[glass] Split DataSource into type-specific variants (#7588)

glass/src/libnt/native/cpp/NTCommandSelector.cpp

@@ -21,9 +21,7 @@ NTCommandSelectorModel::NTCommandSelectorModel(nt::NetworkTableInstance inst,
                     .GetEntry(false)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_runningData{fmt::format("NTCmd:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {
-  m_runningData.SetDigital(true);
-}
+      m_nameValue{wpi::rsplit(path, '/').second} {}
 
 void NTCommandSelectorModel::SetRunning(bool run) {
   m_running.Set(run);

glass/src/libnt/native/cpp/NTDigitalInput.cpp

@@ -21,9 +21,7 @@ NTDigitalInputModel::NTDigitalInputModel(nt::NetworkTableInstance inst,
           inst.GetBooleanTopic(fmt::format("{}/Value", path)).Subscribe(false)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_valueData{fmt::format("NT_DIn:{}", path)},
-      m_nameValue{wpi::rsplit(path, '/').second} {
-  m_valueData.SetDigital(true);
-}
+      m_nameValue{wpi::rsplit(path, '/').second} {}
 
 void NTDigitalInputModel::Update() {
   for (auto&& v : m_value.ReadQueue()) {

glass/src/libnt/native/cpp/NTDigitalOutput.cpp

@@ -21,9 +21,7 @@ NTDigitalOutputModel::NTDigitalOutputModel(nt::NetworkTableInstance inst,
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(false)},
-      m_valueData{fmt::format("NT_DOut:{}", path)} {
-  m_valueData.SetDigital(true);
-}
+      m_valueData{fmt::format("NT_DOut:{}", path)} {}
 
 void NTDigitalOutputModel::SetValue(bool val) {
   m_value.Set(val);

glass/src/libnt/native/cpp/NTFMS.cpp

@@ -6,6 +6,8 @@
 
 #include <stdint.h>
 
+#include <utility>
+
 #include <fmt/format.h>
 #include <wpi/SmallVector.h>
 #include <wpi/timestamp.h>
@@ -32,19 +34,9 @@ NTFMSModel::NTFMSModel(nt::NetworkTableInstance inst, std::string_view path)
       m_estop{fmt::format("NT_FMS:EStop:{}", path)},
       m_enabled{fmt::format("NT_FMS:RobotEnabled:{}", path)},
       m_test{fmt::format("NT_FMS:TestMode:{}", path)},
-      m_autonomous{fmt::format("NT_FMS:AutonomousMode:{}", path)} {
-  m_fmsAttached.SetDigital(true);
-  m_dsAttached.SetDigital(true);
-  m_estop.SetDigital(true);
-  m_enabled.SetDigital(true);
-  m_test.SetDigital(true);
-  m_autonomous.SetDigital(true);
-}
-
-std::string_view NTFMSModel::GetGameSpecificMessage(
-    wpi::SmallVectorImpl<char>& buf) {
-  return m_gameSpecificMessage.Get(buf, "");
-}
+      m_autonomous{fmt::format("NT_FMS:AutonomousMode:{}", path)},
+      m_gameSpecificMessageData{
+          fmt::format("NT_FMS:GameSpecificMessage:{}", path)} {}
 
 void NTFMSModel::Update() {
   for (auto&& v : m_alliance.ReadQueue()) {
@@ -70,6 +62,9 @@ void NTFMSModel::Update() {
     m_fmsAttached.SetValue(((controlWord & 0x10) != 0) ? 1 : 0, v.time);
     m_dsAttached.SetValue(((controlWord & 0x20) != 0) ? 1 : 0, v.time);
   }
+  for (auto&& v : m_gameSpecificMessage.ReadQueue()) {
+    m_gameSpecificMessageData.SetValue(std::move(v.value), v.time);
+  }
 }
 
 bool NTFMSModel::Exists() {

glass/src/libnt/native/cpp/NetworkTables.cpp

@@ -6,7 +6,6 @@
 
 #include <algorithm>
 #include <cinttypes>
-#include <concepts>
 #include <cstring>
 #include <functional>
 #include <initializer_list>
@@ -632,19 +631,53 @@ static void UpdateJsonValueSource(NetworkTablesModel& model,
 }
 
 void NetworkTablesModel::ValueSource::UpdateDiscreteSource(
-    std::string_view name, double value, int64_t time, bool digital) {
+    std::string_view name, bool value, int64_t time) {
   valueChildren.clear();
-  if (!source) {
-    source = std::make_unique<DataSource>(fmt::format("NT:{}", name));
+  auto s = dynamic_cast<BooleanSource*>(source.get());
+  if (!s) {
+    source = std::make_unique<BooleanSource>(fmt::format("NT:{}", name));
+    s = static_cast<BooleanSource*>(source.get());
   }
-  source->SetValue(value, time);
-  source->SetDigital(digital);
+  s->SetValue(value, time);
 }
 
