A TypeScript library for communication over WPILib's NetworkTables 4.0 protocol.
TypeDocs are available at https://ntcore.chrislawson.dev
This section will help get you started with sending and receiving data over NetworkTables
npm install --save ntcore-ts-client
The NetworkTables class is instance-based, but allows for connections to multiple teams/URIs.
NetworkTables
Use this at the top of your file:
import { NetworkTables } from 'ntcore-ts-client';
Use this function:
NetworkTables.getInstanceByTeam(team: number, port = 5810)
This creates the instance using the team number. Connects to
roborio-<team>-frc.local
Use this function:
NetworkTables.getInstanceByURI(uri: string, port?)
This creates the instance using a custom URI, i.e. 127.0.0.1, localhost, google.com, etc.
To use a Topic, it must be created through the NetworkTables client using the function:
createTopic<T extends NetworkTablesTypes>(name: string, typeInfo: NetworkTablesTypeInfo, defaultValue?: T)
The valid
NetworkTablesTypes
arestring | 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:
subscribe(
callback: (_: T | null) => void,
immediateNotify = false,
options: SubscribeOptions = {},
id?: number,
save = true
)
and/or a publisher:
await publish(properties: TopicProperties = {}, id?: number)
For example, here's a subscription for a Gyro:
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<number>('/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:
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<string>('/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');
The API for Topics is much more exhaustive than this quick example. Feel free to view the docs at https://ntcore.chrislawson.dev.
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!