diff --git a/README.md b/README.md index 1ac4b30..eec0ed1 100644 --- a/README.md +++ b/README.md @@ -133,6 +133,29 @@ await autoModeTopic.publish(); autoModeTopic.setValue('25 Ball Auto and Climb'); ``` +### Subscribing to Announced Topics + +You can register a callback to know when your topics are announced: + +```typescript +const ntcore = NetworkTables.getInstanceByTeam(973); +ntcore.addOnTopicAnnouncedListener((topic) => { + console.log(`Topic announced: ${topic.name}`); +}); +``` + +By supplying `true` to the `announceAll` parameter, all topics published to NetworkTables (from any client) will also be announced: + +```typescript +const ntcore = NetworkTables.getInstanceByTeam(973); +ntcore.addOnTopicAnnouncedListener((topic) => { + console.log(`Topic announced: ${topic.name}`); + topic.subscribe((value) => console.log(`Got ${topic.name} value: ${value}`)); +}, true); +``` + +This will allow you to subscribe to any or all topics from the robot, which is useful for dynamic dashboard applications. + ### More info The API for Topics is much more exhaustive than this quick example. Feel free to view the docs at [https://ntcore.chrislawson.dev](https://ntcore.chrislawson.dev). diff --git a/docs/assets/navigation.js b/docs/assets/navigation.js index a105119..7a5cb2d 100644 --- a/docs/assets/navigation.js +++ b/docs/assets/navigation.js @@ -1 +1 @@ -window.navigationData = "data:application/octet-stream;base64,H4sIAAAAAAAAE53UTU8CMRAG4P/SMxEhwQ9uGi8eRBLwZDx01wEalm7T6UY3xv9uAkTcdobZet333WenbbqvXyrAZ1BTNYPwUfvtUhcVoBoop8NGTVVZaUTAYSe+2IRdpQZqa+y7mo7GN98D2lnWzpQCtu/0F1sHj3ZVSyP+9s7J98Zq3z4Bol7Dgw76hBobwK90CThMWl1yPLn6Q95ZWze2hGP9BIbWAQ6jOJIub69HkzGvzbXXOxTMQ0mSO4uKxU4oSYzR823y0GKLLGXLycalDcmc+9qBDwaQWXVSyBbpM2Zqot4UlcENN2wnzbOYMYmO5C4giNtKdf7j0lPzTfEbTYGlNwV33eM812PmJVu97WcXTG159ZhL3v6/fdq3mItiUWsdzJpdohwe93l7Ebyxawo4JJLxYvX5f3dSyBbp42Rqsu7O3u44z/W4YamWbKNwU9JGvslNTPdo/+0HtFSZ1hIJAAA=" \ No newline at end of file +window.navigationData = 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\ No newline at end of file diff --git a/docs/classes/NetworkTables.html b/docs/classes/NetworkTables.html index 7dac1d9..f8f1944 100644 --- a/docs/classes/NetworkTables.html +++ b/docs/classes/NetworkTables.html @@ -1,6 +1,7 @@ NetworkTables | ntcore-ts-client

Class NetworkTables

NetworkTables class for interacting with NetworkTables over a WebSocket connection.

-

Accessors

client -

Methods

addRobotConnectionListener +

Accessors

client +

Methods

addOnTopicAnnouncedListener +addRobotConnectionListener changeURI createTopic getPort @@ -11,31 +12,35 @@ getInstanceByURI

Accessors

client

Methods

addRobotConnectionListener

Methods

addOnTopicAnnouncedListener

  • addOnTopicAnnouncedListener(callback, announceAll?): (() => void)

  • Adds a listener for when topics are announced

    +

    Parameters

    • callback: ((_: NetworkTablesTopic<any>) => void)

      A callback triggered with the announced topic

      +
    • OptionalannounceAll: boolean

      Whether to trigger all topics in NetworkTables to be announced

      +

    Returns (() => void)

    A function to remove the listener.

    +
      • (): void

      • Returns void

addRobotConnectionListener

  • addRobotConnectionListener(callback, immediateNotify?): (() => void)

  • Adds a listener for robot connection status updates.

    Parameters

    • callback: ((_: boolean) => void)

      The callback to call when the connection status changes.

