[ntcore] Unify listeners (#4536)

This combines all 4 NT listener APIs (topic, value, connection, and logging) into a single unified listener API.
wpilibsuite · Nov 1, 2022 · b114006 · b114006
1 parent 32fbfb7
commit b114006
Show file tree

Hide file tree

Showing 71 changed files with 3,515 additions and 5,688 deletions.
diff --git a/glass/src/app/native/cpp/main.cpp b/glass/src/app/native/cpp/main.cpp
@@ -70,44 +70,41 @@ static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
 }
 
 static void NtInitialize() {
-  // update window title when connection status changes
   auto inst = nt::GetDefaultInstance();
-  auto poller = nt::CreateConnectionListenerPoller(inst);
-  nt::AddPolledConnectionListener(poller, true);
+  auto poller = nt::CreateListenerPoller(inst);
+  nt::AddPolledListener(
+      poller, inst,
+      NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE | NT_EVENT_LOGMESSAGE);
   gui::AddEarlyExecute([poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
-    for (auto&& event : nt::ReadConnectionListenerQueue(poller)) {
-      if (event.connected) {
-        glfwSetWindowTitle(
-            win, fmt::format("Glass - Connected ({})", event.conn.remote_ip)
-                     .c_str());
-      } else {
-        glfwSetWindowTitle(win, "Glass - DISCONNECTED");
+    for (auto&& event : nt::ReadListenerQueue(poller)) {
+      if (auto connInfo = event.GetConnectionInfo()) {
+        // update window title when connection status changes
+        if ((event.flags & NT_EVENT_CONNECTED) != 0) {
+          glfwSetWindowTitle(
+              win, fmt::format("Glass - Connected ({})", connInfo->remote_ip)
+                       .c_str());
+        } else {
+          glfwSetWindowTitle(win, "Glass - DISCONNECTED");
+        }
+      } else if (auto msg = event.GetLogMessage()) {
+        const char* level = "";
+        if (msg->level >= NT_LOG_CRITICAL) {
+          level = "CRITICAL: ";
+        } else if (msg->level >= NT_LOG_ERROR) {
+          level = "ERROR: ";
+        } else if (msg->level >= NT_LOG_WARNING) {
+          level = "WARNING: ";
+        }
+        gNetworkTablesLog.Append(fmt::format(
+            "{}{} ({}:{})\n", level, msg->message, msg->filename, msg->line));
       }
     }
   });
 
-  // handle NetworkTables log messages
-  auto logPoller = nt::CreateLoggerPoller(inst);
-  nt::AddPolledLogger(logPoller, NT_LOG_INFO, 100);
-  gui::AddEarlyExecute([logPoller] {
-    for (auto&& msg : nt::ReadLoggerQueue(logPoller)) {
-      const char* level = "";
-      if (msg.level >= NT_LOG_CRITICAL) {
-        level = "CRITICAL: ";
-      } else if (msg.level >= NT_LOG_ERROR) {
-        level = "ERROR: ";
-      } else if (msg.level >= NT_LOG_WARNING) {
-        level = "WARNING: ";
-      }
-      gNetworkTablesLog.Append(fmt::format("{}{} ({}:{})\n", level, msg.message,
-                                           msg.filename, msg.line));
-    }
-  });
-
   gNetworkTablesLogWindow = std::make_unique<glass::Window>(
       glass::GetStorageRoot().GetChild("NetworkTables Log"),
       "NetworkTables Log", glass::Window::kHide);

diff --git a/glass/src/libnt/native/cpp/NTField2D.cpp b/glass/src/libnt/native/cpp/NTField2D.cpp
@@ -117,58 +117,55 @@ NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
                  {{nt::PubSubOption::SendAll(true),
                    nt::PubSubOption::Periodic(0.05)}}},
       m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
-      m_topicListener{inst},
-      m_valueListener{inst} {
-  m_topicListener.Add(m_tableSub, NT_TOPIC_NOTIFY_PUBLISH |
-                                      NT_TOPIC_NOTIFY_UNPUBLISH |
-                                      NT_TOPIC_NOTIFY_IMMEDIATE);
-  m_valueListener.Add(m_tableSub,
-                      NT_VALUE_NOTIFY_IMMEDIATE | NT_VALUE_NOTIFY_LOCAL);
+      m_poller{inst} {
+  m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
+                                       nt::EventFlags::kValueAll |
+                                       nt::EventFlags::kImmediate);
 }
 
 NTField2DModel::~NTField2DModel() = default;
 
 void NTField2DModel::Update() {
-  // handle publish/unpublish
-  for (auto&& event : m_topicListener.ReadQueue()) {
-    auto name = wpi::drop_front(event.info.name, m_path.size());
-    if (name.empty() || name[0] == '.') {
-      continue;
-    }
-    auto [it, match] = Find(event.info.name);
-    if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
-      if (match) {
-        m_objects.erase(it);
+  for (auto&& event : m_poller.ReadQueue()) {
+    if (auto info = event.GetTopicInfo()) {
+      // handle publish/unpublish
+      auto name = wpi::drop_front(info->name, m_path.size());
+      if (name.empty() || name[0] == '.') {
+        continue;
       }
-      continue;
-    } else if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
-      if (!match) {
-        it = m_objects.emplace(
-            it, std::make_unique<ObjectModel>(
-                    event.info.name, nt::DoubleArrayTopic{event.info.topic}));
+      auto [it, match] = Find(info->name);
+      if (event.flags & nt::EventFlags::kUnpublish) {
+        if (match) {
+          m_objects.erase(it);
+        }
+        continue;
+      } else if (event.flags & nt::EventFlags::kPublish) {
+        if (!match) {
+          it = m_objects.emplace(
+              it, std::make_unique<ObjectModel>(
+                      info->name, nt::DoubleArrayTopic{info->topic}));
+        }
+      } else if (!match) {
+        continue;
       }
-    } else if (!match) {
-      continue;
-    }
-  }
-
-  // update values
-  for (auto&& event : m_valueListener.ReadQueue()) {
-    // .name
-    if (event.topic == m_nameTopic.GetHandle()) {
-      if (event.value && event.value.IsString()) {
-        m_nameValue = event.value.GetString();
+    } else if (auto valueData = event.GetValueEventData()) {
+      // update values
+      // .name
+      if (valueData->topic == m_nameTopic.GetHandle()) {
+        if (valueData->value && valueData->value.IsString()) {
+          m_nameValue = valueData->value.GetString();
+        }
+        continue;
       }
-      continue;
-    }
 
-    auto it =
-        std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
-          return e->GetTopic().GetHandle() == event.topic;
-        });
-    if (it != m_objects.end()) {
-      (*it)->NTUpdate(event.value);
-      continue;
+      auto it =
+          std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
+            return e->GetTopic().GetHandle() == valueData->topic;
+          });
+      if (it != m_objects.end()) {
+        (*it)->NTUpdate(valueData->value);
+        continue;
+      }
     }
   }
 }