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[ntcore] PubSubOption: Use record approach for Java (#8659)

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This commit is contained in:
Peter Johnson
2026-03-06 22:26:31 -08:00
committed by GitHub
parent ccfb3ab1cd
commit 6910ff1362
5 changed files with 154 additions and 143 deletions
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258
ntcore/src/main/java/org/wpilib/networktables/PubSubOption.java
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@@ -5,40 +5,139 @@
package org.wpilib.networktables;
/** NetworkTables publish/subscribe option. */
public class PubSubOption {
enum Kind {
periodic,
sendAll,
topicsOnly,
pollStorage,
keepDuplicates,
disableRemote,
disableLocal,
excludePublisher,
excludeSelf,
hidden
}
public sealed interface PubSubOption {
/**
* How frequently changes will be sent over the network. NetworkTables may send more frequently
* than this (e.g. use a combined minimum period for all values) or apply a restricted range to
* this value. The default if unspecified is 100 ms.
*
* @param period time between updates, in seconds
*/
record Periodic(double period) implements PubSubOption {}
PubSubOption(Kind kind, boolean value) {
m_kind = kind;
m_bValue = value;
m_iValue = 0;
m_dValue = 0;
}
/**
* If enabled, sends all value changes over the network. This option defaults to disabled.
*
* @param enabled True to enable, false to disable
*/
record SendAll(boolean enabled) implements PubSubOption {}
PubSubOption(Kind kind, int value) {
m_kind = kind;
m_bValue = false;
m_iValue = value;
m_dValue = 0;
}
/**
* If enabled on a subscription, does not request value changes. This option defaults to disabled.
*
* @param enabled True to enable, false to disable
*/
record TopicsOnly(boolean enabled) implements PubSubOption {}
PubSubOption(Kind kind, double value) {
m_kind = kind;
m_bValue = false;
m_iValue = 0;
m_dValue = value;
}
/**
* If enabled, preserves duplicate value changes (rather than ignoring them). This option defaults
* to disabled.
*
* @param enabled True to enable, false to disable
*/
record KeepDuplicates(boolean enabled) implements PubSubOption {}
/**
* Polling storage for subscription. Specifies the maximum number of updates NetworkTables should
* store between calls to the subscriber's readQueue() function. Defaults to 1 if sendAll is
* false, 20 if sendAll is true.
*
* @param depth number of entries to save for polling.
*/
record PollStorage(int depth) implements PubSubOption {}
/**
* For subscriptions, specify whether remote value updates should not be queued for readQueue().
* See also disableLocal(). Defaults to false (remote value updates are queued).
*
* @param disabled True to disable, false to enable
*/
record DisableRemote(boolean disabled) implements PubSubOption {}
/**
* For subscriptions, specify whether local value updates should not be queued for readQueue().
* See also disableRemote(). Defaults to false (local value updates are queued).
*
* @param disabled True to disable, false to enable
*/
record DisableLocal(boolean disabled) implements PubSubOption {}
/**
* Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only
* one exclusion may be set.
*
* @param publisher publisher to exclude
*/
record ExcludePublisher(Publisher publisher) implements PubSubOption {}
/**
* Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only
* one exclusion may be set.
*
* @param publisher publisher handle to exclude
*/
record ExcludePublisherHandle(int publisher) implements PubSubOption {}
/**
* Don't queue value updates for the internal publisher for an entry. Only has an effect on
* entries.
*
* @param enabled True to enable, false to disable
*/
record ExcludeSelf(boolean enabled) implements PubSubOption {}
/**
* For subscriptions, don't share the existence of the subscription with the network. Note this
* means updates will not be received from the network unless another subscription overlaps with
* this one, and the subscription will not appear in metatopics.
*
* @param enabled True to enable, false to disable
*/
record Hidden(boolean enabled) implements PubSubOption {}
/** Indicates only value changes will be sent over the network (default). */
PubSubOption SEND_CHANGES = new SendAll(false);
/** Indicates all value changes will be sent over the network. */
PubSubOption SEND_ALL = new SendAll(true);
/** Indicates both topics and values will be sent over the network (default). */
PubSubOption TOPICS_AND_VALUES = new TopicsOnly(false);
/** Indicates only topics will be sent over the network. */
PubSubOption TOPICS_ONLY = new TopicsOnly(true);
/** Indicates duplicate value changes will be ignored (default). */
PubSubOption IGNORE_DUPLICATES = new KeepDuplicates(false);
/** Indicates duplicate value changes will be preserved. */
PubSubOption KEEP_DUPLICATES = new KeepDuplicates(true);
/** For subscriptions, indicates remote value updates will be queued for readQueue() (default). */