        • (_): void

        • Parameters

          • _: boolean

          Returns void

    • OptionalimmediateNotify: boolean

      Whether to immediately notify the callback of the current connection status.

    Returns (() => void)

    A function to remove the listener.

    -
      • (): void

      • Returns void

changeURI

createTopic

changeURI

createTopic

getPort

getPort

getURI

getURI

isRobotConnected

isRobotConnected

isRobotConnecting

isRobotConnecting

StaticgetInstanceByTeam

StaticgetInstanceByTeam

StaticgetInstanceByURI

  • getInstanceByURI(uri, port?): NetworkTables

  • Creates a new NetworkTables instance if it does not exist.

    +

StaticgetInstanceByURI

Settings

Member Visibility

On This Page

Accessors
Methods
+

Settings

Member Visibility

On This Page

Accessors
Methods
diff --git a/docs/classes/NetworkTablesTopic.html b/docs/classes/NetworkTablesTopic.html index 91cc4f8..7f6e8d3 100644 --- a/docs/classes/NetworkTablesTopic.html +++ b/docs/classes/NetworkTablesTopic.html @@ -1,4 +1,4 @@ -NetworkTablesTopic | ntcore-ts-client

Class NetworkTablesTopic<T>

Type Parameters

Constructors

constructor +NetworkTablesTopic | ntcore-ts-client

Class NetworkTablesTopic<T>

Type Parameters

Constructors

constructor

Accessors

announced id lastChangedTime @@ -22,60 +22,60 @@ updateValue

Constructors

constructor

  • new NetworkTablesTopic<T>(client, name, typeInfo, defaultValue?): NetworkTablesTopic<T>

  • Creates a new topic. This should only be done after the base NTCore client has been initialized.

    -

    Type Parameters

    • T extends
          | string
          | number
          | boolean
          | string[]
          | ArrayBuffer
          | boolean[]
          | number[]

    Parameters

    • client: PubSubClient

      The client that owns the topic.

      +

      Type Parameters

      • T extends
            | string
            | number
            | boolean
            | string[]
            | ArrayBuffer
            | boolean[]
            | number[] = any

      Parameters

      • client: PubSubClient

        The client that owns the topic.

      • name: string

        The name of the topic.

      • typeInfo: NetworkTablesTypeInfo

        The type info for the topic.

      • OptionaldefaultValue: T

        The default value for the topic.

        -

      Returns NetworkTablesTopic<T>

Accessors

announced

  • get announced(): boolean

  • Whether the topic has been announced.

    +

Returns NetworkTablesTopic<T>

Accessors

announced

id

id

lastChangedTime

lastChangedTime

name

name

publisher

publisher

pubuid

pubuid

subscribers

  • get subscribers(): Map<number, {
        callback: ((_: null | T) => void);
        immediateNotify: boolean;
        options: {
            all?: boolean;
            periodic?: number;
            prefix?: boolean;
            topicsonly?: boolean;
        };
    }>

  • Gets the subscribers to the topic.

    +

subscribers

  • get subscribers(): Map<number, {
        callback: ((_: null | T) => void);
        immediateNotify: boolean;
        options: {
            all?: boolean;
            periodic?: number;
            prefix?: boolean;
            topicsonly?: boolean;
        };
    }>

  • Gets the subscribers to the topic.

    Returns Map<number, {
        callback: ((_: null | T) => void);
        immediateNotify: boolean;
        options: {
            all?: boolean;
            periodic?: number;
            prefix?: boolean;
            topicsonly?: boolean;
        };
    }>

    The subscribers to the topic.

    -

typeInfo

typeInfo

Methods

announce

Methods

announce

  • announce(id, pubuid?): void

  • Marks the topic as announced. This should only be called by the PubSubClient.

    Parameters

    • id: number

      The ID of the topic.

    • Optionalpubuid: number

      The UID of the publisher.

      -

    Returns void

getValue

publish

  • publish(properties?, id?): Promise<void | {
        method: "announce";
        params: {
            id: number;
            name: string;
            properties: {
                cached?: boolean;
                persistent?: boolean;
                retained?: boolean;
            };
            pubuid?: number;
            type:
                | "string"
                | "boolean"
                | "float"
                | "double"
                | "int"
                | "json"
                | "raw"
                | "rpc"
                | "msgpack"
                | "protobuf"
                | "boolean[]"
                | "double[]"
                | "int[]"
                | "float[]"
                | "string[]";
        };
    }>

  • Publishes the topic.

