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[ntcore] Merge .inc files into headers (wpilibsuite#7210)
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@PeterJohnson
PeterJohnson authored Oct 15, 2024
1 parent ee281ea commit 0bada2e
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Showing 41 changed files with 1,720 additions and 3,383 deletions.
108 changes: 85 additions & 23 deletions ntcore/src/generate/main/native/include/networktables/Topic.h.jinja
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,9 @@

#include <wpi/json_fwd.h>

#include "networktables/NetworkTableType.h"
#include "networktables/Topic.h"
#include "ntcore_cpp.h"

namespace wpi {
template <typename T>
Expand Down Expand Up @@ -50,15 +52,19 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @param handle Native handle
* @param defaultValue Default value
*/
{{ TypeName }}Subscriber(NT_Subscriber handle, ParamType defaultValue);
{{ TypeName }}Subscriber(NT_Subscriber handle, ParamType defaultValue)
: Subscriber{handle},
m_defaultValue{{ '{' }}{{ cpp.DefaultValueCopy|default('defaultValue') }}} {}

/**
* Get the last published value.
* If no value has been published, returns the stored default value.
*
* @return value
*/
ValueType Get() const;
ValueType Get() const {
return Get(m_defaultValue);
}

/**
* Get the last published value.
Expand All @@ -67,7 +73,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @param defaultValue default value to return if no value has been published
* @return value
*/
ValueType Get(ParamType defaultValue) const;
ValueType Get(ParamType defaultValue) const {
return ::nt::Get{{ TypeName }}(m_subHandle, defaultValue);
}
{% if cpp.SmallRetType and cpp.SmallElemType %}
/**
* Get the last published value.
Expand All @@ -76,7 +84,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @param buf storage for returned value
* @return value
*/
SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const;
SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf) const {
return Get(buf, m_defaultValue);
}

/**
* Get the last published value.
Expand All @@ -86,7 +96,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @param defaultValue default value to return if no value has been published
* @return value
*/
SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const;
SmallRetType Get(wpi::SmallVectorImpl<SmallElemType>& buf, ParamType defaultValue) const {
return nt::Get{{ TypeName }}(m_subHandle, buf, defaultValue);
}
{% endif %}
/**
* Get the last published value along with its timestamp
Expand All @@ -95,7 +107,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
*
* @return timestamped value
*/
TimestampedValueType GetAtomic() const;
TimestampedValueType GetAtomic() const {
return GetAtomic(m_defaultValue);
}

/**
* Get the last published value along with its timestamp.
Expand All @@ -105,7 +119,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @param defaultValue default value to return if no value has been published
* @return timestamped value
*/
TimestampedValueType GetAtomic(ParamType defaultValue) const;
TimestampedValueType GetAtomic(ParamType defaultValue) const {
return ::nt::GetAtomic{{ TypeName }}(m_subHandle, defaultValue);
}
{% if cpp.SmallRetType and cpp.SmallElemType %}
/**
* Get the last published value along with its timestamp.
Expand All @@ -116,7 +132,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @return timestamped value
*/
TimestampedValueViewType GetAtomic(
wpi::SmallVectorImpl<SmallElemType>& buf) const;
wpi::SmallVectorImpl<SmallElemType>& buf) const {
return GetAtomic(buf, m_defaultValue);
}

/**
* Get the last published value along with its timestamp.
Expand All @@ -129,7 +147,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
*/
TimestampedValueViewType GetAtomic(
wpi::SmallVectorImpl<SmallElemType>& buf,
ParamType defaultValue) const;
ParamType defaultValue) const {
return nt::GetAtomic{{ TypeName }}(m_subHandle, buf, defaultValue);
}
{% endif %}
/**
* Get an array of all value changes since the last call to ReadQueue.
Expand All @@ -141,7 +161,9 @@ class {{ TypeName }}Subscriber : public Subscriber {
* @return Array of timestamped values; empty array if no new changes have
* been published since the previous call.
*/
std::vector<TimestampedValueType> ReadQueue();
std::vector<TimestampedValueType> ReadQueue() {
return ::nt::ReadQueue{{ TypeName }}(m_subHandle);
}

/**
* Get the corresponding topic.
Expand Down Expand Up @@ -176,15 +198,17 @@ class {{ TypeName }}Publisher : public Publisher {
*
* @param handle Native handle
*/
explicit {{ TypeName }}Publisher(NT_Publisher handle);
explicit {{ TypeName }}Publisher(NT_Publisher handle) : Publisher{handle} {}

/**
* Publish a new value.
*
* @param value value to publish
* @param time timestamp; 0 indicates current NT time should be used
*/
void Set(ParamType value, int64_t time = 0);
void Set(ParamType value, int64_t time = 0) {
::nt::Set{{ TypeName }}(m_pubHandle, value, time);
}

