ntcore_cpp.h File Reference

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

Go to the source code of this file.

Classes
struct	nt::EventFlags
	Event notification flags. More...
struct	nt::TopicInfo
	NetworkTables Topic Information. More...
struct	nt::ConnectionInfo
	NetworkTables Connection Information. More...
class	nt::ValueEventData
	NetworkTables Value Event Data. More...
class	nt::LogMessage
	NetworkTables log message. More...
class	nt::TimeSyncEventData
	NetworkTables time sync event data. More...
class	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...

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

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

Functions
NT_Inst	nt::GetDefaultInstance ()
	Get default instance. More...
NT_Inst	nt::CreateInstance ()
	Create an instance. More...
void	nt::ResetInstance (NT_Inst inst)
	Reset the internals of an instance. More...
void	nt::DestroyInstance (NT_Inst inst)
	Destroy an instance. More...
NT_Inst	nt::GetInstanceFromHandle (NT_Handle handle)
	Get instance handle from another handle. More...
NT_Entry	nt::GetEntry (NT_Inst inst, std::string_view name)
	Get Entry Handle. More...
std::string	nt::GetEntryName (NT_Entry entry)
	Gets the name of the specified entry. More...
NT_Type	nt::GetEntryType (NT_Entry entry)
	Gets the type for the specified entry, or unassigned if non existent. More...
int64_t	nt::GetEntryLastChange (NT_Handle subentry)
	Gets the last time the entry was changed. More...
Value	nt::GetEntryValue (NT_Handle subentry)
	Get Entry Value. More...
bool	nt::SetDefaultEntryValue (NT_Entry entry, const Value &value)
	Set Default Entry Value. More...
bool	nt::SetEntryValue (NT_Entry entry, const Value &value)
	Set Entry Value. More...
void	nt::SetEntryFlags (NT_Entry entry, unsigned int flags)
	Set Entry Flags. More...
unsigned int	nt::GetEntryFlags (NT_Entry entry)
	Get Entry Flags. More...
std::vector< Value >	nt::ReadQueueValue (NT_Handle subentry)
	Read Entry Queue. More...
std::vector< Value >	nt::ReadQueueValue (NT_Handle subentry, unsigned int types)
	Read Entry Queue. More...
std::vector< NT_Topic >	nt::GetTopics (NT_Inst inst, std::string_view prefix, unsigned int types)
	Get Published Topics. More...
std::vector< NT_Topic >	nt::GetTopics (NT_Inst inst, std::string_view prefix, std::span< const std::string_view > types)
	Get Published Topics. More...
std::vector< TopicInfo >	nt::GetTopicInfo (NT_Inst inst, std::string_view prefix, unsigned int types)
	Get Topic Information about multiple topics. More...
std::vector< TopicInfo >	nt::GetTopicInfo (NT_Inst inst, std::string_view prefix, std::span< const std::string_view > types)
	Get Topic Information about multiple topics. More...
TopicInfo	nt::GetTopicInfo (NT_Topic topic)
	Gets Topic Information. More...
NT_Topic	nt::GetTopic (NT_Inst inst, std::string_view name)
	Gets Topic Handle. More...
std::string	nt::GetTopicName (NT_Topic topic)
	Gets the name of the specified topic. More...
NT_Type	nt::GetTopicType (NT_Topic topic)
	Gets the type for the specified topic, or unassigned if non existent. More...
std::string	nt::GetTopicTypeString (NT_Topic topic)
	Gets the type string for the specified topic, or empty string if non existent. More...
void	nt::SetTopicPersistent (NT_Topic topic, bool value)
	Sets the persistent property of a topic. More...
bool	nt::GetTopicPersistent (NT_Topic topic)
	Gets the persistent property of a topic. More...
void	nt::SetTopicRetained (NT_Topic topic, bool value)
	Sets the retained property of a topic. More...
bool	nt::GetTopicRetained (NT_Topic topic)
	Gets the retained property of a topic. More...
void	nt::SetTopicCached (NT_Topic topic, bool value)
	Sets the cached property of a topic. More...
bool	nt::GetTopicCached (NT_Topic topic)
