[wpilib] Add metadata to all dashboard ".type" entries (#6799)

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -28,6 +28,7 @@
 #include <wpi/DataLog.h>
 #include <wpi/EventVector.h>
 #include <wpi/condition_variable.h>
+#include <wpi/json.h>
 #include <wpi/mutex.h>
 #include <wpi/timestamp.h>
 
@@ -45,8 +46,11 @@ class MatchDataSenderEntry {
  public:
   MatchDataSenderEntry(const std::shared_ptr<nt::NetworkTable>& table,
                        std::string_view key,
-                       typename Topic::ParamType initialVal)
-      : publisher{Topic{table->GetTopic(key)}.Publish()}, prevVal{initialVal} {
+                       typename Topic::ParamType initialVal,
+                       wpi::json topicProperties = {{}})
+      : publisher{Topic{table->GetTopic(key)}.PublishEx(Topic::kTypeString,
+                                                        topicProperties)},
+        prevVal{initialVal} {
     publisher.Set(initialVal);
   }
 
@@ -62,10 +66,16 @@ class MatchDataSenderEntry {
   typename Topic::ValueType prevVal;
 };
 
+static constexpr std::string_view kSmartDashboardType = "FMSInfo";
+
 struct MatchDataSender {
   std::shared_ptr<nt::NetworkTable> table =
       nt::NetworkTableInstance::GetDefault().GetTable("FMSInfo");
-  MatchDataSenderEntry<nt::StringTopic> typeMetaData{table, ".type", "FMSInfo"};
+  MatchDataSenderEntry<nt::StringTopic> typeMetaData{
+      table,
+      ".type",
+      kSmartDashboardType,
+      {{"SmartDashboard", kSmartDashboardType}}};
   MatchDataSenderEntry<nt::StringTopic> gameSpecificMessage{
       table, "GameSpecificMessage", ""};
   MatchDataSenderEntry<nt::StringTopic> eventName{table, "EventName", ""};

wpilibc/src/main/native/cpp/Preferences.cpp

@@ -13,19 +13,21 @@
 #include <networktables/NetworkTableInstance.h>
 #include <networktables/NetworkTableListener.h>
 #include <networktables/StringTopic.h>
+#include <wpi/json.h>
 
 using namespace frc;
 
 // The Preferences table name
 static constexpr std::string_view kTableName{"Preferences"};
-
+static constexpr std::string_view kSmartDashboardType = "RobotPreferences";
 namespace {
 struct Instance {
   Instance();
 
   std::shared_ptr<nt::NetworkTable> table{
       nt::NetworkTableInstance::GetDefault().GetTable(kTableName)};
-  nt::StringPublisher typePublisher{table->GetStringTopic(".type").Publish()};
+  nt::StringPublisher typePublisher{table->GetStringTopic(".type").PublishEx(
+      nt::StringTopic::kTypeString, {{"SmartDashboard", kSmartDashboardType}})};
   nt::MultiSubscriber tableSubscriber{nt::NetworkTableInstance::GetDefault(),
                                       {{fmt::format("{}/", table->GetPath())}}};
   nt::NetworkTableListener listener;
@@ -165,7 +167,7 @@ void Preferences::RemoveAll() {
 }
 
 Instance::Instance() {
-  typePublisher.Set("RobotPreferences");
+  typePublisher.Set(kSmartDashboardType);
   listener = nt::NetworkTableListener::CreateListener(
       tableSubscriber, NT_EVENT_PUBLISH | NT_EVENT_IMMEDIATE,
       [typeTopic = typePublisher.GetTopic().GetHandle()](auto& event) {

wpilibc/src/main/native/cpp/livewindow/LiveWindow.cpp

@@ -8,6 +8,7 @@
 #include <networktables/NetworkTable.h>
 #include <networktables/NetworkTableInstance.h>
 #include <networktables/StringTopic.h>
+#include <wpi/json.h>
 #include <wpi/mutex.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableRegistry.h>
@@ -16,6 +17,8 @@
 
 using namespace frc;
 
