Functions
unsigned int	NT_GetNetworkMode (NT_Inst inst)
	Get the current network mode. More...

void	NT_StartLocal (NT_Inst inst)
	Starts local-only operation. More...

void	NT_StopLocal (NT_Inst inst)
	Stops local-only operation. More...

void	NT_StartServer (NT_Inst inst, const char persist_filename, const char listen_address, unsigned int port3, unsigned int port4)
	Starts a server using the specified filename, listening address, and port. More...

void	NT_StopServer (NT_Inst inst)
	Stops the server if it is running. More...

void	NT_StartClient3 (NT_Inst inst, const char *identity)
	Starts a NT3 client. More...

void	NT_StartClient4 (NT_Inst inst, const char *identity)
	Starts a NT4 client. More...

void	NT_StopClient (NT_Inst inst)
	Stops the client if it is running. More...

void	NT_SetServer (NT_Inst inst, const char *server_name, unsigned int port)
	Sets server address and port for client (without restarting client). More...

void	NT_SetServerMulti (NT_Inst inst, size_t count, const char *server_names, const unsigned int ports)
	Sets server addresses for client (without restarting client). More...

void	NT_SetServerTeam (NT_Inst inst, unsigned int team, unsigned int port)
	Sets server addresses and port for client (without restarting client). More...

void	NT_Disconnect (NT_Inst inst)
	Disconnects the client if it's running and connected. More...

void	NT_StartDSClient (NT_Inst inst, unsigned int port)
	Starts requesting server address from Driver Station. More...

void	NT_StopDSClient (NT_Inst inst)
	Stops requesting server address from Driver Station. More...

void	NT_FlushLocal (NT_Inst inst)
	Flush local updates. More...

void	NT_Flush (NT_Inst inst)
	Flush to network. More...

struct NT_ConnectionInfo *	NT_GetConnections (NT_Inst inst, size_t *count)
	Get information on the currently established network connections. More...

NT_Bool	NT_IsConnected (NT_Inst inst)
	Return whether or not the instance is connected to another node. More...

int64_t	NT_GetServerTimeOffset (NT_Inst inst, NT_Bool *valid)
	Get the time offset between server time and local time. More...

Detailed Description

Function Documentation

◆ NT_Disconnect()

void NT_Disconnect ( NT_Inst inst )

Disconnects the client if it's running and connected.

This will automatically start reconnection attempts to the current server list.

Parameters

inst	instance handle

◆ NT_Flush()

void NT_Flush ( NT_Inst inst )

Flush to network.

Forces an immediate flush of all local entry changes to network. Normally this is done on a regularly scheduled interval (set by update rates on individual publishers).

Note: flushes are rate limited to avoid excessive network traffic. If the time between calls is too short, the flush will occur after the minimum time elapses (rather than immediately).

Parameters

inst	instance handle

◆ NT_FlushLocal()

void NT_FlushLocal ( NT_Inst inst )

Flush local updates.

Forces an immediate flush of all local changes to the client/server. This does not flush to the network.

Normally this is done on a regularly scheduled interval.

Parameters

inst	instance handle

◆ NT_GetConnections()

struct NT_ConnectionInfo * NT_GetConnections	(	NT_Inst	inst,
		size_t *	count
	)

Get information on the currently established network connections.

If operating as a client, this will return either zero or one values.

Parameters

inst	instance handle
count	returns the number of elements in the array

Returns: array of connection information

It is the caller's responsibility to free the array. The NT_DisposeConnectionInfoArray function is useful for this purpose.

◆ NT_GetNetworkMode()

unsigned int NT_GetNetworkMode ( NT_Inst inst )

Get the current network mode.

Parameters

inst	instance handle

Returns: Bitmask of NT_NetworkMode.

◆ NT_GetServerTimeOffset()

int64_t NT_GetServerTimeOffset	(	NT_Inst	inst,
		NT_Bool *	valid
	)

Get the time offset between server time and local time.

Add this value to local time to get the estimated equivalent server time. In server mode, this always returns a valid value of 0. In client mode, this returns the time offset only if the client and server are connected and have exchanged synchronization messages. Note the time offset may change over time as it is periodically updated; to receive updates as events, add a listener to the "time sync" event.

