NT_SetEntryValue (NT_Entry entry, const struct NT_Value *value)
	Set Entry Value.
void	NT_SetEntryFlags (NT_Entry entry, unsigned int flags)
	Set Entry Flags.
unsigned int	NT_GetEntryFlags (NT_Entry entry)
	Get Entry Flags.
struct NT_Value *	NT_ReadQueueValue (NT_Handle subentry, size_t *count)
	Read Entry Queue.
struct NT_Value *	NT_ReadQueueValueType (NT_Handle subentry, unsigned int types, size_t *count)
	Read Entry Queue.
NT_Topic *	NT_GetTopics (NT_Inst inst, const struct WPI_String *prefix, unsigned int types, size_t *count)
	Get Published Topic Handles.
NT_Topic *	NT_GetTopicsStr (NT_Inst inst, const struct WPI_String *prefix, const struct WPI_String *types, size_t types_len, size_t *count)
	Get Published Topic Handles.
struct NT_TopicInfo *	NT_GetTopicInfos (NT_Inst inst, const struct WPI_String *prefix, unsigned int types, size_t *count)
	Get Topics.
struct NT_TopicInfo *	NT_GetTopicInfosStr (NT_Inst inst, const struct WPI_String *prefix, const struct WPI_String *types, size_t types_len, size_t *count)
	Get Topics.
NT_Bool	NT_GetTopicInfo (NT_Topic topic, struct NT_TopicInfo *info)
	Gets Topic Information.
NT_Topic	NT_GetTopic (NT_Inst inst, const struct WPI_String *name)
	Gets Topic Handle.
void	NT_GetTopicName (NT_Topic topic, struct WPI_String *name)
	Gets the name of the specified topic.
enum NT_Type	NT_GetTopicType (NT_Topic topic)
	Gets the type for the specified topic, or unassigned if non existent.
void	NT_GetTopicTypeString (NT_Topic topic, struct WPI_String *type)
	Gets the type string for the specified topic.
void	NT_SetTopicPersistent (NT_Topic topic, NT_Bool value)
	Sets the persistent property of a topic.
NT_Bool	NT_GetTopicPersistent (NT_Topic topic)
	Gets the persistent property of a topic.
void	NT_SetTopicRetained (NT_Topic topic, NT_Bool value)
	Sets the retained property of a topic.
NT_Bool	NT_GetTopicRetained (NT_Topic topic)
	Gets the retained property of a topic.
void	NT_SetTopicCached (NT_Topic topic, NT_Bool value)
	Sets the cached property of a topic.
NT_Bool	NT_GetTopicCached (NT_Topic topic)
	Gets the cached property of a topic.
NT_Bool	NT_GetTopicExists (NT_Handle handle)
	Determine if topic exists (e.g.
void	NT_GetTopicProperty (NT_Topic topic, const struct WPI_String *name, struct WPI_String *property)
	Gets the current value of a property (as a JSON string).
NT_Bool	NT_SetTopicProperty (NT_Topic topic, const struct WPI_String *name, const struct WPI_String *value)
	Sets a property value.
void	NT_DeleteTopicProperty (NT_Topic topic, const struct WPI_String *name)
	Deletes a property.
void	NT_GetTopicProperties (NT_Topic topic, struct WPI_String *properties)
	Gets all topic properties as a JSON string.
NT_Bool	NT_SetTopicProperties (NT_Topic topic, const struct WPI_String *properties)
	Updates multiple topic properties.
NT_Subscriber	NT_Subscribe (NT_Topic topic, enum NT_Type type, const struct WPI_String *typeStr, const struct NT_PubSubOptions *options)
	Creates a new subscriber to value changes on a topic.
void	NT_Unsubscribe (NT_Subscriber sub)
	Stops subscriber.
NT_Publisher	NT_Publish (NT_Topic topic, enum NT_Type type, const struct WPI_String *typeStr, const struct NT_PubSubOptions *options)
	Creates a new publisher to a topic.