    +

Returns void

getValue

publish

republish

republish

resubscribeAll

resubscribeAll

setProperties

Returns void

setProperties

setValue

setValue

subscribe

Returns void

subscribe

unannounce

unpublish

unsubscribe

unannounce

unpublish

unsubscribe

unsubscribeAll

updateValue

Returns void

unsubscribeAll

updateValue

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+

Returns void

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diff --git a/docs/classes/NetworkTablesTypeInfos.html b/docs/classes/NetworkTablesTypeInfos.html index 6a03423..f26d727 100644 --- a/docs/classes/NetworkTablesTypeInfos.html +++ b/docs/classes/NetworkTablesTypeInfos.html @@ -1,4 +1,4 @@ -NetworkTablesTypeInfos | ntcore-ts-client

Class NetworkTablesTypeInfos

Constructors

constructor +NetworkTablesTypeInfos | ntcore-ts-client

Class NetworkTablesTypeInfos

Constructors

constructor

Properties

kArrayBuffer kBoolean kBooleanArray @@ -8,4 +8,4 @@ kIntegerArray kString kStringArray -

Constructors

constructor

Properties

Static ReadonlykArrayBuffer

kArrayBuffer: NetworkTablesTypeInfo = ...

Static ReadonlykBoolean

kBoolean: NetworkTablesTypeInfo = ...

Static ReadonlykBooleanArray

kBooleanArray: NetworkTablesTypeInfo = ...

Static ReadonlykDouble

kDouble: NetworkTablesTypeInfo = ...

Static ReadonlykDoubleArray

kDoubleArray: NetworkTablesTypeInfo = ...

Static ReadonlykInteger

kInteger: NetworkTablesTypeInfo = ...

Static ReadonlykIntegerArray

kIntegerArray: NetworkTablesTypeInfo = ...

Static ReadonlykString

kString: NetworkTablesTypeInfo = ...

Static ReadonlykStringArray

kStringArray: NetworkTablesTypeInfo = ...

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On This Page

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Properties
+

Constructors

constructor

Properties

Static ReadonlykArrayBuffer

kArrayBuffer: NetworkTablesTypeInfo = ...

Static ReadonlykBoolean

kBoolean: NetworkTablesTypeInfo = ...

Static ReadonlykBooleanArray

kBooleanArray: NetworkTablesTypeInfo = ...

Static ReadonlykDouble

kDouble: NetworkTablesTypeInfo = ...

Static ReadonlykDoubleArray

kDoubleArray: NetworkTablesTypeInfo = ...

Static ReadonlykInteger

kInteger: NetworkTablesTypeInfo = ...

Static ReadonlykIntegerArray

kIntegerArray: NetworkTablesTypeInfo = ...

Static ReadonlykString

kString: NetworkTablesTypeInfo = ...

Static ReadonlykStringArray

kStringArray: NetworkTablesTypeInfo = ...

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diff --git a/docs/interfaces/BinaryMessageData.html b/docs/interfaces/BinaryMessageData.html index f4d1d69..873f154 100644 --- a/docs/interfaces/BinaryMessageData.html +++ b/docs/interfaces/BinaryMessageData.html @@ -1,5 +1,5 @@ -BinaryMessageData | ntcore-ts-client

Interface BinaryMessageData

interface BinaryMessageData {
    serverTime: number;
    topicId: number;
    typeInfo: NetworkTablesTypeInfos;
    value:
        | string
        | number
        | boolean
        | string[]
        | ArrayBuffer
        | boolean[]
        | number[];
}

Properties

serverTime +BinaryMessageData | ntcore-ts-client

Interface BinaryMessageData

interface BinaryMessageData {
    serverTime: number;
    topicId: number;
    typeInfo: NetworkTablesTypeInfos;
    value:
        | string
        | number
        | boolean
        | string[]
        | ArrayBuffer
        | boolean[]
        | number[];
}