	Gets the cached property of a topic. More...
bool	nt::GetTopicExists (NT_Handle handle)
	Determine if topic exists (e.g. More...
wpi::json	nt::GetTopicProperty (NT_Topic topic, std::string_view name)
	Gets the current value of a property (as a JSON object). More...
void	nt::SetTopicProperty (NT_Topic topic, std::string_view name, const wpi::json &value)
	Sets a property value. More...
void	nt::DeleteTopicProperty (NT_Topic topic, std::string_view name)
	Deletes a property. More...
wpi::json	nt::GetTopicProperties (NT_Topic topic)
	Gets all topic properties as a JSON object. More...
bool	nt::SetTopicProperties (NT_Topic topic, const wpi::json &update)
	Updates multiple topic properties. More...
NT_Subscriber	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. More...
void	nt::Unsubscribe (NT_Subscriber sub)
	Stops subscriber. More...
NT_Publisher	nt::Publish (NT_Topic topic, NT_Type type, std::string_view typeStr, const PubSubOptions &options=kDefaultPubSubOptions)
	Creates a new publisher to a topic. More...
NT_Publisher	nt::PublishEx (NT_Topic topic, NT_Type type, std::string_view typeStr, const wpi::json &properties, const PubSubOptions &options=kDefaultPubSubOptions)
	Creates a new publisher to a topic. More...
void	nt::Unpublish (NT_Handle pubentry)
	Stops publisher. More...
NT_Entry	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. More...
void	nt::ReleaseEntry (NT_Entry entry)
	Stops entry subscriber/publisher. More...
void	nt::Release (NT_Handle pubsubentry)
	Stops entry/subscriber/publisher. More...
NT_Topic	nt::GetTopicFromHandle (NT_Handle pubsubentry)
	Gets the topic handle from an entry/subscriber/publisher handle. More...
NT_MultiSubscriber	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. More...
void	nt::UnsubscribeMultiple (NT_MultiSubscriber sub)
	Unsubscribes a multi-subscriber. More...
NT_ListenerPoller	nt::CreateListenerPoller (NT_Inst inst)
	Creates a listener poller. More...
void	nt::DestroyListenerPoller (NT_ListenerPoller poller)
	Destroys a listener poller. More...
std::vector< Event >	nt::ReadListenerQueue (NT_ListenerPoller poller)
	Read notifications. More...
void	nt::RemoveListener (NT_Listener listener)
	Removes a listener. More...
bool	nt::WaitForListenerQueue (NT_Handle handle, double timeout)
	Wait for the listener queue to be empty. More...
NT_Listener	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. More...
NT_Listener	nt::AddListener (NT_Handle handle, unsigned int mask, ListenerCallback callback)
	Create a listener. More...
NT_Listener	nt::AddPolledListener (NT_ListenerPoller poller, std::span< const std::string_view > prefixes, unsigned int mask)
	Creates a polled listener. More...
NT_Listener	nt::AddPolledListener (NT_ListenerPoller poller, NT_Handle handle, unsigned int mask)
	Creates a polled listener. More...
unsigned int	nt::GetNetworkMode (NT_Inst inst)
	Get the current network mode. More...
void	nt::StartLocal (NT_Inst inst)
	Starts local-only operation. More...
void	nt::StopLocal (NT_Inst inst)
	Stops local-only operation. More...
void	nt::StartServer (NT_Inst inst, std::string_view persist_filename, const char *listen_address, unsigned int port3, unsigned int port4)
	Starts a server using the specified filename, listening address, and port. More...
void	nt::StopServer (NT_Inst inst)
	Stops the server if it is running. More...
void	nt::StartClient3 (NT_Inst inst, std::string_view identity)
	Starts a NT3 client. More...
void	nt::StartClient4 (NT_Inst inst, std::string_view identity)
	Starts a NT4 client. More...
void	nt::StopClient (NT_Inst inst)
	Stops the client if it is running. More...
void	nt::SetServer (NT_Inst inst, const char *server_name, unsigned int port)
	Sets server address and port for client (without restarting client). More...
