ntcore_cpp.hpp File Reference

#include <stdint.h>
#include <cassert>
#include <functional>
#include <optional>
#include <span>
#include <string>
#include <string_view>
#include <utility>
#include <variant>
#include <vector>
#include "wpi/nt/NetworkTableValue.hpp"
#include "wpi/nt/ntcore_c.h"
#include "wpi/nt/ntcore_cpp_types.hpp"
#include "wpi/util/json_fwd.hpp"

Go to the source code of this file.

Classes
struct	wpi::nt::EventFlags
	Event notification flags. More...
struct	wpi::nt::TopicInfo
	NetworkTables Topic Information. More...
struct	wpi::nt::ConnectionInfo
	NetworkTables Connection Information. More...
class	wpi::nt::ValueEventData
	NetworkTables Value Event Data. More...
class	wpi::nt::LogMessage
	NetworkTables log message. More...
class	wpi::nt::TimeSyncEventData
	NetworkTables time sync event data. More...
class	wpi::nt::Event
	NetworkTables event. More...
struct	wpi::nt::PubSubOptions
	NetworkTables publish/subscribe options. More...
struct	wpi::nt::meta::SubscriberOptions
	Subscriber options. More...
struct	wpi::nt::meta::TopicPublisher
	Topic publisher (as published via $pub$<topic>). More...
struct	wpi::nt::meta::TopicSubscriber
	Topic subscriber (as published via $sub$<topic>). More...
struct	wpi::nt::meta::ClientPublisher
	Client publisher (as published via $clientpub$<client> or $serverpub). More...
struct	wpi::nt::meta::ClientSubscriber
	Client subscriber (as published via $clientsub$<client> or $serversub). More...
struct	wpi::nt::meta::Client
	Client (as published via $clients). More...

Namespaces
namespace	wpi
namespace	wpi::util
namespace	wpi::log
namespace	wpi::nt
	NetworkTables (ntcore) namespace.
namespace	wpi::nt::meta
	NetworkTables meta-topic decoding functions.