Properties

serverTime topicId typeInfo value -

Properties

serverTime

serverTime: number

topicId

topicId: number

typeInfo

typeInfo: NetworkTablesTypeInfos

value

value:
    | string
    | number
    | boolean
    | string[]
    | ArrayBuffer
    | boolean[]
    | number[]

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+

Properties

serverTime

serverTime: number

topicId

topicId: number

typeInfo

typeInfo: NetworkTablesTypeInfos

value

value:
    | string
    | number
    | boolean
    | string[]
    | ArrayBuffer
    | boolean[]
    | number[]

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diff --git a/docs/types/AnnounceMessage.html b/docs/types/AnnounceMessage.html index fac8e6e..13aa7cd 100644 --- a/docs/types/AnnounceMessage.html +++ b/docs/types/AnnounceMessage.html @@ -1 +1 @@ -AnnounceMessage | ntcore-ts-client

Type Alias AnnounceMessage

AnnounceMessage: z.infer<typeof announceMessageSchema>

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+AnnounceMessage | ntcore-ts-client

Type Alias AnnounceMessage

AnnounceMessage: z.infer<typeof announceMessageSchema>

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diff --git a/docs/types/AnnounceMessageParams.html b/docs/types/AnnounceMessageParams.html index 25ecc4f..8cea106 100644 --- a/docs/types/AnnounceMessageParams.html +++ b/docs/types/AnnounceMessageParams.html @@ -1 +1 @@ -AnnounceMessageParams | ntcore-ts-client

Type Alias AnnounceMessageParams

AnnounceMessageParams: AnnounceMessage["params"]

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+AnnounceMessageParams | ntcore-ts-client

Type Alias AnnounceMessageParams

AnnounceMessageParams: AnnounceMessage["params"]

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diff --git a/docs/types/BinaryMessage.html b/docs/types/BinaryMessage.html index cc8a2be..69ca540 100644 --- a/docs/types/BinaryMessage.html +++ b/docs/types/BinaryMessage.html @@ -1 +1 @@ -BinaryMessage | ntcore-ts-client

Type Alias BinaryMessage

BinaryMessage: z.infer<typeof msgPackSchema>

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+BinaryMessage | ntcore-ts-client

Type Alias BinaryMessage

BinaryMessage: z.infer<typeof msgPackSchema>

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diff --git a/docs/types/Message.html b/docs/types/Message.html index fa4bace..7b12efa 100644 --- a/docs/types/Message.html +++ b/docs/types/Message.html @@ -1 +1 @@ -Message | ntcore-ts-client

Type Alias Message

Message:
    | PublishMessage
    | UnpublishMessage
    | SetPropertiesMessage
    | SubscribeMessage
    | UnsubscribeMessage
    | AnnounceMessage
    | UnannounceMessage
    | PropertiesMessage

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+Message | ntcore-ts-client

Type Alias Message

Message:
    | PublishMessage
    | UnpublishMessage
    | SetPropertiesMessage
    | SubscribeMessage
    | UnsubscribeMessage
    | AnnounceMessage
    | UnannounceMessage
    | PropertiesMessage

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diff --git a/docs/types/NetworkTablesTypeInfo.html b/docs/types/NetworkTablesTypeInfo.html index dbd7ea5..c230e24 100644 --- a/docs/types/NetworkTablesTypeInfo.html +++ b/docs/types/NetworkTablesTypeInfo.html @@ -1 +1 @@ -NetworkTablesTypeInfo | ntcore-ts-client

Type Alias NetworkTablesTypeInfo

NetworkTablesTypeInfo: [TypeNum, TypeString]

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+NetworkTablesTypeInfo | ntcore-ts-client

Type Alias NetworkTablesTypeInfo

NetworkTablesTypeInfo: [TypeNum, TypeString]

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diff --git a/docs/types/NetworkTablesTypes.html b/docs/types/NetworkTablesTypes.html index 3aa6580..328f3c6 100644 --- a/docs/types/NetworkTablesTypes.html +++ b/docs/types/NetworkTablesTypes.html @@ -1 +1 @@ -NetworkTablesTypes | ntcore-ts-client

Type Alias NetworkTablesTypes

NetworkTablesTypes: z.infer<typeof msgPackValueSchema>

Settings

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+NetworkTablesTypes | ntcore-ts-client

