network_tables_wrapper.h

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#pragma once
#include <memory>
#include <string>
 
#include "Constants.h"
#include "networktables/NetworkTable.h"
#include "networktables/NetworkTableEntry.h"
#include "networktables/NetworkTableInstance.h"
#include "units/angle.h"
 
class NetworkTablesWrapper {
 private:
  void InitSwerveTable();
 
 public:
  void SetEntryDegrees(const std::string& key, const units::degree_t degrees);
 
  std::optional<units::degree_t> GetEntryDegrees(const std::string& key);
 
  // Meant to contain all the initialization and configuration of table's instances
  NetworkTablesWrapper();
 
  // MASTER INSTANCE
  nt::NetworkTableInstance m_NtInstance;  //< The root instance of the network tables
  // TABLES
  std::shared_ptr<nt::NetworkTable> m_swerveHomes;  //< Instance of swerveHomes table
  // swerveHomes ENTRIES
  nt::NetworkTableEntry m_flHome;  //< Front left module home position
  nt::NetworkTableEntry m_frHome;  //< Front right module home position
  nt::NetworkTableEntry m_brHome;  //< Back right module home position
  nt::NetworkTableEntry m_blHome;  //< Back left module home position
};