Protobuf topics

For custom message types using Protocol Buffers, use getProtobufTopic. The library fetches the schema from NetworkTables and can decode values in subscriber callbacks. Pass a Zod schema as a runtime validator when you want type checks at decode time.

See also Struct vs protobuf.

Subscribing

import { NetworkTables, Pose2d, Pose2dSchema } from '@ntcore-ts/client';

const ntcore = NetworkTables.getInstanceByTeam(973);

const poseTopic = ntcore.getProtobufTopic<Pose2d>('/MyTable/Pose', {
  validator: Pose2dSchema,
});
poseTopic.subscribe((value) => {
  console.log(`Pose: x=${value?.translation.x}, y=${value?.translation.y}`);
});

Publishing

So the client can encode and register the schema, provide one of:

• protoFilePath — path to a .proto file. Node.js only (uses the filesystem).
• protoSource — contents of a .proto file, parsed in memory. Safe in the browser.
• messageType — a prebuilt protobufjs Type. Safe in the browser.

import * as path from 'path';
import { NetworkTables } from '@ntcore-ts/client';

const ntcore = NetworkTables.getInstanceByURI('localhost');

const sensorTopic = ntcore.getProtobufTopic<{ timestamp: number; value: number }>('/MyTable/Sensor', {
  protoFilePath: path.join(__dirname, 'sensor.proto'),
  // Browser: protoSource: protoText, or messageType: myType,
});

await sensorTopic.publish();
sensorTopic.setValue({ timestamp: Date.now(), value: 42.5 });

React

Use useProtobufTopic from @ntcore-ts/react. See the React guide.