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https://github.com/cjlawson02/ntcore-ts-client
A TypeScript library for WPILib's NT4.1 spec
https://github.com/cjlawson02/ntcore-ts-client
dashboard first-robotics-competition networktables nodejs ntcore pubsub typescript
Last synced: 4 months ago
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A TypeScript library for WPILib's NT4.1 spec
- Host: GitHub
- URL: https://github.com/cjlawson02/ntcore-ts-client
- Owner: cjlawson02
- Created: 2022-12-13T05:29:05.000Z (about 2 years ago)
- Default Branch: beta
- Last Pushed: 2024-09-01T17:26:19.000Z (5 months ago)
- Last Synced: 2024-09-27T13:41:50.206Z (4 months ago)
- Topics: dashboard, first-robotics-competition, networktables, nodejs, ntcore, pubsub, typescript
- Language: TypeScript
- Homepage: https://ntcore.chrislawson.dev
- Size: 995 KB
- Stars: 22
- Watchers: 1
- Forks: 7
- Open Issues: 4
-
Metadata Files:
- Readme: README.md
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README
# ntcore-ts-client
A TypeScript library for communication over [WPILib's NetworkTables 4.0 protocol](https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc).
## Features
- NodeJS and DOM support
- Togglable auto-reconnect
- Callbacks for new data on subscriptions
- Callbacks for connection listeners
- Retrying for messages queued during a connection loss
- On-the-fly server switching with resubscribing and republishing
- Generic types for Topics
- Client-side data validation using [Zod](https://github.com/colinhacks/zod)
- Server-matching timestamping using RTT calculation
## Documentation
TypeDocs are available at [https://ntcore.chrislawson.dev](https://ntcore.chrislawson.dev)
## Quick Start
This section will help get you started with sending and receiving data over NetworkTables
### Installation
`npm install --save ntcore-ts-client`
### Connecting to the NetworkTables Server
The NetworkTables class is instance-based, but allows for connections to multiple teams/URIs.
### Importing `NetworkTables`
Use this at the top of your file:
```typescript
import { NetworkTables } from 'ntcore-ts-client';
```
### With Team Number
Use this function:
```typescript
NetworkTables.getInstanceByTeam(team: number, port = 5810)
```
> This creates the instance using the team number. Connects to `roborio--frc.local`
### With URI
Use this function:
```typescript
NetworkTables.getInstanceByURI(uri: string, port?)
```
> This creates the instance using a custom URI, i.e. 127.0.0.1, localhost, google.com, etc.
### Publishing and Subscribing to a Topic
To use a Topic, it must be created through the NetworkTables client using the function:
```typescript
createTopic(name: string, typeInfo: NetworkTablesTypeInfo, defaultValue?: T)
```
> The valid `NetworkTablesTypes` are `string | number | boolean | string[] | ArrayBuffer | boolean[] | number[]`
>
> The valid `NetworkTablesTypeInfo`s are:
>
> - `NetworkTablesTypeInfos.kBoolean`
> - `NetworkTablesTypeInfos.kDouble`
> - `NetworkTablesTypeInfos.kInteger`
> - `NetworkTablesTypeInfos.kString`
> - `NetworkTablesTypeInfos.kArrayBuffer`
> - `NetworkTablesTypeInfos.kBooleanArray`
> - `NetworkTablesTypeInfos.kDoubleArray`
> - `NetworkTablesTypeInfos.kIntegerArray`
> - `NetworkTablesTypeInfos.kStringArray`
Once a topic has been created, it can be used as a subscriber:
```typescript
subscribe(
callback: (_: T | null) => void,
immediateNotify = false,
options: SubscribeOptions = {},
id?: number,
save = true
)
```
and/or a publisher:
```typescript
await publish(properties: TopicProperties = {}, id?: number)
```
For example, here's a subscription for a Gyro:
```typescript
import { NetworkTables, NetworkTablesTypeInfos } from 'ntcore-ts-client';
// Get or create the NT client instance
const ntcore = NetworkTables.getInstanceByTeam(973);
// Create the gyro topic
const gyroTopic = ntcore.createTopic('/MyTable/Gyro', NetworkTablesTypeInfos.kDouble);
// Subscribe and immediately call the callback with the current value
gyroTopic.subscribe((value) => {
console.log(`Got Gyro Value: ${value}`);
}, true);
```
Or a publisher for an auto mode:
```typescript
import { NetworkTables, NetworkTablesTypeInfos } from 'ntcore-ts-client';
// Get or create the NT client instance
const ntcore = NetworkTables.getInstanceByTeam(973);
// Create the autoMode topic w/ a default return value of 'No Auto'
const autoModeTopic = ntcore.createTopic('/MyTable/autoMode', NetworkTablesTypeInfos.kString, 'No Auto');
// Make us the publisher
await autoModeTopic.publish();
// Set a new value, this will error if we aren't the publisher!
autoModeTopic.setValue('25 Ball Auto and Climb');
```
### 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).
## Known Limitations
- "Raw" type only supports ArrayBuffer
## Contributing
Contributions are welcome and encouraged! If you encounter a bug, please open an issue and provide as much information as possible. If you'd like to open a PR, I'll be more than happy to review it as soon as I can!