PubSubOption ENABLE_REMOTE = new DisableRemote(false);
/** For subscriptions, indicates remote value updates will not be queued for readQueue() . */
PubSubOption DISABLE_REMOTE = new DisableRemote(true);
/** For subscriptions, indicates local value updates will be queued for readQueue() (default). */
PubSubOption ENABLE_LOCAL = new DisableLocal(false);
/** For subscriptions, indicates local value updates will not be queued for readQueue() . */
PubSubOption DISABLE_LOCAL = new DisableLocal(true);
/**
* For entries, indicates value updates from the internal publisher will be included (default).
*/
PubSubOption INCLUDE_SELF = new ExcludeSelf(false);
/** For entries, indicates value updates from the internal publisher will be excluded. */
PubSubOption EXCLUDE_SELF = new ExcludeSelf(true);
/** For subscriptions, indicates the subscription is visible to the network (default). */
PubSubOption VISIBLE = new Hidden(false);
/** For subscriptions, indicates the subscription is hidden from the network. */
PubSubOption HIDDEN = new Hidden(true);
/**
* How frequently changes will be sent over the network. NetworkTables may send more frequently
@@ -48,39 +147,8 @@ public class PubSubOption {
* @param period time between updates, in seconds
* @return option
*/
public static PubSubOption periodic(double period) {
return new PubSubOption(Kind.periodic, period);
}
/**
* If enabled, sends all value changes over the network. This option defaults to disabled.
*
* @param enabled True to enable, false to disable
* @return option
*/
public static PubSubOption sendAll(boolean enabled) {
return new PubSubOption(Kind.sendAll, enabled);
}
/**
* If enabled on a subscription, does not request value changes. This option defaults to disabled.
*
* @param enabled True to enable, false to disable
* @return option
*/
public static PubSubOption topicsOnly(boolean enabled) {
return new PubSubOption(Kind.topicsOnly, enabled);
}
/**
* If enabled, preserves duplicate value changes (rather than ignoring them). This option defaults
* to disabled.
*
* @param enabled True to enable, false to disable
* @return option
*/
public static PubSubOption keepDuplicates(boolean enabled) {
return new PubSubOption(Kind.keepDuplicates, enabled);
static PubSubOption periodic(double period) {
return new Periodic(period);
}
/**
@@ -91,30 +159,8 @@ public class PubSubOption {
* @param depth number of entries to save for polling.
* @return option
*/
public static PubSubOption pollStorage(int depth) {
return new PubSubOption(Kind.pollStorage, depth);
}
/**
* For subscriptions, specify whether remote value updates should not be queued for readQueue().
* See also disableLocal(). Defaults to false (remote value updates are queued).
*
* @param disabled True to disable, false to enable
* @return option
*/
public static PubSubOption disableRemote(boolean disabled) {
return new PubSubOption(Kind.disableRemote, disabled);
}
/**
* For subscriptions, specify whether local value updates should not be queued for readQueue().
* See also disableRemote(). Defaults to false (local value updates are queued).
*
* @param disabled True to disable, false to enable
* @return option
*/
public static PubSubOption disableLocal(boolean disabled) {
return new PubSubOption(Kind.disableLocal, disabled);
static PubSubOption pollStorage(int depth) {
return new PollStorage(depth);
}
/**
@@ -124,8 +170,8 @@ public class PubSubOption {
* @param publisher publisher handle to exclude
* @return option
*/
public static PubSubOption excludePublisher(int publisher) {
return new PubSubOption(Kind.excludePublisher, publisher);
static PubSubOption excludePublisher(int publisher) {
return new ExcludePublisherHandle(publisher);
}
/**
@@ -135,35 +181,7 @@ public class PubSubOption {
* @param publisher publisher to exclude
* @return option
*/
public static PubSubOption excludePublisher(Publisher publisher) {
return excludePublisher(publisher != null ? publisher.getHandle() : 0);
static PubSubOption excludePublisher(Publisher publisher) {
return new ExcludePublisher(publisher);
}
/**
* Don't queue value updates for the internal publisher for an entry. Only has an effect on
* entries.
*
* @param enabled True to enable, false to disable
* @return option
*/
public static PubSubOption excludeSelf(boolean enabled) {
return new PubSubOption(Kind.excludeSelf, enabled);
}
/**
* For subscriptions, don't share the existence of the subscription with the network. Note this
* means updates will not be received from the network unless another subscription overlaps with
* this one, and the subscription will not appear in metatopics.
*
* @param enabled True to enable, false to disable
* @return option
*/
public static PubSubOption hidden(boolean enabled) {
return new PubSubOption(Kind.hidden, enabled);
}
final Kind m_kind;
final boolean m_bValue;
final int m_iValue;
final double m_dValue;
}