+static constexpr std::string_view kSmartDashboardType = "LW Subsystem";
+
 namespace {
 struct Component {
   bool firstTime = true;
@@ -207,8 +210,10 @@ void LiveWindow::UpdateValuesUnsafe() {
       comp.namePub.Set(cbdata.name);
       static_cast<SendableBuilderImpl&>(cbdata.builder).SetTable(table);
       cbdata.sendable->InitSendable(cbdata.builder);
-      comp.typePub = nt::StringTopic{ssTable->GetTopic(".type")}.Publish();
-      comp.typePub.Set("LW Subsystem");
+      comp.typePub = nt::StringTopic{ssTable->GetTopic(".type")}.PublishEx(
+          nt::StringTopic::kTypeString,
+          {{"SmartDashboard", kSmartDashboardType}});
+      comp.typePub.Set(kSmartDashboardType);
 
       comp.firstTime = false;
     }

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardLayout.cpp

@@ -4,8 +4,12 @@
 
 #include "frc/shuffleboard/ShuffleboardLayout.h"
 
+#include <wpi/json.h>
+
 using namespace frc;
 
+static constexpr std::string_view kSmartDashboardType = "ShuffleboardLayout";
+
 ShuffleboardLayout::ShuffleboardLayout(ShuffleboardContainer& parent,
                                        std::string_view title,
                                        std::string_view type)
@@ -20,7 +24,9 @@ void ShuffleboardLayout::BuildInto(
     std::shared_ptr<nt::NetworkTable> metaTable) {
   BuildMetadata(metaTable);
   auto table = parentTable->GetSubTable(GetTitle());
-  table->GetEntry(".type").SetString("ShuffleboardLayout");
+  table->GetEntry(".type").SetString(kSmartDashboardType);
+  table->GetEntry(".type").GetTopic().SetProperty("SmartDashboard",
+                                                  kSmartDashboardType);
   for (auto& component : GetComponents()) {
     component->BuildInto(table, metaTable->GetSubTable(component->GetTitle()));
   }

wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardTab.cpp

@@ -4,8 +4,12 @@
 
 #include "frc/shuffleboard/ShuffleboardTab.h"
 
+#include <wpi/json.h>
+
 using namespace frc;
 
+static constexpr std::string_view kSmartDashboardType = "ShuffleboardLayout";
+
 ShuffleboardTab::ShuffleboardTab(ShuffleboardRoot& root, std::string_view title)
     : ShuffleboardValue(title), ShuffleboardContainer(title), m_root(root) {}
 
@@ -16,7 +20,9 @@ ShuffleboardRoot& ShuffleboardTab::GetRoot() {
 void ShuffleboardTab::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
                                 std::shared_ptr<nt::NetworkTable> metaTable) {
   auto tabTable = parentTable->GetSubTable(GetTitle());
-  tabTable->GetEntry(".type").SetString("ShuffleboardTab");
+  tabTable->GetEntry(".type").SetString(kSmartDashboardType);
+  tabTable->GetEntry(".type").GetTopic().SetProperty("SmartDashboard",
+                                                     kSmartDashboardType);
   for (auto& component : GetComponents()) {
     component->BuildInto(tabTable,
                          metaTable->GetSubTable(component->GetTitle()));

wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp

@@ -5,9 +5,12 @@
 #include "frc/smartdashboard/MechanismLigament2d.h"
 
 #include <wpi/StringExtras.h>
+#include <wpi/json.h>
 
 using namespace frc;
 
