[wpilib] Update values on controllable sendables (#4667)

Also don't save duplicate NT sets to data log (unless publish keep duplicates flag is set).

.github/workflows/cmake.yml

@@ -12,7 +12,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+          - os: ubuntu-22.04
             name: Linux
             container: wpilib/roborio-cross-ubuntu:2023-22.04
             flags: ""
@@ -37,7 +37,7 @@ jobs:
 
       - name: Set up Python 3.8 (macOS)
         if: runner.os == 'macOS'
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
 

.github/workflows/comment-command.yml

@@ -6,7 +6,7 @@ on:
 jobs:
   wpiformat:
     if: github.event.issue.pull_request && startsWith(github.event.comment.body, '/wpiformat')
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
         uses: actions/github-script@v4
@@ -37,16 +37,23 @@ jobs:
         uses: actions/setup-python@v2
         with:
           python-version: 3.8
+      - name: Setup Java
+        uses: actions/setup-java@v3
+        with:
+          distribution: 'zulu'
+          java-version: 11
       - name: Install clang-format
         run: |
           wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
           sudo apt-get update -q
           sudo apt-get install -y clang-format-14
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run wpiformat
         run: wpiformat -clang 14
+      - name: Run spotlessApply
+        run: ./gradlew spotlessApply
       - name: Commit
         run: |
           # Set credentials

.github/workflows/documentation.yml

@@ -12,7 +12,7 @@ env:
 jobs:
   publish:
     name: "Documentation - Publish"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     if: github.repository_owner == 'wpilibsuite' && (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
     concurrency: ci-docs-publish
     steps:
@@ -20,11 +20,10 @@ jobs:
         with:
           fetch-depth: 0
           persist-credentials: false
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 13
-      - name: Install libclang-9
-        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Set environment variables (Development)
         run: |
           echo "TARGET_FOLDER=$BASE_PATH/development" >> $GITHUB_ENV
@@ -42,7 +41,7 @@ jobs:
       - name: Build with Gradle
         run: ./gradlew docs:generateJavaDocs docs:doxygen -PbuildServer ${{ env.EXTRA_GRADLE_ARGS }}
       - name: Install SSH Client 🔑
-        uses: webfactory/ssh-agent@v0.4.1
+        uses: webfactory/ssh-agent@v0.7.0
         with:
           ssh-private-key: ${{ secrets.GH_DEPLOY_KEY }}
       - name: Deploy Java 🚀

.github/workflows/gazebo.yml

@@ -9,7 +9,7 @@ concurrency:
 jobs:
   build:
     name: "Build"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: wpilib/gazebo-ubuntu:22.04
     steps:
       - uses: actions/checkout@v3

.github/workflows/gradle.yml

@@ -25,7 +25,7 @@ jobs:
             artifact-name: Linux
             build-options: "-Ponlylinuxx86-64"
     name: "Build - ${{ matrix.artifact-name }}"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     steps:
       - uses: actions/checkout@v3
@@ -39,7 +39,7 @@ jobs:
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
           path: build/allOutputs
@@ -66,7 +66,6 @@ jobs:
           - os: macOS-11
             artifact-name: macOS
             architecture: x64
-            build-options: "-Pbuildalldesktop"
             task: "build"
             outputs: "build/allOutputs"
           - os: windows-2022
@@ -80,8 +79,9 @@ jobs:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 11
           architecture: ${{ matrix.architecture }}
       - name: Import Developer ID Certificate
@@ -111,27 +111,26 @@ jobs:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
       - name: Sign Libraries with Developer ID
-        run: ./gradlew build -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
+        run: ./gradlew copyAllOutputs --build-cache -PbuildServer -PskipJavaFormat -PdeveloperID=${{ secrets.APPLE_DEVELOPER_ID }} ${{ matrix.build-options }} ${{ env.EXTRA_GRADLE_ARGS }}
         if: |
           matrix.artifact-name == 'macOS' && (github.repository_owner == 'wpilibsuite' &&
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v')))
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: ${{ matrix.artifact-name }}
           path: ${{ matrix.outputs }}
 
   build-documentation:
     name: "Build - Documentation"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 13
-      - name: Install libclang-9
-        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Set release environment variable
         run: echo "EXTRA_GRADLE_ARGS=-PreleaseMode" >> $GITHUB_ENV
         if: startsWith(github.ref, 'refs/tags/v')
@@ -140,7 +139,7 @@ jobs:
         env:
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: Documentation
           path: docs/build/outputs
@@ -148,12 +147,12 @@ jobs:
   combine:
     name: Combine
     needs: [build-docker, build-host, build-documentation]
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
         with:
           repository: wpilibsuite/build-tools
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
         with:
           path: combiner/products/build/allOutputs
       - name: Flatten Artifacts
@@ -162,8 +161,9 @@ jobs:
         run: |
           cat combiner/products/build/allOutputs/version.txt
           test -s combiner/products/build/allOutputs/version.txt
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 11
       - name: Combine
         if: |
@@ -188,7 +188,7 @@ jobs:
           RUN_AZURE_ARTIFACTORY_RELEASE: "TRUE"
           ARTIFACTORY_PUBLISH_USERNAME: ${{ secrets.ARTIFACTORY_USERNAME }}
           ARTIFACTORY_PUBLISH_PASSWORD: ${{ secrets.ARTIFACTORY_PASSWORD }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: Maven
           path: ~/releases

