Struct NtConn

pub struct NtConn {

    pub(crate) reconnect: Arc<Semaphore>,
    pub(crate) next_id: Arc<Mutex<i32>>,
    pub(crate) incoming_abort: Arc<RwLock<Option<AbortHandle>>>,
    pub(crate) outgoing_abort: Arc<RwLock<Option<AbortHandle>>>,
    pub(crate) c2s_tx: UnboundedSender<Message>,
    pub(crate) client_ident: Arc<RwLock<String>>,
    pub(crate) server: Arc<RwLock<String>>,
    pub(crate) sock_rd: Arc<RwLock<Option<SplitStream<WebSocketStream<MaybeTlsStream<TcpStream>>>>>>,
    pub(crate) sock_wr: Arc<RwLock<Option<SplitSink<WebSocketStream<MaybeTlsStream<TcpStream>>, Message>>>>,
    pub(crate) server_client: Arc<RwLock<HashMap<i32, i32>>>,
    pub(crate) client_server: Arc<RwLock<HashMap<i32, i32>>>,
    pub(crate) server_topics: Arc<RwLock<HashMap<String, (i32, String)>>>,
    pub(crate) values: Arc<RwLock<HashMap<i32, Receiver<(u64, Data)>>>>,
    pub(crate) value_tx: Arc<RwLock<HashMap<i32, Sender<(u64, Data)>>>>,
}

A NetworkTables connection

Fields

reconnect: Arc<Semaphore>

next_id: Arc<Mutex<i32>>

Next sequential ID

incoming_abort: Arc<RwLock<Option<AbortHandle>>>

Incoming request receiver event loop abort handle

outgoing_abort: Arc<RwLock<Option<AbortHandle>>>

Outgoing request sender event loop abort handle

c2s_tx: UnboundedSender<Message>

Outgoing client-to-server message queue

client_ident: Arc<RwLock<String>>

server: Arc<RwLock<String>>

sock_rd: Arc<RwLock<Option<SplitStream<WebSocketStream<MaybeTlsStream<TcpStream>>>>>>

sock_wr: Arc<RwLock<Option<SplitSink<WebSocketStream<MaybeTlsStream<TcpStream>>, Message>>>>

server_client: Arc<RwLock<HashMap<i32, i32>>>

client_server: Arc<RwLock<HashMap<i32, i32>>>

server_topics: Arc<RwLock<HashMap<String, (i32, String)>>>

Mapping from topic names to topic IDs for topics we’ve received from server

values: Arc<RwLock<HashMap<i32, Receiver<(u64, Data)>>>>

value_tx: Arc<RwLock<HashMap<i32, Sender<(u64, Data)>>>>

Implementations

impl NtConn

pub async fn new( server: impl Into<IpAddr>, client_ident: impl Into<String>, ) -> Result<Self>

Connect to a NetworkTables server

Arguments

• server - The IP address of the NetworkTables server.
• client_ident - The client identifier to use for this connection.

Examples

use minint::NtConn;

#[tokio::main]
async fn main() {
    // Connect to the NetworkTables server at 10.0.0.2
    let conn = NtConn::new("10.0.0.2", "my_client").await.unwrap();

    // ...
}

pub(crate) async fn init_background_event_loops( &self, c2s_rx: UnboundedReceiver<Message>, )

pub(crate) async fn handle_incoming_msg( &self, msg: Result<Message, TungsteniteError>, ) -> Result<()>

pub(crate) async fn connect(&self) -> Result<()>

pub(crate) async fn next_id(&self) -> i32

pub async fn publish<T: DataWrap>( &self, name: impl Into<String>, ) -> Result<NtTopic<'_, T>>

Publish a topic

The topic will be unpublished when the NtTopic is dropped.

Arguments

• name - The name of the topic to publish.

Type Parameters

• T - The type of data to be published on the topic. Must implement the DataType trait.

Examples

use minint::{NtConn, datatype::DataType};

#[tokio::main]
async fn main() {
    // Connect to the NetworkTables server
    let conn = NtConn::new("10.0.0.2", "my_client").await.unwrap();

    // Publish a new topic named "my_topic" with data type f64
    let mut topic = conn.publish::<f64>("my_topic").await.unwrap();

    // ...
}

pub(crate) async fn publish_<T: DataWrap>( &self, name: String, pubuid: i32, ) -> Result<()>

pub(crate) fn unpublish(&self, pubuid: i32) -> Result<()>

Unpublish topic

This method is typically called when an NtTopic is dropped.

pub async fn subscribe(&self, topic: &str) -> Result<NtSubscription<'_>>

Subscribe to a topic

Arguments

• topic - The name of the topic to subscribe to.

Examples

use minint::NtConn;

#[tokio::main]
async fn main() {
    // Connect to the NetworkTables server
    let conn = NtConn::new("10.0.0.2", "my_client").await.unwrap();

    // Subscribe to the topic named "my_topic"
    let subscription = conn.subscribe("my_topic").await.unwrap();

    // ...
}

pub(crate) fn unsubscribe(&self, subuid: i32) -> Result<()>

Unsubscribe from a topic

This method is typically called when an NtSubscription is dropped.

pub(crate) fn read_bin_frame(buf: Vec<u8>) -> Result<(u64, u64, Data)>

Read/parse a binary frame

This method is used internally to process incoming data values for subscribed topics.

Returns (uid, timestamp, data)

pub(crate) fn write_bin_frame<T: DataWrap>( &self, uid: i32, ts: u64, value: T, ) -> Result<()>

Write a binary frame

This method is used internally to send data values to the NetworkTables server.

pub async fn stop(self)

Shutdown the connection

This method stops the event loops for sending and receiving messages. All NtTopic instances associated with this connection must be dropped before calling this method.

Trait Implementations

impl Clone for NtConn

fn clone(&self) -> Self

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.