NT_Publisher	NT_PublishEx (NT_Topic topic, enum NT_Type type, const struct WPI_String *typeStr, const struct WPI_String *properties, const struct NT_PubSubOptions *options)
	Creates a new publisher to a topic.
void	NT_Unpublish (NT_Handle pubentry)
	Stops publisher.
NT_Entry	NT_GetEntryEx (NT_Topic topic, enum NT_Type type, const struct WPI_String *typeStr, const struct NT_PubSubOptions *options)
	Creates a new entry (subscriber and weak publisher) to a topic.
void	NT_ReleaseEntry (NT_Entry entry)
	Stops entry subscriber/publisher.
void	NT_Release (NT_Handle pubsubentry)
	Stops entry/subscriber/publisher.
NT_Topic	NT_GetTopicFromHandle (NT_Handle pubsubentry)
	Gets the topic handle from an entry/subscriber/publisher handle.
NT_MultiSubscriber	NT_SubscribeMultiple (NT_Inst inst, const struct WPI_String *prefixes, size_t prefixes_len, const struct NT_PubSubOptions *options)
	Subscribes to multiple topics based on one or more topic name prefixes.
void	NT_UnsubscribeMultiple (NT_MultiSubscriber sub)
	Unsubscribes a multi-subscriber.
NT_ListenerPoller	NT_CreateListenerPoller (NT_Inst inst)
	Creates a listener poller.
void	NT_DestroyListenerPoller (NT_ListenerPoller poller)
	Destroys a listener poller.
struct NT_Event *	NT_ReadListenerQueue (NT_ListenerPoller poller, size_t *len)
	Read notifications.
void	NT_RemoveListener (NT_Listener listener)
	Removes a listener.
NT_Bool	NT_WaitForListenerQueue (NT_Handle handle, double timeout)
	Wait for the listener queue to be empty.
NT_Listener	NT_AddListenerSingle (NT_Inst inst, const struct WPI_String *prefix, unsigned int mask, void *data, NT_ListenerCallback callback)
	Create a listener for changes to topics with names that start with the given prefix.
NT_Listener	NT_AddListenerMultiple (NT_Inst inst, const struct WPI_String *prefixes, size_t prefixes_len, unsigned int mask, void *data, NT_ListenerCallback callback)
	Create a listener for changes to topics with names that start with any of the given prefixes.
NT_Listener	NT_AddListener (NT_Handle handle, unsigned int mask, void *data, NT_ListenerCallback callback)
	Create a listener.
NT_Listener	NT_AddPolledListenerSingle (NT_ListenerPoller poller, const struct WPI_String *prefix, unsigned int mask)
	Creates a polled topic listener.
NT_Listener	NT_AddPolledListenerMultiple (NT_ListenerPoller poller, const struct WPI_String *prefixes, size_t prefixes_len, unsigned int mask)
	Creates a polled topic listener.
NT_Listener	NT_AddPolledListener (NT_ListenerPoller poller, NT_Handle handle, unsigned int mask)
	Creates a polled listener.
unsigned int	NT_GetNetworkMode (NT_Inst inst)
	Get the current network mode.
void	NT_StartLocal (NT_Inst inst)
	Starts local-only operation.
void	NT_StopLocal (NT_Inst inst)
	Stops local-only operation.
void	NT_StartServer (NT_Inst inst, const struct WPI_String *persist_filename, const struct WPI_String *listen_address, unsigned int port)
	Starts a server using the specified filename, listening address, and port.
void	NT_StopServer (NT_Inst inst)
	Stops the server if it is running.
void	NT_StartClient (NT_Inst inst, const struct WPI_String *identity)
	Starts a client.
void	NT_StopClient (NT_Inst inst)
	Stops the client if it is running.
void	NT_SetServer (NT_Inst inst, const struct WPI_String *server_name, unsigned int port)
	Sets server address and port for client (without restarting client).
void	NT_SetServerMulti (NT_Inst inst, size_t count, const struct WPI_String *server_names, const unsigned int *ports)
	Sets server addresses for client (without restarting client).
