ntcore-ts-client/src/lib/pubsub/topic.d.ts

A TypeScript library for communication over [WPILib's NetworkTables 4.1 protocol](https://github.com/wpilibsuite/allwpilib/blob/main/ntcore/doc/networktables4.adoc).

import { NetworkTablesBaseTopic } from './base-topic';
import type { CallbackFn } from './base-topic';
import type { PubSubClient } from './pubsub';
import type { AnnounceMessage, AnnounceMessageParams, NetworkTablesTypeInfo, NetworkTablesTypes, SubscribeOptions, TopicProperties } from '../types/types';
export declare class NetworkTablesTopic<T extends NetworkTablesTypes> extends NetworkTablesBaseTopic<T> {
    readonly type = "regular";
    private value;
    private readonly _typeInfo;
    private _publisher;
    private _pubuid?;
    private _publishProperties?;
    /**
     * Gets the type info for the topic.
     * @returns The type info for the topic.
     */
    get typeInfo(): NetworkTablesTypeInfo;
    /**
     * Gets whether the client is the publisher of the topic.
     * @returns Whether the client is the publisher of the topic.
     */
    get publisher(): boolean;
    /**
     * Gets the UID of the publisher.
     * @returns The UID of the publisher, or undefined if the client is not the publisher.
     */
    get pubuid(): number | undefined;
    /**
     * Creates a new topic. This should only be done after the
     * base NTCore client has been initialized.
     * @param client - The client that owns the topic.
     * @param name - The name of the topic.
     * @param typeInfo - The type info for the topic.
     * @param defaultValue - The default value for the topic.
     */
    constructor(client: PubSubClient, name: string, typeInfo: NetworkTablesTypeInfo, defaultValue?: T);
    /**
     * Sets the value of the topic.
     * The client must be the publisher of the topic to set the value.
     * @param value - The value to set.
     */
    setValue(value: T): void;
    /**
     * Gets the value of the topic.
     * @returns The value of the topic.
     */
    getValue(): T | null;
    /**
     * Updates the value of the topic.
     * This should only be called by the PubSubClient.
     * @param value - The value to update.
     * @param lastChangedTime - The server time of the last value change.
     */
    updateValue(value: T, lastChangedTime: number): void;
    /** */
    /** */
    /**
     * Marks the topic as announced. This should only be called by the PubSubClient.
     * @param params - The parameters of the announcement.
     */
    announce(params: AnnounceMessageParams): void;
    /** */
    /** */
    /**
     * Creates a new subscriber.
     * @param callback - The callback to call when the topic value changes.
     * @param options - The options for the subscriber.
     * @param id - The UID of the subscriber. You must verify that the ID is not already in use.
     * @param save - Whether to save the subscriber.
     * @returns The UID of the subscriber.
     */
    subscribe(callback: CallbackFn<T>, options?: Omit<SubscribeOptions, 'prefix'>, id?: number, save?: boolean): number;
    resubscribeAll(client: PubSubClient): void;
    /**
     * Notifies all subscribers of the current value.
     */
    private notifySubscribers;
    /** */
    /** */
    /**
     * Publishes the topic.
     * @param properties - The properties to publish the topic with.
     * @param id - The UID of the publisher. You must verify that the ID is not already in use.
     * @returns A promise that resolves when the topic is published.
     */
    publish(properties?: TopicProperties, id?: number): Promise<AnnounceMessage | void>;
    /**
     * Unpublishes the topic.
     */
    unpublish(): void;
    /**
     * Republishes the topic.
     * @param client - The client to republish with.
     * @returns A promise that resolves when the topic is republished.
     */
    republish(client: PubSubClient): Promise<void | {
        params: {
            type: "string" | "boolean" | "float" | "double" | "int" | "json" | "raw" | "rpc" | "msgpack" | "protobuf" | "boolean[]" | "double[]" | "int[]" | "float[]" | "string[]";
            name: string;
            id: number;
            properties: {
                persistent?: boolean | undefined;
                retained?: boolean | undefined;
                cached?: boolean | undefined;
            };
            pubuid?: number | undefined;
        };
        method: "announce";
    }>;
}