Parameters

inst	instance handle
valid	set to true if the return value is valid, false otherwise (output)

Returns: Time offset in microseconds (if valid is set to true)

◆ NT_IsConnected()

NT_Bool NT_IsConnected ( NT_Inst inst )

Return whether or not the instance is connected to another node.

Parameters

inst	instance handle

Returns: True if connected.

◆ NT_SetServer()

void NT_SetServer	(	NT_Inst	inst,
		const char *	server_name,
		unsigned int	port
	)

Sets server address and port for client (without restarting client).

Parameters

inst	instance handle
server_name	server name (UTF-8 string, null terminated)
port	port to communicate over

◆ NT_SetServerMulti()

void NT_SetServerMulti	(	NT_Inst	inst,
		size_t	count,
		const char **	server_names,
		const unsigned int *	ports
	)

Sets server addresses for client (without restarting client).

The client will attempt to connect to each server in round robin fashion.

Parameters

inst	instance handle
count	length of the server_names and ports arrays
server_names	array of server names (each a UTF-8 string, null terminated)
ports	array of ports to communicate over (one for each server)

◆ NT_SetServerTeam()

void NT_SetServerTeam	(	NT_Inst	inst,
		unsigned int	team,
		unsigned int	port
	)

Sets server addresses and port for client (without restarting client).

Connects using commonly known robot addresses for the specified team.

Parameters

inst	instance handle
team	team number
port	port to communicate over

◆ NT_StartClient3()

void NT_StartClient3	(	NT_Inst	inst,
		const char *	identity
	)

Starts a NT3 client.

Use NT_SetServer or NT_SetServerTeam to set the server name and port.

Parameters

inst	instance handle
identity	network identity to advertise (cannot be empty string)

◆ NT_StartClient4()

void NT_StartClient4	(	NT_Inst	inst,
		const char *	identity
	)

Starts a NT4 client.

Use NT_SetServer or NT_SetServerTeam to set the server name and port.

Parameters

inst	instance handle
identity	network identity to advertise (cannot be empty string)

◆ NT_StartDSClient()

void NT_StartDSClient	(	NT_Inst	inst,
		unsigned int	port
	)

Starts requesting server address from Driver Station.

This connects to the Driver Station running on localhost to obtain the server IP address.

Parameters

inst	instance handle
port	server port to use in combination with IP from DS

◆ NT_StartLocal()

void NT_StartLocal ( NT_Inst inst )

Starts local-only operation.

Prevents calls to NT_StartServer or NT_StartClient from taking effect. Has no effect if NT_StartServer or NT_StartClient has already been called.

◆ NT_StartServer()

void NT_StartServer	(	NT_Inst	inst,
		const char *	persist_filename,
		const char *	listen_address,
		unsigned int	port3,
		unsigned int	port4
	)

Starts a server using the specified filename, listening address, and port.

Parameters

inst	instance handle
persist_filename	the name of the persist file to use (UTF-8 string, null terminated)
listen_address	the address to listen on, or null to listen on any address. (UTF-8 string, null terminated)
port3	port to communicate over (NT3)
port4	port to communicate over (NT4)

◆ NT_StopClient()

void NT_StopClient ( NT_Inst inst )

Stops the client if it is running.

Parameters

inst	instance handle

◆ NT_StopDSClient()

void NT_StopDSClient ( NT_Inst inst )

Stops requesting server address from Driver Station.

Parameters

inst	instance handle

◆ NT_StopLocal()

void NT_StopLocal ( NT_Inst inst )

Stops local-only operation.

NT_StartServer or NT_StartClient can be called after this call to start a server or client.

◆ NT_StopServer()

void NT_StopServer ( NT_Inst inst )

Stops the server if it is running.

Parameters

inst	instance handle

Functions

Detailed Description

Function Documentation

◆ NT_Disconnect()

◆ NT_Flush()

◆ NT_FlushLocal()

◆ NT_GetConnections()

◆ NT_GetNetworkMode()

◆ NT_GetServerTimeOffset()

◆ NT_IsConnected()

◆ NT_SetServer()

◆ NT_SetServerMulti()

◆ NT_SetServerTeam()

◆ NT_StartClient3()

◆ NT_StartClient4()

◆ NT_StartDSClient()

◆ NT_StartLocal()

◆ NT_StartServer()

◆ NT_StopClient()

◆ NT_StopDSClient()

◆ NT_StopLocal()

◆ NT_StopServer()