void	NT_SetServerTeam (NT_Inst inst, unsigned int team, unsigned int port)
	Sets server addresses and port for client (without restarting client).
void	NT_Disconnect (NT_Inst inst)
	Disconnects the client if it's running and connected.
void	NT_StartDSClient (NT_Inst inst, unsigned int port)
	Starts requesting server address from Driver Station.
void	NT_StopDSClient (NT_Inst inst)
	Stops requesting server address from Driver Station.
void	NT_FlushLocal (NT_Inst inst)
	Flush local updates.
void	NT_Flush (NT_Inst inst)
	Flush to network.
struct NT_ConnectionInfo *	NT_GetConnections (NT_Inst inst, size_t *count)
	Get information on the currently established network connections.
NT_Bool	NT_IsConnected (NT_Inst inst)
	Return whether or not the instance is connected to another node.
int64_t	NT_GetServerTimeOffset (NT_Inst inst, NT_Bool *valid)
	Get the time offset between server time and local time.
void	NT_DisposeValue (struct NT_Value *value)
	Frees value memory.
void	NT_InitValue (struct NT_Value *value)
	Initializes a NT_Value.
void	NT_DisposeValueArray (struct NT_Value *arr, size_t count)
	Frees an array of NT_Values.
void	NT_DisposeConnectionInfoArray (struct NT_ConnectionInfo *arr, size_t count)
	Disposes a connection info array.
void	NT_DisposeTopicInfoArray (struct NT_TopicInfo *arr, size_t count)
	Disposes a topic info array.
void	NT_DisposeTopicInfo (struct NT_TopicInfo *info)
	Disposes a single topic info (as returned by NT_GetTopicInfo).
void	NT_DisposeEventArray (struct NT_Event *arr, size_t count)
	Disposes an event array.
void	NT_DisposeEvent (struct NT_Event *event)
	Disposes a single event.
int64_t	NT_Now (void)
	Returns monotonic current time in 1 us increments.
void	NT_SetNow (int64_t timestamp)
	Sets the current timestamp used for timestamping values that do not provide a timestamp (e.g.
NT_DataLogger	NT_StartEntryDataLog (NT_Inst inst, struct WPI_DataLog *log, const struct WPI_String *prefix, const struct WPI_String *logPrefix)
	Starts logging entry changes to a DataLog.
void	NT_StopEntryDataLog (NT_DataLogger logger)
	Stops logging entry changes to a DataLog.
NT_ConnectionDataLogger	NT_StartConnectionDataLog (NT_Inst inst, struct WPI_DataLog *log, const struct WPI_String *name)
	Starts logging connection changes to a DataLog.
void	NT_StopConnectionDataLog (NT_ConnectionDataLogger logger)
	Stops logging connection changes to a DataLog.
NT_Listener	NT_AddLogger (NT_Inst inst, unsigned int min_level, unsigned int max_level, void *data, NT_ListenerCallback func)
	Add logger callback function.
NT_Listener	NT_AddPolledLogger (NT_ListenerPoller poller, unsigned int min_level, unsigned int max_level)
	Set the log level for a listener poller.
NT_Bool	NT_HasSchema (NT_Inst inst, const struct WPI_String *name)
	Returns whether there is a data schema already registered with the given name.
void	NT_AddSchema (NT_Inst inst, const struct WPI_String *name, const struct WPI_String *type, const uint8_t *schema, size_t schemaSize)
	Registers a data schema.
char *	NT_AllocateCharArray (size_t size)
	Allocates an array of chars.
NT_Bool *	NT_AllocateBooleanArray (size_t size)
	Allocates an array of booleans.
int64_t *	NT_AllocateIntegerArray (size_t size)
	Allocates an array of ints.
float *	NT_AllocateFloatArray (size_t size)
	Allocates an array of floats.
double *	NT_AllocateDoubleArray (size_t size)
	Allocates an array of doubles.
void	NT_FreeCharArray (char *v_char)
	Frees an array of chars.
void	NT_FreeBooleanArray (NT_Bool *v_boolean)
	Frees an array of booleans.
void	NT_FreeIntegerArray (int64_t *v_int)
	Frees an array of ints.
void	NT_FreeFloatArray (float *v_float)
	Frees an array of floats.
void	NT_FreeDoubleArray (double *v_double)
	Frees an array of doubles.
enum NT_Type	NT_GetValueType (const struct NT_Value *value)
	Returns the type of an NT_Value struct.