Type Alias NetworkTablesTypes

NetworkTablesTypes: z.infer<typeof msgPackValueSchema>

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diff --git a/docs/types/PropertiesMessage.html b/docs/types/PropertiesMessage.html index f20654f..13b142b 100644 --- a/docs/types/PropertiesMessage.html +++ b/docs/types/PropertiesMessage.html @@ -1 +1 @@ -PropertiesMessage | ntcore-ts-client

Type Alias PropertiesMessage

PropertiesMessage: z.infer<typeof propertiesMessageSchema>

Settings

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+PropertiesMessage | ntcore-ts-client

Type Alias PropertiesMessage

PropertiesMessage: z.infer<typeof propertiesMessageSchema>

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diff --git a/docs/types/PropertiesMessageParams.html b/docs/types/PropertiesMessageParams.html index 84ebd8c..f2ae5c8 100644 --- a/docs/types/PropertiesMessageParams.html +++ b/docs/types/PropertiesMessageParams.html @@ -1 +1 @@ -PropertiesMessageParams | ntcore-ts-client

Type Alias PropertiesMessageParams

PropertiesMessageParams: PropertiesMessage["params"]

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+PropertiesMessageParams | ntcore-ts-client

Type Alias PropertiesMessageParams

PropertiesMessageParams: PropertiesMessage["params"]

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diff --git a/docs/types/PublishMessage.html b/docs/types/PublishMessage.html index 1ebcaf9..51f938b 100644 --- a/docs/types/PublishMessage.html +++ b/docs/types/PublishMessage.html @@ -1 +1 @@ -PublishMessage | ntcore-ts-client

Type Alias PublishMessage

PublishMessage: z.infer<typeof publishMessageSchema>

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+PublishMessage | ntcore-ts-client

Type Alias PublishMessage

PublishMessage: z.infer<typeof publishMessageSchema>

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diff --git a/docs/types/PublishMessageParams.html b/docs/types/PublishMessageParams.html index 76a9f59..7c09fc9 100644 --- a/docs/types/PublishMessageParams.html +++ b/docs/types/PublishMessageParams.html @@ -1 +1 @@ -PublishMessageParams | ntcore-ts-client

Type Alias PublishMessageParams

PublishMessageParams: PublishMessage["params"]

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+PublishMessageParams | ntcore-ts-client

Type Alias PublishMessageParams

PublishMessageParams: PublishMessage["params"]

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diff --git a/docs/types/SetPropertiesMessage.html b/docs/types/SetPropertiesMessage.html index 5664386..ead6385 100644 --- a/docs/types/SetPropertiesMessage.html +++ b/docs/types/SetPropertiesMessage.html @@ -1 +1 @@ -SetPropertiesMessage | ntcore-ts-client

Type Alias SetPropertiesMessage

SetPropertiesMessage: z.infer<typeof setPropertiesMessageSchema>

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+SetPropertiesMessage | ntcore-ts-client

Type Alias SetPropertiesMessage

SetPropertiesMessage: z.infer<typeof setPropertiesMessageSchema>

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diff --git a/docs/types/SetPropertiesMessageParams.html b/docs/types/SetPropertiesMessageParams.html index 421f537..94438aa 100644 --- a/docs/types/SetPropertiesMessageParams.html +++ b/docs/types/SetPropertiesMessageParams.html @@ -1 +1 @@ -SetPropertiesMessageParams | ntcore-ts-client

Type Alias SetPropertiesMessageParams

SetPropertiesMessageParams: SetPropertiesMessage["params"]

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+SetPropertiesMessageParams | ntcore-ts-client

Type Alias SetPropertiesMessageParams

SetPropertiesMessageParams: SetPropertiesMessage["params"]

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diff --git a/docs/types/SubscribeMessage.html b/docs/types/SubscribeMessage.html index dfb85d0..5b92c75 100644 --- a/docs/types/SubscribeMessage.html +++ b/docs/types/SubscribeMessage.html @@ -1 +1 @@ -SubscribeMessage | ntcore-ts-client

Type Alias SubscribeMessage

SubscribeMessage: z.infer<typeof subscribeMessageSchema>

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+SubscribeMessage | ntcore-ts-client

