[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);