network-programming - 网络表 C++

Question

我对 C++ 套接字编程还很陌生。由于我在 FRC 团队中，我需要通过称为“网络表”的接口(interface)在我的应用程序和 Compact RIO 之间进行通信。我需要从我的 C++ 视觉应用程序与我们的 Java 机器人代码进行通信。如何在常规 C++ 中实现 NetworkTables？

Answer 1

这就是我在 python 中所做的，但概念是相同的。目标是根据您在驾驶员站收到的值(传感器数据)移动电机？那么，我该如何完成……数据传输将通过网络表完成

首先，初始化...

from networktables import NetworkTables

# As a client to connect to a robot
NetworkTables.initialize(server='roborio-XXX-frc.local')

• 创建实例，您将能够访问 NetworkTables 连接、配置设置、监听器并创建表对象，这些对象实际用于发送数据

接下来，

sd = NetworkTables.getTable('SmartDashboard')

sd.putNumber('someNumber', 1234)
otherNumber = sd.getNumber('otherNumber')

在这里，我们与 SmartDashboard 交互并调用两个方法来发送和接收值。

另一个示例，来自 API 文档

#!/usr/bin/env python3
#
# This is a NetworkTables server (eg, the robot or simulator side).
#
# On a real robot, you probably would create an instance of the
# wpilib.SmartDashboard object and use that instead -- but it's really
# just a passthru to the underlying NetworkTable object.
#
# When running, this will continue incrementing the value 'robotTime',
# and the value should be visible to networktables clients such as
# SmartDashboard. To view using the SmartDashboard, you can launch it
# like so:
#
#     SmartDashboard.jar ip 127.0.0.1
#

import time
from networktables import NetworkTables

# To see messages from networktables, you must setup logging
import logging

logging.basicConfig(level=logging.DEBUG)

NetworkTables.initialize()
sd = NetworkTables.getTable("SmartDashboard")

i = 0
while True:
    print("dsTime:", sd.getNumber("dsTime", -1))

    sd.putNumber("robotTime", i)
    time.sleep(1)
    i += 1