Typedefs
using	wpi::nt::ListenerCallback = std::function<void(const Event&)>

Functions
NT_Inst	wpi::nt::GetDefaultInstance ()
	Get default instance.
NT_Inst	wpi::nt::CreateInstance ()
	Create an instance.
void	wpi::nt::ResetInstance (NT_Inst inst)
	Reset the internals of an instance.
void	wpi::nt::DestroyInstance (NT_Inst inst)
	Destroy an instance.
NT_Inst	wpi::nt::GetInstanceFromHandle (NT_Handle handle)
	Get instance handle from another handle.
NT_Entry	wpi::nt::GetEntry (NT_Inst inst, std::string_view name)
	Get Entry Handle.
std::string	wpi::nt::GetEntryName (NT_Entry entry)
	Gets the name of the specified entry.
NT_Type	wpi::nt::GetEntryType (NT_Entry entry)
	Gets the type for the specified entry, or unassigned if non existent.
int64_t	wpi::nt::GetEntryLastChange (NT_Handle subentry)
	Gets the last time the entry was changed.
Value	wpi::nt::GetEntryValue (NT_Handle subentry)
	Get Entry Value.
bool	wpi::nt::SetDefaultEntryValue (NT_Entry entry, const Value &value)
	Set Default Entry Value.
bool	wpi::nt::SetEntryValue (NT_Entry entry, const Value &value)
	Set Entry Value.
void	wpi::nt::SetEntryFlags (NT_Entry entry, unsigned int flags)
	Set Entry Flags.
unsigned int	wpi::nt::GetEntryFlags (NT_Entry entry)
	Get Entry Flags.
std::vector< Value >	wpi::nt::ReadQueueValue (NT_Handle subentry)
	Read Entry Queue.
std::vector< Value >	wpi::nt::ReadQueueValue (NT_Handle subentry, unsigned int types)
	Read Entry Queue.
std::vector< NT_Topic >	wpi::nt::GetTopics (NT_Inst inst, std::string_view prefix, unsigned int types)
	Get Published Topics.
std::vector< NT_Topic >	wpi::nt::GetTopics (NT_Inst inst, std::string_view prefix, std::span< const std::string_view > types)
	Get Published Topics.
std::vector< TopicInfo >	wpi::nt::GetTopicInfo (NT_Inst inst, std::string_view prefix, unsigned int types)
	Get Topic Information about multiple topics.
std::vector< TopicInfo >	wpi::nt::GetTopicInfo (NT_Inst inst, std::string_view prefix, std::span< const std::string_view > types)
	Get Topic Information about multiple topics.
TopicInfo	wpi::nt::GetTopicInfo (NT_Topic topic)
	Gets Topic Information.
NT_Topic	wpi::nt::GetTopic (NT_Inst inst, std::string_view name)
	Gets Topic Handle.
std::string	wpi::nt::GetTopicName (NT_Topic topic)
	Gets the name of the specified topic.
NT_Type	wpi::nt::GetTopicType (NT_Topic topic)
	Gets the type for the specified topic, or unassigned if non existent.
std::string	wpi::nt::GetTopicTypeString (NT_Topic topic)
	Gets the type string for the specified topic, or empty string if non existent.
void	wpi::nt::SetTopicPersistent (NT_Topic topic, bool value)
	Sets the persistent property of a topic.
bool	wpi::nt::GetTopicPersistent (NT_Topic topic)
	Gets the persistent property of a topic.
void	wpi::nt::SetTopicRetained (NT_Topic topic, bool value)
	Sets the retained property of a topic.
bool	wpi::nt::GetTopicRetained (NT_Topic topic)
	Gets the retained property of a topic.
void	wpi::nt::SetTopicCached (NT_Topic topic, bool value)
	Sets the cached property of a topic.
bool	wpi::nt::GetTopicCached (NT_Topic topic)
	Gets the cached property of a topic.
bool	wpi::nt::GetTopicExists (NT_Handle handle)
	Determine if topic exists (e.g.
wpi::util::json	wpi::nt::GetTopicProperty (NT_Topic topic, std::string_view name)
	Gets the current value of a property (as a JSON object).
void	wpi::nt::SetTopicProperty (NT_Topic topic, std::string_view name, const wpi::util::json &value)
	Sets a property value.
void	wpi::nt::DeleteTopicProperty (NT_Topic topic, std::string_view name)
	Deletes a property.
wpi::util::json	wpi::nt::GetTopicProperties (NT_Topic topic)
	Gets all topic properties as a JSON object.
bool	wpi::nt::SetTopicProperties (NT_Topic topic, const wpi::util::json &update)
	Updates multiple topic properties.
NT_Subscriber	wpi::nt::Subscribe (NT_Topic topic, NT_Type type, std::string_view typeStr, const PubSubOptions &options=kDefaultPubSubOptions)
	Creates a new subscriber to value changes on a topic.
void	wpi::nt::Unsubscribe (NT_Subscriber sub)
	Stops subscriber.
NT_Publisher	wpi::nt::Publish (NT_Topic topic, NT_Type type, std::string_view typeStr, const PubSubOptions &options=kDefaultPubSubOptions)
	Creates a new publisher to a topic.
NT_Publisher	wpi::nt::PublishEx (NT_Topic topic, NT_Type type, std::string_view typeStr, const wpi::util::json &properties, const PubSubOptions &options=kDefaultPubSubOptions)
	Creates a new publisher to a topic.
void	wpi::nt::Unpublish (NT_Handle pubentry)
	Stops publisher.
NT_Entry	wpi::nt::GetEntry (NT_Topic topic, NT_Type type, std::string_view typeStr, const PubSubOptions &options=kDefaultPubSubOptions)
	Creates a new entry (subscriber and weak publisher) to a topic.
void	wpi::nt::ReleaseEntry (NT_Entry entry)
	Stops entry subscriber/publisher.
void	wpi::nt::Release (NT_Handle pubsubentry)
	Stops entry/subscriber/publisher.
NT_Topic	wpi::nt::GetTopicFromHandle (NT_Handle pubsubentry)
	Gets the topic handle from an entry/subscriber/publisher handle.
NT_MultiSubscriber	wpi::nt::SubscribeMultiple (NT_Inst inst, std::span< const std::string_view > prefixes, const PubSubOptions &options=kDefaultPubSubOptions)
	Subscribes to multiple topics based on one or more topic name prefixes.
void	wpi::nt::UnsubscribeMultiple (NT_MultiSubscriber sub)
	Unsubscribes a multi-subscriber.
NT_ListenerPoller	wpi::nt::CreateListenerPoller (NT_Inst inst)
	Creates a listener poller.
void	wpi::nt::DestroyListenerPoller (NT_ListenerPoller poller)
	Destroys a listener poller.