/**
* Publish a default value.
Expand All @@ -193,7 +217,9 @@ class {{ TypeName }}Publisher : public Publisher {
*
* @param value value
*/
void SetDefault(ParamType value);
void SetDefault(ParamType value) {
::nt::SetDefault{{ TypeName }}(m_pubHandle, value);
}

/**
* Get the corresponding topic.
Expand Down Expand Up @@ -231,7 +257,9 @@ class {{ TypeName }}Entry final : public {{ TypeName }}Subscriber,
* @param handle Native handle
* @param defaultValue Default value
*/
{{ TypeName }}Entry(NT_Entry handle, ParamType defaultValue);
{{ TypeName }}Entry(NT_Entry handle, ParamType defaultValue)
: {{ TypeName }}Subscriber{handle, defaultValue},
{{ TypeName }}Publisher{handle} {}

/**
* Determines if the native handle is valid.
Expand All @@ -257,7 +285,9 @@ class {{ TypeName }}Entry final : public {{ TypeName }}Subscriber,
/**
* Stops publishing the entry if it's published.
*/
void Unpublish();
void Unpublish() {
::nt::Unpublish(m_pubHandle);
}
};

/**
Expand Down Expand Up @@ -314,7 +344,11 @@ class {{ TypeName }}Topic final : public Topic {
[[nodiscard]]
SubscriberType Subscribe(
{% if not TypeString %}std::string_view typeString, {% endif %}ParamType defaultValue,
const PubSubOptions& options = kDefaultPubSubOptions);
const PubSubOptions& options = kDefaultPubSubOptions) {
return {{ TypeName }}Subscriber{
::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
defaultValue};
}
{%- if TypeString %}
/**
* Create a new subscriber to the topic, with specific type string.
Expand All @@ -335,7 +369,11 @@ class {{ TypeName }}Topic final : public Topic {
[[nodiscard]]
SubscriberType SubscribeEx(
std::string_view typeString, ParamType defaultValue,
const PubSubOptions& options = kDefaultPubSubOptions);
const PubSubOptions& options = kDefaultPubSubOptions) {
return {{ TypeName }}Subscriber{
::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
defaultValue};
}
{% endif %}
/**
* Create a new publisher to the topic.
Expand All @@ -356,7 +394,10 @@ class {{ TypeName }}Topic final : public Topic {
* @return publisher
*/
[[nodiscard]]
PublisherType Publish({% if not TypeString %}std::string_view typeString, {% endif %}const PubSubOptions& options = kDefaultPubSubOptions);
PublisherType Publish({% if not TypeString %}std::string_view typeString, {% endif %}const PubSubOptions& options = kDefaultPubSubOptions) {
return {{ TypeName }}Publisher{
::nt::Publish(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options)};
}

/**
* Create a new publisher to the topic, with type string and initial
Expand All @@ -378,7 +419,10 @@ class {{ TypeName }}Topic final : public Topic {
*/
[[nodiscard]]
PublisherType PublishEx(std::string_view typeString,
const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions);
const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions) {
return {{ TypeName }}Publisher{
::nt::PublishEx(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, properties, options)};
}

/**
* Create a new entry for the topic.
Expand All @@ -405,7 +449,11 @@ class {{ TypeName }}Topic final : public Topic {
*/
[[nodiscard]]
EntryType GetEntry({% if not TypeString %}std::string_view typeString, {% endif %}ParamType defaultValue,
const PubSubOptions& options = kDefaultPubSubOptions);
const PubSubOptions& options = kDefaultPubSubOptions) {
return {{ TypeName }}Entry{
::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
defaultValue};
}
{%- if TypeString %}
/**
* Create a new entry for the topic, with specific type string.
Expand All @@ -430,11 +478,25 @@ class {{ TypeName }}Topic final : public Topic {
*/
[[nodiscard]]
EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
const PubSubOptions& options = kDefaultPubSubOptions);
const PubSubOptions& options = kDefaultPubSubOptions) {
return {{ TypeName }}Entry{
::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
defaultValue};
}
{% endif %}
};

} // namespace nt
inline {{ TypeName }}Topic {{ TypeName }}Subscriber::GetTopic() const {
return {{ TypeName }}Topic{::nt::GetTopicFromHandle(m_subHandle)};
}

inline {{ TypeName }}Topic {{ TypeName }}Publisher::GetTopic() const {
return {{ TypeName }}Topic{::nt::GetTopicFromHandle(m_pubHandle)};
}

#include "networktables/{{ TypeName }}Topic.inc"
inline {{ TypeName }}Topic {{ TypeName }}Entry::GetTopic() const {
return {{ TypeName }}Topic{::nt::GetTopicFromHandle(m_subHandle)};
}

} // namespace nt

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