+static constexpr std::string_view kSmartDashboardType = "line";
+
 MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
                                          units::degree_t angle,
                                          double lineWeight,
@@ -21,8 +24,9 @@ MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
 
 void MechanismLigament2d::UpdateEntries(
     std::shared_ptr<nt::NetworkTable> table) {
-  m_typePub = table->GetStringTopic(".type").Publish();
-  m_typePub.Set("line");
+  m_typePub = table->GetStringTopic(".type").PublishEx(
+      nt::StringTopic::kTypeString, {{"SmartDashboard", kSmartDashboardType}});
+  m_typePub.Set(kSmartDashboardType);
 
   m_colorEntry = table->GetStringTopic("color").GetEntry("");
   m_colorEntry.Set(m_color);

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -13,6 +13,7 @@ import edu.wpi.first.networktables.BooleanPublisher;
 import edu.wpi.first.networktables.IntegerPublisher;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.networktables.StringTopic;
 import edu.wpi.first.util.EventVector;
 import edu.wpi.first.util.WPIUtilJNI;
 import edu.wpi.first.util.datalog.BooleanArrayLogEntry;
@@ -93,6 +94,8 @@ public final class DriverStation {
 
   @SuppressWarnings("MemberName")
   private static class MatchDataSender {
+    private static final String kSmartDashboardType = "FMSInfo";
+
     final StringPublisher gameSpecificMessage;
     final StringPublisher eventName;
     final IntegerPublisher matchNumber;
@@ -112,7 +115,11 @@ public final class DriverStation {
 
     MatchDataSender() {
       var table = NetworkTableInstance.getDefault().getTable("FMSInfo");
-      table.getStringTopic(".type").publish().set("FMSInfo");
+      table
+          .getStringTopic(".type")
+          .publishEx(
+              StringTopic.kTypeString, "{\"SmartDashboard\":\"" + kSmartDashboardType + "\"}")
+          .set(kSmartDashboardType);
       gameSpecificMessage = table.getStringTopic("GameSpecificMessage").publish();
       gameSpecificMessage.set("");
       eventName = table.getStringTopic("EventName").publish();

wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java

@@ -15,6 +15,7 @@ import edu.wpi.first.networktables.NetworkTableEvent;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTableListener;
 import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.networktables.StringTopic;
 import edu.wpi.first.networktables.Topic;
 import java.util.Collection;
 import java.util.EnumSet;
@@ -34,7 +35,9 @@ import java.util.EnumSet;
  */
 public final class Preferences {
   /** The Preferences table name. */
-  private static final String TABLE_NAME = "Preferences";
+  private static final String kTableName = "Preferences";
+
+  private static final String kSmartDashboardType = "RobotPreferences";
 
   /** The network table. */
   private static NetworkTable m_table;
@@ -57,12 +60,16 @@ public final class Preferences {
    * @param inst NetworkTable instance
    */
   public static synchronized void setNetworkTableInstance(NetworkTableInstance inst) {
-    m_table = inst.getTable(TABLE_NAME);
+    m_table = inst.getTable(kTableName);
     if (m_typePublisher != null) {
       m_typePublisher.close();
     }
-    m_typePublisher = m_table.getStringTopic(".type").publish();
-    m_typePublisher.set("RobotPreferences");
+    m_typePublisher =
+        m_table
+            .getStringTopic(".type")
+            .publishEx(
+                StringTopic.kTypeString, "{\"SmartDashboard\":\"" + kSmartDashboardType + "\"}");
+    m_typePublisher.set(kSmartDashboardType);
 
     // Subscribe to all Preferences; this ensures we get the latest values
     // ahead of a getter call.

wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -36,6 +36,8 @@ public final class LiveWindow {
     StringPublisher m_typePub;
   }
 