void	nt::SetServer (NT_Inst inst, std::span< const std::pair< std::string_view, unsigned int > > servers)
	Sets server addresses for client (without restarting client). More...
void	nt::SetServerTeam (NT_Inst inst, unsigned int team, unsigned int port)
	Sets server addresses and port for client (without restarting client). More...
void	nt::Disconnect (NT_Inst inst)
	Disconnects the client if it's running and connected. More...
void	nt::StartDSClient (NT_Inst inst, unsigned int port)
	Starts requesting server address from Driver Station. More...
void	nt::StopDSClient (NT_Inst inst)
	Stops requesting server address from Driver Station. More...
void	nt::FlushLocal (NT_Inst inst)
	Flush local updates. More...
void	nt::Flush (NT_Inst inst)
	Flush to network. More...
std::vector< ConnectionInfo >	nt::GetConnections (NT_Inst inst)
	Get information on the currently established network connections. More...
bool	nt::IsConnected (NT_Inst inst)
	Return whether or not the instance is connected to another node. More...
std::optional< int64_t >	nt::GetServerTimeOffset (NT_Inst inst)
	Get the time offset between server time and local time. More...
int64_t	nt::Now ()
	Returns monotonic current time in 1 us increments. More...
void	nt::SetNow (int64_t timestamp)
	Sets the current timestamp used for timestamping values that do not provide a timestamp (e.g. More...
NT_Type	nt::GetTypeFromString (std::string_view typeString)
	Turns a type string into a type enum value. More...
std::string_view	nt::GetStringFromType (NT_Type type)
	Turns a type enum value into a type string. More...
NT_DataLogger	nt::StartEntryDataLog (NT_Inst inst, wpi::log::DataLog &log, std::string_view prefix, std::string_view logPrefix)
	Starts logging entry changes to a DataLog. More...
void	nt::StopEntryDataLog (NT_DataLogger logger)
	Stops logging entry changes to a DataLog. More...
NT_ConnectionDataLogger	nt::StartConnectionDataLog (NT_Inst inst, wpi::log::DataLog &log, std::string_view name)
	Starts logging connection changes to a DataLog. More...
void	nt::StopConnectionDataLog (NT_ConnectionDataLogger logger)
	Stops logging connection changes to a DataLog. More...
NT_Listener	nt::AddLogger (NT_Inst inst, unsigned int min_level, unsigned int max_level, ListenerCallback func)
	Add logger callback function. More...
NT_Listener	nt::AddPolledLogger (NT_ListenerPoller poller, unsigned int min_level, unsigned int max_level)
	Set the log level for a log poller. More...
bool	nt::HasSchema (NT_Inst inst, std::string_view name)
	Returns whether there is a data schema already registered with the given name. More...
void	nt::AddSchema (NT_Inst inst, std::string_view name, std::string_view type, std::span< const uint8_t > schema)
	Registers a data schema. More...
void	nt::AddSchema (NT_Inst inst, std::string_view name, std::string_view type, std::string_view schema)
	Registers a data schema. More...
std::optional< std::vector< TopicPublisher > >	nt::meta::DecodeTopicPublishers (std::span< const uint8_t > data)
	Decodes $pub$<topic> meta-topic data. More...
std::optional< std::vector< TopicSubscriber > >	nt::meta::DecodeTopicSubscribers (std::span< const uint8_t > data)
	Decodes $sub$<topic> meta-topic data. More...
std::optional< std::vector< ClientPublisher > >	nt::meta::DecodeClientPublishers (std::span< const uint8_t > data)
	Decodes $clientpub$<topic> meta-topic data. More...
std::optional< std::vector< ClientSubscriber > >	nt::meta::DecodeClientSubscribers (std::span< const uint8_t > data)
	Decodes $clientsub$<topic> meta-topic data. More...
std::optional< std::vector< Client > >	nt::meta::DecodeClients (std::span< const uint8_t > data)
	Decodes $clients meta-topic data. More...

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