Type Alias SubscribeMessage

SubscribeMessage: z.infer<typeof subscribeMessageSchema>

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diff --git a/docs/types/SubscribeMessageParams.html b/docs/types/SubscribeMessageParams.html index fcddb3c..0e5f9c0 100644 --- a/docs/types/SubscribeMessageParams.html +++ b/docs/types/SubscribeMessageParams.html @@ -1 +1 @@ -SubscribeMessageParams | ntcore-ts-client

Type Alias SubscribeMessageParams

SubscribeMessageParams: SubscribeMessage["params"]

Settings

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+SubscribeMessageParams | ntcore-ts-client

Type Alias SubscribeMessageParams

SubscribeMessageParams: SubscribeMessage["params"]

Settings

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diff --git a/docs/types/SubscribeOptions.html b/docs/types/SubscribeOptions.html index f2064a1..4e5fc23 100644 --- a/docs/types/SubscribeOptions.html +++ b/docs/types/SubscribeOptions.html @@ -1 +1 @@ -SubscribeOptions | ntcore-ts-client

Type Alias SubscribeOptions

SubscribeOptions: z.infer<typeof subscriptionOptionsSchema>

Settings

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+SubscribeOptions | ntcore-ts-client

Type Alias SubscribeOptions

SubscribeOptions: z.infer<typeof subscriptionOptionsSchema>

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diff --git a/docs/types/TopicProperties.html b/docs/types/TopicProperties.html index 5308300..50b01c9 100644 --- a/docs/types/TopicProperties.html +++ b/docs/types/TopicProperties.html @@ -1 +1 @@ -TopicProperties | ntcore-ts-client

Type Alias TopicProperties

TopicProperties: z.infer<typeof topicPropertiesSchema>

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+TopicProperties | ntcore-ts-client

Type Alias TopicProperties

TopicProperties: z.infer<typeof topicPropertiesSchema>

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diff --git a/docs/types/TypeNum.html b/docs/types/TypeNum.html index c5dda61..5b7f747 100644 --- a/docs/types/TypeNum.html +++ b/docs/types/TypeNum.html @@ -1 +1 @@ -TypeNum | ntcore-ts-client

Type Alias TypeNum

TypeNum: z.infer<typeof typeNumSchema>

Settings

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+TypeNum | ntcore-ts-client

Type Alias TypeNum

TypeNum: z.infer<typeof typeNumSchema>

Settings

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diff --git a/docs/types/TypeString.html b/docs/types/TypeString.html index d99880e..4cfee24 100644 --- a/docs/types/TypeString.html +++ b/docs/types/TypeString.html @@ -1 +1 @@ -TypeString | ntcore-ts-client

Type Alias TypeString

TypeString: z.infer<typeof typeStringSchema>

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+TypeString | ntcore-ts-client

Type Alias TypeString

TypeString: z.infer<typeof typeStringSchema>

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diff --git a/docs/types/UnannounceMessage.html b/docs/types/UnannounceMessage.html index 764ca14..f5b9d66 100644 --- a/docs/types/UnannounceMessage.html +++ b/docs/types/UnannounceMessage.html @@ -1 +1 @@ -UnannounceMessage | ntcore-ts-client

Type Alias UnannounceMessage

UnannounceMessage: z.infer<typeof unannounceMessageSchema>

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+UnannounceMessage | ntcore-ts-client

Type Alias UnannounceMessage

UnannounceMessage: z.infer<typeof unannounceMessageSchema>

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diff --git a/docs/types/UnannounceMessageParams.html b/docs/types/UnannounceMessageParams.html index bfe82ee..bacc31f 100644 --- a/docs/types/UnannounceMessageParams.html +++ b/docs/types/UnannounceMessageParams.html @@ -1 +1 @@ -UnannounceMessageParams | ntcore-ts-client

Type Alias UnannounceMessageParams

UnannounceMessageParams: UnannounceMessage["params"]

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+UnannounceMessageParams | ntcore-ts-client

Type Alias UnannounceMessageParams

UnannounceMessageParams: UnannounceMessage["params"]