27
ntcore/src/main/java/org/wpilib/networktables/PubSubOptions.java
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@@ -14,20 +14,19 @@ public class PubSubOptions {
*/
public PubSubOptions(PubSubOption... options) {
for (PubSubOption option : options) {
switch (option.m_kind) {
case periodic -> periodic = option.m_dValue;
case sendAll -> sendAll = option.m_bValue;
case topicsOnly -> topicsOnly = option.m_bValue;
case pollStorage -> pollStorage = option.m_iValue;
case keepDuplicates -> keepDuplicates = option.m_bValue;
case disableRemote -> disableRemote = option.m_bValue;
case disableLocal -> disableLocal = option.m_bValue;
case excludePublisher -> excludePublisher = option.m_iValue;
case excludeSelf -> excludeSelf = option.m_bValue;
case hidden -> hidden = option.m_bValue;
default -> {
// NOP
}
switch (option) {
case PubSubOption.Periodic p -> periodic = p.period();
case PubSubOption.SendAll s -> sendAll = s.enabled();
case PubSubOption.TopicsOnly t -> topicsOnly = t.enabled();
case PubSubOption.PollStorage p -> pollStorage = p.depth();
case PubSubOption.KeepDuplicates k -> keepDuplicates = k.enabled();
case PubSubOption.DisableRemote d -> disableRemote = d.disabled();
case PubSubOption.DisableLocal l -> disableLocal = l.disabled();
case PubSubOption.ExcludePublisher e ->
excludePublisher = e.publisher() == null ? 0 : e.publisher().getHandle();
case PubSubOption.ExcludePublisherHandle e -> excludePublisher = e.publisher();
case PubSubOption.ExcludeSelf s -> excludeSelf = s.enabled();
case PubSubOption.Hidden h -> hidden = h.enabled();
}
}
}

4
wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubMotor.java
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@@ -74,9 +74,7 @@ public class ExpansionHubMotor implements AutoCloseable {
PubSubOption[] options =
new PubSubOption[] {
PubSubOption.sendAll(true),
PubSubOption.keepDuplicates(true),
PubSubOption.periodic(0.005)
PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
};
m_encoderSubscriber =

4
wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPidConstants.java
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@@ -28,9 +28,7 @@ public class ExpansionHubPidConstants {
PubSubOption[] options =
new PubSubOption[] {
PubSubOption.sendAll(true),
PubSubOption.keepDuplicates(true),
PubSubOption.periodic(0.005)
PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
};
String pidType = isVelocityPid ? "velocity" : "position";

4
wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubServo.java
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@@ -60,9 +60,7 @@ public class ExpansionHubServo implements AutoCloseable {
PubSubOption[] options =
new PubSubOption[] {
PubSubOption.sendAll(true),
PubSubOption.keepDuplicates(true),
PubSubOption.periodic(0.005)
PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
};
m_pulseWidthPublisher =