+  private static final String kSmartDashboardType = "LW Subsystem";
+
   private static final int dataHandle = SendableRegistry.getDataHandle();
   private static final NetworkTable liveWindowTable =
       NetworkTableInstance.getDefault().getTable("LiveWindow");
@@ -224,8 +226,12 @@ public final class LiveWindow {
             component.m_namePub.set(cbdata.name);
             ((SendableBuilderImpl) cbdata.builder).setTable(table);
             cbdata.sendable.initSendable(cbdata.builder);
-            component.m_typePub = new StringTopic(ssTable.getTopic(".type")).publish();
-            component.m_typePub.set("LW Subsystem");
+            component.m_typePub =
+                new StringTopic(ssTable.getTopic(".type"))
+                    .publishEx(
+                        StringTopic.kTypeString,
+                        "{\"SmartDashboard\":\"" + kSmartDashboardType + "\"}");
+            component.m_typePub.set(kSmartDashboardType);
 
             component.m_firstTime = false;
           }

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java

@@ -18,6 +18,8 @@ import java.util.function.Supplier;
 /** A layout in a Shuffleboard tab. Layouts can contain widgets and other layouts. */
 public final class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout>
     implements ShuffleboardContainer {
+  private static final String kSmartDashboardType = "ShuffleboardLayout";
+
   private final ContainerHelper m_helper = new ContainerHelper(this);
 
   ShuffleboardLayout(ShuffleboardContainer parent, String title, String type) {
@@ -127,7 +129,11 @@ public final class ShuffleboardLayout extends ShuffleboardComponent<Shuffleboard
   public void buildInto(NetworkTable parentTable, NetworkTable metaTable) {
     buildMetadata(metaTable);
     NetworkTable table = parentTable.getSubTable(getTitle());
-    table.getEntry(".type").setString("ShuffleboardLayout");
+    table.getEntry(".type").setString(kSmartDashboardType);
+    table
+        .getEntry(".type")
+        .getTopic()
+        .setProperty("SmartDashboard", "\"" + kSmartDashboardType + "\"");
     for (ShuffleboardComponent<?> component : getComponents()) {
       component.buildInto(table, metaTable.getSubTable(component.getTitle()));
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java

@@ -20,6 +20,8 @@ import java.util.function.Supplier;
  * arbitrarily deep (note that too many levels may make deeper components unusable).
  */
 public final class ShuffleboardTab implements ShuffleboardContainer {
+  private static final String kSmartDashboardType = "ShuffleboardTab";
+
   private final ContainerHelper m_helper = new ContainerHelper(this);
   private final ShuffleboardRoot m_root;
   private final String m_title;
@@ -140,7 +142,11 @@ public final class ShuffleboardTab implements ShuffleboardContainer {
   @Override
   public void buildInto(NetworkTable parentTable, NetworkTable metaTable) {
     NetworkTable tabTable = parentTable.getSubTable(m_title);
-    tabTable.getEntry(".type").setString("ShuffleboardTab");
+    tabTable.getEntry(".type").setString(kSmartDashboardType);
+    tabTable
+        .getEntry(".type")
+        .getTopic()
+        .setProperty("SmartDashboard", "\"" + kSmartDashboardType + "\"");
     for (ShuffleboardComponent<?> component : m_helper.getComponents()) {
       component.buildInto(tabTable, metaTable.getSubTable(component.getTitle()));
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java

@@ -9,6 +9,7 @@ import edu.wpi.first.networktables.DoubleEntry;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.StringEntry;
 import edu.wpi.first.networktables.StringPublisher;
+import edu.wpi.first.networktables.StringTopic;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 
 /**
@@ -28,6 +29,8 @@ public class MechanismLigament2d extends MechanismObject2d {
   private double m_weight;
   private DoubleEntry m_weightEntry;
 
+  private static String kSmartDashboardType = "line";
+
   /**
    * Create a new ligament.
    *
@@ -201,8 +204,12 @@ public class MechanismLigament2d extends MechanismObject2d {
     if (m_typePub != null) {
       m_typePub.close();
     }
-    m_typePub = table.getStringTopic(".type").publish();
-    m_typePub.set("line");
+    m_typePub =
+        table
+            .getStringTopic(".type")
+            .publishEx(
+                StringTopic.kTypeString, "{\"SmartDashboard\":\"" + kSmartDashboardType + "\"}");
+    m_typePub.set(kSmartDashboardType);
 
     if (m_angleEntry != null) {
       m_angleEntry.close();