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diff --git a/docs/types/UnpublishMessage.html b/docs/types/UnpublishMessage.html index 9795cb1..8df751c 100644 --- a/docs/types/UnpublishMessage.html +++ b/docs/types/UnpublishMessage.html @@ -1 +1 @@ -UnpublishMessage | ntcore-ts-client

Type Alias UnpublishMessage

UnpublishMessage: z.infer<typeof unpublishMessageSchema>

Settings

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+UnpublishMessage | ntcore-ts-client

Type Alias UnpublishMessage

UnpublishMessage: z.infer<typeof unpublishMessageSchema>

Settings

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diff --git a/docs/types/UnpublishMessageParams.html b/docs/types/UnpublishMessageParams.html index dbed616..1fbe779 100644 --- a/docs/types/UnpublishMessageParams.html +++ b/docs/types/UnpublishMessageParams.html @@ -1 +1 @@ -UnpublishMessageParams | ntcore-ts-client

Type Alias UnpublishMessageParams

UnpublishMessageParams: UnpublishMessage["params"]

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+UnpublishMessageParams | ntcore-ts-client

Type Alias UnpublishMessageParams

UnpublishMessageParams: UnpublishMessage["params"]

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diff --git a/docs/types/UnsubscribeMessage.html b/docs/types/UnsubscribeMessage.html index 290ac8f..baabd80 100644 --- a/docs/types/UnsubscribeMessage.html +++ b/docs/types/UnsubscribeMessage.html @@ -1 +1 @@ -UnsubscribeMessage | ntcore-ts-client

Type Alias UnsubscribeMessage

UnsubscribeMessage: z.infer<typeof unsubscribeMessageSchema>

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+UnsubscribeMessage | ntcore-ts-client

Type Alias UnsubscribeMessage

UnsubscribeMessage: z.infer<typeof unsubscribeMessageSchema>

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diff --git a/docs/types/UnsubscribeMessageParams.html b/docs/types/UnsubscribeMessageParams.html index 8176d87..de4f2a7 100644 --- a/docs/types/UnsubscribeMessageParams.html +++ b/docs/types/UnsubscribeMessageParams.html @@ -1 +1 @@ -UnsubscribeMessageParams | ntcore-ts-client

Type Alias UnsubscribeMessageParams

UnsubscribeMessageParams: UnsubscribeMessage["params"]

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+UnsubscribeMessageParams | ntcore-ts-client

Type Alias UnsubscribeMessageParams

UnsubscribeMessageParams: UnsubscribeMessage["params"]

