[wpilib] Shuffleboard: Keep duplicates on SelectTab() (#5198)

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

@@ -20,12 +20,16 @@ struct ShuffleboardInstance::Impl {
   bool tabsChanged = false;
   std::shared_ptr<nt::NetworkTable> rootTable;
   std::shared_ptr<nt::NetworkTable> rootMetaTable;
+  nt::StringPublisher selectedTabPub;
 };
 
 ShuffleboardInstance::ShuffleboardInstance(nt::NetworkTableInstance ntInstance)
     : m_impl(new Impl) {
   m_impl->rootTable = ntInstance.GetTable(Shuffleboard::kBaseTableName);
   m_impl->rootMetaTable = m_impl->rootTable->GetSubTable(".metadata");
+  m_impl->selectedTabPub =
+      m_impl->rootMetaTable->GetStringTopic("Selected")
+          .Publish(nt::PubSubOptions{.keepDuplicates = true});
   HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
 }
 
@@ -75,9 +79,9 @@ void ShuffleboardInstance::DisableActuatorWidgets() {
 }
 
 void ShuffleboardInstance::SelectTab(int index) {
-  m_impl->rootMetaTable->GetEntry("Selected").SetDouble(index);
+  m_impl->selectedTabPub.Set(std::to_string(index));
 }
 
 void ShuffleboardInstance::SelectTab(std::string_view title) {
-  m_impl->rootMetaTable->GetEntry("Selected").SetString(title);
+  m_impl->selectedTabPub.Set(title);
 }

wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp

@@ -7,6 +7,8 @@
 #include <string_view>
 
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/NetworkTableListener.h>
+#include <networktables/StringTopic.h>
 
 #include "frc/shuffleboard/ShuffleboardInstance.h"
 #include "gtest/gtest.h"
@@ -106,3 +108,22 @@ TEST(ShuffleboardInstanceTest, NestedActuatorWidgetsAreDisabled) {
   EXPECT_FALSE(controllable)
       << "The nested actuator widget should have been disabled";
 }
+
+TEST(ShuffleboardInstanceTest, DuplicateSelectTabs) {
+  NTWrapper ntInst;
+  frc::detail::ShuffleboardInstance shuffleboardInst{ntInst.inst};
+  std::atomic_int counter = 0;
+  auto listener = nt::NetworkTableListener::CreateListener(
+      ntInst.inst.GetStringTopic("/Shuffleboard/.metadata/Selected"),
+      nt::EventFlags::kValueAll | nt::EventFlags::kImmediate,
+      [&counter](auto& event) { counter++; });
+
+  // There shouldn't be anything there
+  EXPECT_EQ(0, counter);
+
+  shuffleboardInst.SelectTab("tab1");
+  shuffleboardInst.SelectTab("tab1");
+  EXPECT_TRUE(ntInst.inst.WaitForListenerQueue(0.005))
+      << "Listener queue timed out!";
+  EXPECT_EQ(2, counter);
+}

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

@@ -10,6 +10,7 @@ import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
 import edu.wpi.first.networktables.StringPublisher;
 import java.util.LinkedHashMap;
 import java.util.Map;
@@ -32,7 +33,8 @@ final class ShuffleboardInstance implements ShuffleboardRoot {
     requireNonNullParam(ntInstance, "ntInstance", "ShuffleboardInstance");
     m_rootTable = ntInstance.getTable(Shuffleboard.kBaseTableName);
     m_rootMetaTable = m_rootTable.getSubTable(".metadata");
-    m_selectedTabPub = m_rootMetaTable.getStringTopic("Selected").publish();
+    m_selectedTabPub =
+        m_rootMetaTable.getStringTopic("Selected").publish(PubSubOption.keepDuplicates(true));
     HAL.report(tResourceType.kResourceType_Shuffleboard, 0);
   }
 

wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java

@@ -11,7 +11,10 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import edu.wpi.first.networktables.GenericEntry;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableEvent.Kind;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.EnumSet;
+import java.util.concurrent.atomic.AtomicInteger;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -121,4 +124,28 @@ class ShuffleboardInstanceTest {
     controllable = controllableEntry.getValue().getBoolean();
     assertFalse(controllable, "The nested actuator widget should have been disabled");
   }
+
+  @Test
+  void testDuplicateSelectTabs() {
+    int listener = 0;
+    AtomicInteger counter = new AtomicInteger();
+    try {
+      listener =
+          m_ntInstance.addListener(
+              m_ntInstance.getStringTopic("/Shuffleboard/.metadata/Selected"),
+              EnumSet.of(Kind.kValueAll, Kind.kImmediate),
+              event -> counter.incrementAndGet());
+
+      // There shouldn't be anything there
+      assertEquals(0, counter.get());
+
+      m_shuffleboardInstance.selectTab("tab1");
+      m_shuffleboardInstance.selectTab("tab1");
+      assertTrue(m_ntInstance.waitForListenerQueue(0.005), "Listener queue timed out!");
+      assertEquals(2, counter.get());
+
+    } finally {
+      m_ntInstance.removeListener(listener);
+    }
+  }
 }