std::vector< Event >	wpi::nt::ReadListenerQueue (NT_ListenerPoller poller)
	Read notifications.
void	wpi::nt::RemoveListener (NT_Listener listener)
	Removes a listener.
bool	wpi::nt::WaitForListenerQueue (NT_Handle handle, double timeout)
	Wait for the listener queue to be empty.
NT_Listener	wpi::nt::AddListener (NT_Inst inst, std::span< const std::string_view > prefixes, unsigned int mask, ListenerCallback callback)
	Create a listener for changes to topics with names that start with any of the given prefixes.
NT_Listener	wpi::nt::AddListener (NT_Handle handle, unsigned int mask, ListenerCallback callback)
	Create a listener.
NT_Listener	wpi::nt::AddPolledListener (NT_ListenerPoller poller, std::span< const std::string_view > prefixes, unsigned int mask)
	Creates a polled listener.
NT_Listener	wpi::nt::AddPolledListener (NT_ListenerPoller poller, NT_Handle handle, unsigned int mask)
	Creates a polled listener.
unsigned int	wpi::nt::GetNetworkMode (NT_Inst inst)
	Get the current network mode.
void	wpi::nt::StartLocal (NT_Inst inst)
	Starts local-only operation.
void	wpi::nt::StopLocal (NT_Inst inst)
	Stops local-only operation.
void	wpi::nt::StartServer (NT_Inst inst, std::string_view persist_filename, std::string_view listen_address, std::string_view mdns_service, unsigned int port)
	Starts a server using the specified filename, listening address, and port.
void	wpi::nt::StopServer (NT_Inst inst)
	Stops the server if it is running.
void	wpi::nt::StartClient (NT_Inst inst, std::string_view identity)
	Starts a client.
void	wpi::nt::StopClient (NT_Inst inst)
	Stops the client if it is running.
void	wpi::nt::SetServer (NT_Inst inst, std::string_view server_name, unsigned int port)
	Sets server address and port for client (without restarting client).
void	wpi::nt::SetServer (NT_Inst inst, std::span< const std::pair< std::string_view, unsigned int > > servers)
	Sets server addresses for client (without restarting client).
void	wpi::nt::SetServerTeam (NT_Inst inst, unsigned int team, unsigned int port)
	Sets server addresses and port for client (without restarting client).
void	wpi::nt::Disconnect (NT_Inst inst)
	Disconnects the client if it's running and connected.
void	wpi::nt::StartDSClient (NT_Inst inst, unsigned int port)
	Starts requesting server address from Driver Station.
void	wpi::nt::StopDSClient (NT_Inst inst)
	Stops requesting server address from Driver Station.
void	wpi::nt::FlushLocal (NT_Inst inst)
	Flush local updates.
void	wpi::nt::Flush (NT_Inst inst)
	Flush to network.
std::vector< ConnectionInfo >	wpi::nt::GetConnections (NT_Inst inst)
	Get information on the currently established network connections.
bool	wpi::nt::IsConnected (NT_Inst inst)
	Return whether or not the instance is connected to another node.
std::optional< int64_t >	wpi::nt::GetServerTimeOffset (NT_Inst inst)
	Get the time offset between server time and local time.
int64_t	wpi::nt::Now ()
	Returns monotonic current time in 1 us increments.
void	wpi::nt::SetNow (int64_t timestamp)
	Sets the current timestamp used for timestamping values that do not provide a timestamp (e.g.
NT_Type	wpi::nt::GetTypeFromString (std::string_view typeString)
	Turns a type string into a type enum value.
std::string_view	wpi::nt::GetStringFromType (NT_Type type)
	Turns a type enum value into a type string.
NT_DataLogger	wpi::nt::StartEntryDataLog (NT_Inst inst, wpi::log::DataLog &log, std::string_view prefix, std::string_view logPrefix)
	Starts logging entry changes to a DataLog.
void	wpi::nt::StopEntryDataLog (NT_DataLogger logger)
	Stops logging entry changes to a DataLog.
NT_ConnectionDataLogger	wpi::nt::StartConnectionDataLog (NT_Inst inst, wpi::log::DataLog &log, std::string_view name)
	Starts logging connection changes to a DataLog.
void	wpi::nt::StopConnectionDataLog (NT_ConnectionDataLogger logger)
	Stops logging connection changes to a DataLog.
NT_Listener	wpi::nt::AddLogger (NT_Inst inst, unsigned int min_level, unsigned int max_level, ListenerCallback func)
	Add logger callback function.
NT_Listener	wpi::nt::AddPolledLogger (NT_ListenerPoller poller, unsigned int min_level, unsigned int max_level)
	Set the log level for a log poller.
bool	wpi::nt::HasSchema (NT_Inst inst, std::string_view name)
	Returns whether there is a data schema already registered with the given name.
void	wpi::nt::AddSchema (NT_Inst inst, std::string_view name, std::string_view type, std::span< const uint8_t > schema)
	Registers a data schema.
void	wpi::nt::AddSchema (NT_Inst inst, std::string_view name, std::string_view type, std::string_view schema)
	Registers a data schema.
std::optional< std::vector< TopicPublisher > >	wpi::nt::meta::DecodeTopicPublishers (std::span< const uint8_t > data)
	Decodes $pub$<topic> meta-topic data.
std::optional< std::vector< TopicSubscriber > >	wpi::nt::meta::DecodeTopicSubscribers (std::span< const uint8_t > data)
	Decodes $sub$<topic> meta-topic data.
std::optional< std::vector< ClientPublisher > >	wpi::nt::meta::DecodeClientPublishers (std::span< const uint8_t > data)
	Decodes $clientpub$<topic> meta-topic data.
std::optional< std::vector< ClientSubscriber > >	wpi::nt::meta::DecodeClientSubscribers (std::span< const uint8_t > data)
	Decodes $clientsub$<topic> meta-topic data.
std::optional< std::vector< Client > >	wpi::nt::meta::DecodeClients (std::span< const uint8_t > data)
	Decodes $clients meta-topic data.

Variables
constexpr PubSubOptions	wpi::nt::kDefaultPubSubOptions
	Default publish/subscribe options.