-template <typename T, typename MakeValue>
+void NetworkTablesModel::ValueSource::UpdateDiscreteSource(
+    std::string_view name, float value, int64_t time) {
+  valueChildren.clear();
+  auto s = dynamic_cast<FloatSource*>(source.get());
+  if (!s) {
+    source = std::make_unique<FloatSource>(fmt::format("NT:{}", name));
+    s = static_cast<FloatSource*>(source.get());
+  }
+  s->SetValue(value, time);
+}
+
+void NetworkTablesModel::ValueSource::UpdateDiscreteSource(
+    std::string_view name, double value, int64_t time) {
+  valueChildren.clear();
+  auto s = dynamic_cast<DoubleSource*>(source.get());
+  if (!s) {
+    source = std::make_unique<DoubleSource>(fmt::format("NT:{}", name));
+    s = static_cast<DoubleSource*>(source.get());
+  }
+  s->SetValue(value, time);
+}
+
+void NetworkTablesModel::ValueSource::UpdateDiscreteSource(
+    std::string_view name, int64_t value, int64_t time) {
+  valueChildren.clear();
+  auto s = dynamic_cast<IntegerSource*>(source.get());
+  if (!s) {
+    source = std::make_unique<IntegerSource>(fmt::format("NT:{}", name));
+    s = static_cast<IntegerSource*>(source.get());
+  }
+  s->SetValue(value, time);
+}
+
+template <bool IsBoolean, typename T, typename MakeValue>
 void NetworkTablesModel::ValueSource::UpdateDiscreteArray(
     std::string_view name, std::span<const T> arr, int64_t time,
-    MakeValue makeValue, bool digital) {
+    MakeValue makeValue) {
   if (valueChildrenMap) {
     valueChildren.clear();
     valueChildrenMap = false;
@@ -657,7 +690,11 @@ void NetworkTablesModel::ValueSource::UpdateDiscreteArray(
       child.path = fmt::format("{}{}", name, child.name);
     }
     child.value = makeValue(arr[i], time);
-    child.UpdateDiscreteSource(child.path, arr[i], time, digital);
+    if constexpr (IsBoolean) {
+      child.UpdateDiscreteSource(child.path, static_cast<bool>(arr[i]), time);
+    } else {
+      child.UpdateDiscreteSource(child.path, arr[i], time);
+    }
     ++i;
   }
 }
@@ -667,8 +704,7 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
     std::string_view typeStr) {
   switch (value.type()) {
     case NT_BOOLEAN:
-      UpdateDiscreteSource(name, value.GetBoolean() ? 1 : 0, value.time(),
-                           true);
+      UpdateDiscreteSource(name, value.GetBoolean(), value.time());
       break;
     case NT_INTEGER:
       UpdateDiscreteSource(name, value.GetInteger(), value.time());
@@ -680,20 +716,20 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
       UpdateDiscreteSource(name, value.GetDouble(), value.time());
       break;
     case NT_BOOLEAN_ARRAY:
-      UpdateDiscreteArray(name, value.GetBooleanArray(), value.time(),
-                          nt::Value::MakeBoolean, true);
+      UpdateDiscreteArray<true>(name, value.GetBooleanArray(), value.time(),
+                                nt::Value::MakeBoolean);
       break;
     case NT_INTEGER_ARRAY:
-      UpdateDiscreteArray(name, value.GetIntegerArray(), value.time(),
-                          nt::Value::MakeInteger);
+      UpdateDiscreteArray<false>(name, value.GetIntegerArray(), value.time(),
+                                 nt::Value::MakeInteger);
       break;
     case NT_FLOAT_ARRAY:
-      UpdateDiscreteArray(name, value.GetFloatArray(), value.time(),
-                          nt::Value::MakeFloat);
+      UpdateDiscreteArray<false>(name, value.GetFloatArray(), value.time(),
+                                 nt::Value::MakeFloat);
       break;
     case NT_DOUBLE_ARRAY:
-      UpdateDiscreteArray(name, value.GetDoubleArray(), value.time(),
-                          nt::Value::MakeDouble);
+      UpdateDiscreteArray<false>(name, value.GetDoubleArray(), value.time(),
+                                 nt::Value::MakeDouble);
       break;
     case NT_STRING_ARRAY: {
       auto arr = value.GetStringArray();
@@ -729,6 +765,13 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
         os << '"';
         os.write_escaped(value.GetString());
         os << '"';
+
+        auto s = dynamic_cast<StringSource*>(source.get());
+        if (!s) {
+          source = std::make_unique<StringSource>(fmt::format("NT:{}", name));
+          s = static_cast<StringSource*>(source.get());
+        }
+        s->SetValue(value.GetString(), value.time());
       }
       break;
     case NT_RAW: