From 3eb372c25ad6079d6edfbdb4bb099a7bc00e4350 Mon Sep 17 00:00:00 2001
From: Starlight220 <53231611+Starlight220@users.noreply.github.com>
Date: Mon, 2 Oct 2023 18:23:11 +0300
Subject: [PATCH] [wpiutil] SendableBuilder: Add PublishConst methods (#5158)

---
 .../smartdashboard/SendableBuilderImpl.cpp    |  67 ++++++++++++
 .../frc/smartdashboard/SendableBuilderImpl.h  |  32 ++++++
 .../smartdashboard/SendableBuilderImpl.java   | 100 ++++++++++++++++++
 .../first/util/sendable/SendableBuilder.java  |  89 ++++++++++++++++
 .../include/wpi/sendable/SendableBuilder.h    |  97 +++++++++++++++++
 5 files changed, 385 insertions(+)

diff --git a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
index 79b0e6e896..c063850411 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
@@ -141,6 +141,14 @@ void SendableBuilderImpl::AddPropertyImpl(Topic topic, Getter getter,
   m_properties.emplace_back(std::move(prop));
 }
 
+template <typename Topic, typename Value>
+void SendableBuilderImpl::PublishConstImpl(Topic topic, Value value) {
+  auto prop = std::make_unique<PropertyImpl<Topic>>();
+  prop->pub = topic.Publish();
+  prop->pub.Set(value);
+  m_properties.emplace_back(std::move(prop));
+}
+
 void SendableBuilderImpl::AddBooleanProperty(std::string_view key,
                                              std::function<bool()> getter,
                                              std::function<void(bool)> setter) {
@@ -148,6 +156,11 @@ void SendableBuilderImpl::AddBooleanProperty(std::string_view key,
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstBoolean(std::string_view key,
+                                              bool value) {
+  PublishConstImpl(m_table->GetBooleanTopic(key), value);
+}
+
 void SendableBuilderImpl::AddIntegerProperty(
     std::string_view key, std::function<int64_t()> getter,
     std::function<void(int64_t)> setter) {
@@ -155,6 +168,11 @@ void SendableBuilderImpl::AddIntegerProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstInteger(std::string_view key,
+                                              int64_t value) {
+  PublishConstImpl(m_table->GetIntegerTopic(key), value);
+}
+
 void SendableBuilderImpl::AddFloatProperty(std::string_view key,
                                            std::function<float()> getter,
                                            std::function<void(float)> setter) {
@@ -162,6 +180,10 @@ void SendableBuilderImpl::AddFloatProperty(std::string_view key,
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstFloat(std::string_view key, float value) {
+  PublishConstImpl(m_table->GetFloatTopic(key), value);
+}
+
 void SendableBuilderImpl::AddDoubleProperty(
     std::string_view key, std::function<double()> getter,
     std::function<void(double)> setter) {
@@ -169,6 +191,11 @@ void SendableBuilderImpl::AddDoubleProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstDouble(std::string_view key,
+                                             double value) {
+  PublishConstImpl(m_table->GetDoubleTopic(key), value);
+}
+
 void SendableBuilderImpl::AddStringProperty(
     std::string_view key, std::function<std::string()> getter,
     std::function<void(std::string_view)> setter) {
@@ -176,6 +203,11 @@ void SendableBuilderImpl::AddStringProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstString(std::string_view key,
+                                             std::string_view value) {
+  PublishConstImpl(m_table->GetStringTopic(key), value);
+}
+
 void SendableBuilderImpl::AddBooleanArrayProperty(
     std::string_view key, std::function<std::vector<int>()> getter,
     std::function<void(std::span<const int>)> setter) {
@@ -183,6 +215,11 @@ void SendableBuilderImpl::AddBooleanArrayProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstBooleanArray(std::string_view key,
+                                                   std::span<const int> value) {
+  PublishConstImpl(m_table->GetBooleanArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddIntegerArrayProperty(
     std::string_view key, std::function<std::vector<int64_t>()> getter,
     std::function<void(std::span<const int64_t>)> setter) {
@@ -190,6 +227,11 @@ void SendableBuilderImpl::AddIntegerArrayProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstIntegerArray(
+    std::string_view key, std::span<const int64_t> value) {
+  PublishConstImpl(m_table->GetIntegerArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddFloatArrayProperty(
     std::string_view key, std::function<std::vector<float>()> getter,
     std::function<void(std::span<const float>)> setter) {
@@ -197,6 +239,11 @@ void SendableBuilderImpl::AddFloatArrayProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstFloatArray(std::string_view key,
+                                                 std::span<const float> value) {
+  PublishConstImpl(m_table->GetFloatArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddDoubleArrayProperty(
     std::string_view key, std::function<std::vector<double>()> getter,
     std::function<void(std::span<const double>)> setter) {
@@ -204,6 +251,11 @@ void SendableBuilderImpl::AddDoubleArrayProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstDoubleArray(
+    std::string_view key, std::span<const double> value) {
+  PublishConstImpl(m_table->GetDoubleArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddStringArrayProperty(
     std::string_view key, std::function<std::vector<std::string>()> getter,
     std::function<void(std::span<const std::string>)> setter) {
@@ -211,6 +263,11 @@ void SendableBuilderImpl::AddStringArrayProperty(
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstStringArray(
+    std::string_view key, std::span<const std::string> value) {
+  PublishConstImpl(m_table->GetStringArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddRawProperty(
     std::string_view key, std::string_view typeString,
     std::function<std::vector<uint8_t>()> getter,
@@ -235,6 +292,16 @@ void SendableBuilderImpl::AddRawProperty(
   m_properties.emplace_back(std::move(prop));
 }
 
+void SendableBuilderImpl::PublishConstRaw(std::string_view key,
+                                          std::string_view typeString,
+                                          std::span<const uint8_t> value) {
+  auto topic = m_table->GetRawTopic(key);
+  auto prop = std::make_unique<PropertyImpl<nt::RawTopic>>();
+  prop->pub = topic.Publish(typeString);
+  prop->pub.Set(value);
+  m_properties.emplace_back(std::move(prop));
+}
+
 template <typename T, size_t Size, typename Topic, typename Getter,
           typename Setter>
 void SendableBuilderImpl::AddSmallPropertyImpl(Topic topic, Getter getter,
diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
index 4bd42896e2..baee6ffaa4 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
@@ -96,44 +96,73 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
   void AddBooleanProperty(std::string_view key, std::function<bool()> getter,
                           std::function<void(bool)> setter) override;
 
+  void PublishConstBoolean(std::string_view key, bool value) override;
+
   void AddIntegerProperty(std::string_view key, std::function<int64_t()> getter,
                           std::function<void(int64_t)> setter) override;
 
+  void PublishConstInteger(std::string_view key, int64_t value) override;
+
   void AddFloatProperty(std::string_view key, std::function<float()> getter,
                         std::function<void(float)> setter) override;
 
+  void PublishConstFloat(std::string_view key, float value) override;
+
   void AddDoubleProperty(std::string_view key, std::function<double()> getter,
                          std::function<void(double)> setter) override;
 
+  void PublishConstDouble(std::string_view key, double value) override;
+
   void AddStringProperty(std::string_view key,
                          std::function<std::string()> getter,
                          std::function<void(std::string_view)> setter) override;
 
+  void PublishConstString(std::string_view key,
+                          std::string_view value) override;
+
   void AddBooleanArrayProperty(
       std::string_view key, std::function<std::vector<int>()> getter,
       std::function<void(std::span<const int>)> setter) override;
 
+  void PublishConstBooleanArray(std::string_view key,
+                                std::span<const int> value) override;
+
   void AddIntegerArrayProperty(
       std::string_view key, std::function<std::vector<int64_t>()> getter,
       std::function<void(std::span<const int64_t>)> setter) override;
 
+  void PublishConstIntegerArray(std::string_view key,
+                                std::span<const int64_t> value) override;
+
   void AddFloatArrayProperty(
       std::string_view key, std::function<std::vector<float>()> getter,
       std::function<void(std::span<const float>)> setter) override;
 
+  void PublishConstFloatArray(std::string_view key,
+                              std::span<const float> value) override;
+
   void AddDoubleArrayProperty(
       std::string_view key, std::function<std::vector<double>()> getter,
       std::function<void(std::span<const double>)> setter) override;
 
+  void PublishConstDoubleArray(std::string_view key,
+                               std::span<const double> value) override;
+
   void AddStringArrayProperty(
       std::string_view key, std::function<std::vector<std::string>()> getter,
       std::function<void(std::span<const std::string>)> setter) override;
 
+  void PublishConstStringArray(std::string_view key,
+                               std::span<const std::string> value) override;
+
   void AddRawProperty(
       std::string_view key, std::string_view typeString,
       std::function<std::vector<uint8_t>()> getter,
       std::function<void(std::span<const uint8_t>)> setter) override;
 
+  void PublishConstRaw(std::string_view key, std::string_view typeString,
+                       std::span<const uint8_t> value) override;
+
   void AddSmallStringProperty(
       std::string_view key,
       std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
@@ -198,6 +227,9 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
   template <typename Topic, typename Getter, typename Setter>
   void AddPropertyImpl(Topic topic, Getter getter, Setter setter);
 
+  template <typename Topic, typename Value>
+  void PublishConstImpl(Topic topic, Value value);
+
   template <typename T, size_t Size, typename Topic, typename Getter,
             typename Setter>
   void AddSmallPropertyImpl(Topic topic, Getter getter, Setter setter);
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
index 7bb266e658..2c409e8314 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
@@ -57,6 +57,7 @@ import java.util.function.LongConsumer;
 import java.util.function.LongSupplier;
 import java.util.function.Supplier;
 
+@SuppressWarnings("PMD.CompareObjectsWithEquals")
 public class SendableBuilderImpl implements NTSendableBuilder {
   @FunctionalInterface
   private interface TimedConsumer<T> {
@@ -328,6 +329,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstBoolean(String key, boolean value) {
+    Property<BooleanPublisher, BooleanSubscriber> property = new Property<>();
+    BooleanTopic topic = m_table.getBooleanTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add an integer property.
    *
@@ -355,6 +365,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstInteger(String key, long value) {
+    Property<IntegerPublisher, IntegerSubscriber> property = new Property<>();
+    IntegerTopic topic = m_table.getIntegerTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a float property.
    *
@@ -382,6 +401,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstFloat(String key, float value) {
+    Property<FloatPublisher, FloatSubscriber> property = new Property<>();
+    FloatTopic topic = m_table.getFloatTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a double property.
    *
@@ -409,6 +437,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstDouble(String key, double value) {
+    Property<DoublePublisher, DoubleSubscriber> property = new Property<>();
+    DoubleTopic topic = m_table.getDoubleTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a string property.
    *
@@ -436,6 +473,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstString(String key, String value) {
+    Property<StringPublisher, StringSubscriber> property = new Property<>();
+    StringTopic topic = m_table.getStringTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a boolean array property.
    *
@@ -465,6 +511,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstBooleanArray(String key, boolean[] value) {
+    Property<BooleanArrayPublisher, BooleanArraySubscriber> property = new Property<>();
+    BooleanArrayTopic topic = m_table.getBooleanArrayTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add an integer array property.
    *
@@ -494,6 +549,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstIntegerArray(String key, long[] value) {
+    Property<IntegerArrayPublisher, IntegerArraySubscriber> property = new Property<>();
+    IntegerArrayTopic topic = m_table.getIntegerArrayTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a float array property.
    *
@@ -523,6 +587,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstFloatArray(String key, float[] value) {
+    Property<FloatArrayPublisher, FloatArraySubscriber> property = new Property<>();
+    FloatArrayTopic topic = m_table.getFloatArrayTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a double array property.
    *
@@ -552,6 +625,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstDoubleArray(String key, double[] value) {
+    Property<DoubleArrayPublisher, DoubleArraySubscriber> property = new Property<>();
+    DoubleArrayTopic topic = m_table.getDoubleArrayTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a string array property.
    *
@@ -581,6 +663,15 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     m_properties.add(property);
   }
 
+  @Override
+  public void publishConstStringArray(String key, String[] value) {
+    Property<StringArrayPublisher, StringArraySubscriber> property = new Property<>();
+    StringArrayTopic topic = m_table.getStringArrayTopic(key);
+    property.m_pub = topic.publish();
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
+
   /**
    * Add a raw property.
    *
@@ -610,4 +701,13 @@ public class SendableBuilderImpl implements NTSendableBuilder {
     }
     m_properties.add(property);
   }
+
+  @Override
+  public void publishConstRaw(String key, String typestring, byte[] value) {
+    Property<RawPublisher, RawSubscriber> property = new Property<>();
+    RawTopic topic = m_table.getRawTopic(key);
+    property.m_pub = topic.publish(typestring);
+    property.m_pub.set(value);
+    m_properties.add(property);
+  }
 }
diff --git a/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java b/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
index a58c3a30c2..db822ce441 100644
--- a/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
+++ b/wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableBuilder.java
@@ -55,6 +55,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter);
 
+  /**
+   * Add a constant boolean property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstBoolean(String key, boolean value);
+
   /**
    * Add an integer property.
    *
@@ -64,6 +72,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addIntegerProperty(String key, LongSupplier getter, LongConsumer setter);
 
+  /**
+   * Add a constant integer property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstInteger(String key, long value);
+
   /**
    * Add a float property.
    *
@@ -73,6 +89,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addFloatProperty(String key, FloatSupplier getter, FloatConsumer setter);
 
+  /**
+   * Add a constant float property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstFloat(String key, float value);
+
   /**
    * Add a double property.
    *
@@ -82,6 +106,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter);
 
+  /**
+   * Add a constant double property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstDouble(String key, double value);
+
   /**
    * Add a string property.
    *
@@ -91,6 +123,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter);
 
+  /**
+   * Add a constant string property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstString(String key, String value);
+
   /**
    * Add a boolean array property.
    *
@@ -100,6 +140,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addBooleanArrayProperty(String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter);
 
+  /**
+   * Add a constant boolean array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstBooleanArray(String key, boolean[] value);
+
   /**
    * Add an integer array property.
    *
@@ -109,6 +157,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addIntegerArrayProperty(String key, Supplier<long[]> getter, Consumer<long[]> setter);
 
+  /**
+   * Add a constant integer property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstIntegerArray(String key, long[] value);
+
   /**
    * Add a float array property.
    *
@@ -118,6 +174,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addFloatArrayProperty(String key, Supplier<float[]> getter, Consumer<float[]> setter);
 
+  /**
+   * Add a constant float array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstFloatArray(String key, float[] value);
+
   /**
    * Add a double array property.
    *
@@ -127,6 +191,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addDoubleArrayProperty(String key, Supplier<double[]> getter, Consumer<double[]> setter);
 
+  /**
+   * Add a constant double array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstDoubleArray(String key, double[] value);
+
   /**
    * Add a string array property.
    *
@@ -136,6 +208,14 @@ public interface SendableBuilder extends AutoCloseable {
    */
   void addStringArrayProperty(String key, Supplier<String[]> getter, Consumer<String[]> setter);
 
+  /**
+   * Add a constant string array property.
+   *
+   * @param key property name
+   * @param value the value
+   */
+  void publishConstStringArray(String key, String[] value);
+
   /**
    * Add a raw property.
    *
@@ -147,6 +227,15 @@ public interface SendableBuilder extends AutoCloseable {
   void addRawProperty(
       String key, String typeString, Supplier<byte[]> getter, Consumer<byte[]> setter);
 
+  /**
+   * Add a constant raw property.
+   *
+   * @param key property name
+   * @param typeString type string
+   * @param value the value
+   */
+  void publishConstRaw(String key, String typeString, byte[] value);
+
   /**
    * Gets the kind of backend being used.
    *
diff --git a/wpiutil/src/main/native/include/wpi/sendable/SendableBuilder.h b/wpiutil/src/main/native/include/wpi/sendable/SendableBuilder.h
index 2287b731cc..4115420c79 100644
--- a/wpiutil/src/main/native/include/wpi/sendable/SendableBuilder.h
+++ b/wpiutil/src/main/native/include/wpi/sendable/SendableBuilder.h
@@ -59,6 +59,14 @@ class SendableBuilder {
                                   std::function<bool()> getter,
                                   std::function<void(bool)> setter) = 0;
 