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diff --git a/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts b/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts index e16d2cb..dc3df04 100644 --- a/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts +++ b/packages/ntcore-ts-client/src/lib/ntcore-ts-client.ts @@ -133,6 +133,16 @@ export class NetworkTables { return this._client.messenger.socket.addConnectionListener(callback, immediateNotify); } + /** + * Adds a listener for when topics are announced + * @param callback - A callback triggered with the announced topic + * @param announceAll - Whether to trigger all topics in NetworkTables to be announced + * @returns A function to remove the listener. + */ + addOnTopicAnnouncedListener(callback: (_: NetworkTablesTopic) => void, announceAll?: boolean) { + return this._client.addOnTopicAnnouncedListener(callback, announceAll); + } + /** * Creates a new topic. * @param name - The name of the topic. diff --git a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts index f4a9eb8..c745dc4 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.spec.ts @@ -58,6 +58,22 @@ describe('PubSubClient', () => { expect(topic.unannounce).toHaveBeenCalled(); }); + it('handles sending announced topics to onTopicAnnounced listeners with existing topic', () => { + const topic = { name: 'test', announce: jest.fn() }; + client.registerTopic(topic as never); + let topicNameAnnounced = ''; + client.addOnTopicAnnouncedListener((announcedTopic) => (topicNameAnnounced = announcedTopic.name)); + client['onTopicAnnounce']({ id: 123, name: 'test', type: 'string' } as never); + expect(topicNameAnnounced).toBe('test'); + }); + + it('handles sending announced topics to onTopicAnnounced listeners without existing topic', () => { + let topicNameAnnounced = ''; + client.addOnTopicAnnouncedListener((announcedTopic) => (topicNameAnnounced = announcedTopic.name)); + client['onTopicAnnounce']({ id: 123, name: 'test', type: 'string' } as never); + expect(topicNameAnnounced).toBe('test'); + }); + it('reinstantates topics', () => { const topic = { name: 'test', diff --git a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts index 724c42e..c3f6c47 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/pubsub.ts @@ -1,19 +1,21 @@ import { Messenger } from '../socket/messenger'; +import { Util } from '../util/util'; +import { NetworkTablesTopic } from './topic'; -import type { NetworkTablesTopic } from './topic'; import type { AnnounceMessageParams, BinaryMessageData, NetworkTablesTypes, PropertiesMessageParams, + SubscribeMessageParams, UnannounceMessageParams, } from '../types/types'; /** The client for the PubSub protocol. */ export class PubSubClient { private readonly _messenger: Messenger; - // eslint-disable-next-line @typescript-eslint/no-explicit-any - private topics: Map>; + private topics: Map; + private onTopicAnnouncedListeners: ((_: NetworkTablesTopic) => void)[]; private static _instances = new Map(); get messenger() { @@ -29,6 +31,7 @@ export class PubSubClient { this.onTopicProperties ); this.topics = new Map(); + this.onTopicAnnouncedListeners = []; // In the DOM, auto-cleanup if (typeof window !== 'undefined') { @@ -53,6 +56,40 @@ export class PubSubClient { return instance; } + /** + * Adds a listener for when topics are announced. + * @param callback - A callback triggered with the announced topic + * @param announceAll - Whether to trigger all topics in NetworkTables to be announced + * @returns A function to remove the listener. + */ + addOnTopicAnnouncedListener(callback: (_: NetworkTablesTopic) => void, announceAll?: boolean) { + this.onTopicAnnouncedListeners.push(callback); + if (announceAll) { + const subscribeParams: SubscribeMessageParams = { + topics: [''], + subuid: Util.generateUid(), + options: { + prefix: true, + topicsonly: true, + }, + }; + this.messenger.subscribe(subscribeParams); + } + return () => { + this.onTopicAnnouncedListeners = this.onTopicAnnouncedListeners.filter( + (storedCallback) => storedCallback !== callback + ); + }; + } + + /** + * Notifies all onTopicAnnounced subscribers of the announced topic. + * @param topic - The topic that was announced + */ + private notifyOnTopicAnnouncedSubscribers(topic: NetworkTablesTopic) { + this.onTopicAnnouncedListeners.forEach((callback) => callback(topic)); + } + /** * Reinstantiates the client by resubscribing to all previously subscribed topics * and republishing for all previously published topics. @@ -95,12 +132,17 @@ export class PubSubClient { * @param params - The announce message parameters. */ private onTopicAnnounce = (params: AnnounceMessageParams) => { - const topic = this.topics.get(params.name); - if (!topic) { + let topic = this.topics.get(params.name); + + if (!topic && this.onTopicAnnouncedListeners.length > 0) { + topic = new NetworkTablesTopic(this, params.name, Util.getNetworkTablesTypeFromTypeString(params.type)); + } else if (!topic) { console.warn(`Topic ${params.name} was announced, but does not exist`); return; } + topic.announce(params.id, params.pubuid); + this.notifyOnTopicAnnouncedSubscribers(topic); }; /** diff --git a/packages/ntcore-ts-client/src/lib/pubsub/topic.ts b/packages/ntcore-ts-client/src/lib/pubsub/topic.ts index 69ddb7a..dec894f 100644 --- a/packages/ntcore-ts-client/src/lib/pubsub/topic.ts +++ b/packages/ntcore-ts-client/src/lib/pubsub/topic.ts @@ -13,7 +13,7 @@ import type { TopicProperties, } from '../types/types'; -export class NetworkTablesTopic { +export class NetworkTablesTopic { private client: PubSubClient; private _id?: number; private readonly _name: string; @@ -184,7 +184,7 @@ export class NetworkTablesTopic { /** */ /** - * Creates a new subscriber. This should only be called by the PubSubClient. + * Creates a new subscriber. * @param callback - The callback to call when the topic value changes. * @param immediateNotify - Whether to immediately notify the subscriber of the current value. * @param options - The options for the subscriber.