NT_Bool	NT_GetValueBoolean (const struct NT_Value *value, uint64_t *last_change, NT_Bool *v_boolean)
	Returns the boolean from the NT_Value.
NT_Bool	NT_GetValueInteger (const struct NT_Value *value, uint64_t *last_change, int64_t *v_int)
	Returns the int from the NT_Value.
NT_Bool	NT_GetValueFloat (const struct NT_Value *value, uint64_t *last_change, float *v_float)
	Returns the float from the NT_Value.
NT_Bool	NT_GetValueDouble (const struct NT_Value *value, uint64_t *last_change, double *v_double)
	Returns the double from the NT_Value.
char *	NT_GetValueString (const struct NT_Value *value, uint64_t *last_change, size_t *str_len)
	Returns a copy of the string from the NT_Value.
uint8_t *	NT_GetValueRaw (const struct NT_Value *value, uint64_t *last_change, size_t *raw_len)
	Returns a copy of the raw value from the NT_Value.
NT_Bool *	NT_GetValueBooleanArray (const struct NT_Value *value, uint64_t *last_change, size_t *arr_size)
	Returns a copy of the boolean array from the NT_Value.
int64_t *	NT_GetValueIntegerArray (const struct NT_Value *value, uint64_t *last_change, size_t *arr_size)
	Returns a copy of the int array from the NT_Value.
float *	NT_GetValueFloatArray (const struct NT_Value *value, uint64_t *last_change, size_t *arr_size)
	Returns a copy of the float array from the NT_Value.
double *	NT_GetValueDoubleArray (const struct NT_Value *value, uint64_t *last_change, size_t *arr_size)
	Returns a copy of the double array from the NT_Value.
struct WPI_String *	NT_GetValueStringArray (const struct NT_Value *value, uint64_t *last_change, size_t *arr_size)
	Returns a copy of the struct WPI_String array from the NT_Value.
struct NT_Meta_TopicPublisher *	NT_Meta_DecodeTopicPublishers (const uint8_t *data, size_t size, size_t *count)
	Decodes $pub$<topic> meta-topic data.
struct NT_Meta_TopicSubscriber *	NT_Meta_DecodeTopicSubscribers (const uint8_t *data, size_t size, size_t *count)
	Decodes $sub$<topic> meta-topic data.
struct NT_Meta_ClientPublisher *	NT_Meta_DecodeClientPublishers (const uint8_t *data, size_t size, size_t *count)
	Decodes $clientpub$<topic> meta-topic data.
struct NT_Meta_ClientSubscriber *	NT_Meta_DecodeClientSubscribers (const uint8_t *data, size_t size, size_t *count)
	Decodes $clientsub$<topic> meta-topic data.
struct NT_Meta_Client *	NT_Meta_DecodeClients (const uint8_t *data, size_t size, size_t *count)
	Decodes $clients meta-topic data.
void	NT_Meta_FreeTopicPublishers (struct NT_Meta_TopicPublisher *arr, size_t count)
	Frees an array of NT_Meta_TopicPublisher.
void	NT_Meta_FreeTopicSubscribers (struct NT_Meta_TopicSubscriber *arr, size_t count)
	Frees an array of NT_Meta_TopicSubscriber.
void	NT_Meta_FreeClientPublishers (struct NT_Meta_ClientPublisher *arr, size_t count)
	Frees an array of NT_Meta_ClientPublisher.
void	NT_Meta_FreeClientSubscribers (struct NT_Meta_ClientSubscriber *arr, size_t count)
	Frees an array of NT_Meta_ClientSubscriber.
void	NT_Meta_FreeClients (struct NT_Meta_Client *arr, size_t count)
	Frees an array of NT_Meta_Client.