+  /**
+   * Add a constant boolean property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstBoolean(std::string_view key, bool value) = 0;
+
   /**
    * Add an integer property.
    *
@@ -70,6 +78,14 @@ class SendableBuilder {
                                   std::function<int64_t()> getter,
                                   std::function<void(int64_t)> setter) = 0;
 
+  /**
+   * Add a constant integer property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstInteger(std::string_view key, int64_t value) = 0;
+
   /**
    * Add a float property.
    *
@@ -81,6 +97,14 @@ class SendableBuilder {
                                 std::function<float()> getter,
                                 std::function<void(float)> setter) = 0;
 
+  /**
+   * Add a constant float property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstFloat(std::string_view key, float value) = 0;
+
   /**
    * Add a double property.
    *
@@ -92,6 +116,14 @@ class SendableBuilder {
                                  std::function<double()> getter,
                                  std::function<void(double)> setter) = 0;
 
+  /**
+   * Add a constant double property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstDouble(std::string_view key, double value) = 0;
+
   /**
    * Add a string property.
    *
@@ -103,6 +135,15 @@ class SendableBuilder {
       std::string_view key, std::function<std::string()> getter,
       std::function<void(std::string_view)> setter) = 0;
 
+  /**
+   * Add a constant string property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstString(std::string_view key,
+                                  std::string_view value) = 0;
+
   /**
    * Add a boolean array property.
    *
@@ -114,6 +155,15 @@ class SendableBuilder {
       std::string_view key, std::function<std::vector<int>()> getter,
       std::function<void(std::span<const int>)> setter) = 0;
 
+  /**
+   * Add a constant boolean array property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstBooleanArray(std::string_view key,
+                                        std::span<const int> value) = 0;
+
   /**
    * Add an integer array property.
    *
@@ -125,6 +175,15 @@ class SendableBuilder {
       std::string_view key, std::function<std::vector<int64_t>()> getter,
       std::function<void(std::span<const int64_t>)> setter) = 0;
 
+  /**
+   * Add a constant integer array property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstIntegerArray(std::string_view key,
+                                        std::span<const int64_t> value) = 0;
+
   /**
    * Add a float array property.
    *
@@ -136,6 +195,15 @@ class SendableBuilder {
       std::string_view key, std::function<std::vector<float>()> getter,
       std::function<void(std::span<const float>)> setter) = 0;
 
+  /**
+   * Add a constant float array property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstFloatArray(std::string_view key,
+                                      std::span<const float> value) = 0;
+
   /**
    * Add a double array property.
    *
@@ -147,6 +215,15 @@ class SendableBuilder {
       std::string_view key, std::function<std::vector<double>()> getter,
       std::function<void(std::span<const double>)> setter) = 0;
 
+  /**
+   * Add a constant double array property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstDoubleArray(std::string_view key,
+                                       std::span<const double> value) = 0;
+
   /**
    * Add a string array property.
    *
@@ -158,6 +235,15 @@ class SendableBuilder {
       std::string_view key, std::function<std::vector<std::string>()> getter,
       std::function<void(std::span<const std::string>)> setter) = 0;
 
+  /**
+   * Add a constant string array property.
+   *
+   * @param key     property name
+   * @param value   the value
+   */
+  virtual void PublishConstStringArray(std::string_view key,
+                                       std::span<const std::string> value) = 0;
+
   /**
    * Add a raw property.
    *
@@ -171,6 +257,17 @@ class SendableBuilder {
       std::function<std::vector<uint8_t>()> getter,
       std::function<void(std::span<const uint8_t>)> setter) = 0;
 
+  /**
+   * Add a constant raw property.
+   *
+   * @param key     property name
+   * @param typeString  type string
+   * @param value   the value
+   */
+  virtual void PublishConstRaw(std::string_view key,
+                               std::string_view typeString,
+                               std::span<const uint8_t> value) = 0;
+
   /**
    * Add a string property (SmallString form).
    *