.github/workflows/lint-format.yml

@@ -13,7 +13,7 @@ concurrency:
 jobs:
   wpiformat:
     name: "wpiformat"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - name: Fetch all history and metadata
@@ -23,13 +23,13 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Install clang-format
         run: |
           wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
           sudo apt-get update -q
           sudo apt-get install -y clang-format-14
       - name: Install wpiformat
@@ -41,14 +41,22 @@ jobs:
       - name: Generate diff
         run: git diff HEAD > wpiformat-fixes.patch
         if: ${{ failure() }}
-      - uses: actions/upload-artifact@v2
+      - uses: actions/upload-artifact@v3
         with:
           name: wpiformat fixes
           path: wpiformat-fixes.patch
         if: ${{ failure() }}
+      - name: Write to job summary
+        run: |
+          echo '```diff' >> $GITHUB_STEP_SUMMARY
+          cat wpiformat-fixes.patch >> $GITHUB_STEP_SUMMARY
+          echo '' >> $GITHUB_STEP_SUMMARY
+          echo '```' >> $GITHUB_STEP_SUMMARY
+        if: ${{ failure() }}
+
   tidy:
     name: "clang-tidy"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: wpilib/roborio-cross-ubuntu:2023-22.04
     steps:
       - uses: actions/checkout@v3
@@ -59,13 +67,13 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Install clang-tidy
         run: |
           wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo sh -c "echo 'deb http://apt.llvm.org/focal/ llvm-toolchain-focal-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
+          sudo sh -c "echo 'deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main' >> /etc/apt/sources.list.d/proposed-repositories.list"
           sudo apt-get update -q
           sudo apt-get install -y clang-tidy-14 clang-format-14
       - name: Install wpiformat
@@ -78,7 +86,7 @@ jobs:
         run: wpiformat -clang 14 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
   javaformat:
     name: "Java format"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: wpilib/ubuntu-base:22.04
     steps:
       - uses: actions/checkout@v3
@@ -97,15 +105,14 @@ jobs:
         if: ${{ failure() }}
   documentation:
     name: "Documentation"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
         with:
           fetch-depth: 0
-      - uses: actions/setup-java@v1
+      - uses: actions/setup-java@v3
         with:
+          distribution: 'zulu'
           java-version: 13
-      - name: Install libclang-9
-        run: sudo apt update && sudo apt install -y libclang-cpp9 libclang1-9
       - name: Build with Gradle
         run: ./gradlew docs:zipDocs -PbuildServer -PdocWarningsAsErrors ${{ env.EXTRA_GRADLE_ARGS }}

.github/workflows/sanitizers.yml

@@ -25,19 +25,19 @@ jobs:
             ctest-env: ""
             ctest-flags: ""
     name: "${{ matrix.name }}"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: wpilib/roborio-cross-ubuntu:2023-22.04
     steps:
       - uses: actions/checkout@v3
 
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14
 
       - name: Install jinja
         run: python -m pip install jinja2
 
       - name: configure
-        run: mkdir build && cd build && cmake ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
 
       - name: build
         working-directory: build

.github/workflows/upstream-utils.yml

@@ -13,7 +13,7 @@ concurrency:
 jobs:
   update:
     name: "Update"
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
       - name: Fetch all history and metadata
@@ -22,7 +22,7 @@ jobs:
           git checkout -b pr
           git branch -f main origin/main
       - name: Set up Python 3.9
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.9
       - name: Configure committer identity
@@ -49,6 +49,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_llvm.py
+      - name: Run update_mpack.py
+        run: |
+          cd upstream_utils
+          ./update_mpack.py
       - name: Run update_stack_walker.py
         run: |
           cd upstream_utils

CMakeLists.txt

@@ -315,6 +315,7 @@ endif()
 
 if (WITH_WPILIB)
     set(WPILIBC_DEP_REPLACE ${WPILIBC_DEP_REPLACE_IMPL})
+    add_subdirectory(apriltag)
     add_subdirectory(wpilibj)
     add_subdirectory(wpilibc)
     add_subdirectory(wpilibNewCommands)

CONTRIBUTING.md

@@ -37,8 +37,7 @@ So you want to contribute your changes back to WPILib. Great! We have a few cont
 
 ## Coding Guidelines
 
-WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system. We currently use clang-format 14.0 with wpiformat.
-
+WPILib uses modified Google style guides for both C++ and Java, which can be found in the [styleguide repository](https://github.com/wpilibsuite/styleguide). Autoformatters are available for many popular editors at https://github.com/google/styleguide. Running wpiformat is required for all contributions and is enforced by our continuous integration system.
 While the library should be fully formatted according to the styles, additional elements of the style guide were not followed when the library was initially created. All new code should follow the guidelines. If you are looking for some easy ramp-up tasks, finding areas that don't follow the style guide and fixing them is very welcome.
 
 When writing math expressions in documentation, use https://www.unicodeit.net/ to convert LaTeX to a Unicode equivalent that's easier to read. Not all expressions will translate (e.g., superscripts of superscripts) so focus on making it readable by someone who isn't familiar with LaTeX. If content on multiple lines needs to be aligned in Doxygen/Javadoc comments (e.g., integration/summation limits, matrices packed with square brackets and superscripts for them), put them in @verbatim/@endverbatim blocks in Doxygen or `<pre>` tags in Javadoc so they render with monospace font.

DevelopmentBuilds.md

@@ -8,7 +8,7 @@ This article contains instructions on building projects using a development buil
 
 Development builds are the per-commit build hosted every time a commit is pushed to the [allwpilib](https://github.com/wpilibsuite/allwpilib/) repository. These builds are then hosted on [artifactory](https://frcmaven.wpi.edu/artifactory/webapp/#/home).
 
-In order to build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2023 GradleRIO version, ie `2023.0.0-alpha-1`
+To build a project using a development build, find the build.gradle file and open it. Then, add the following code below the plugin section and replace YEAR with the year of the development version. It is also necessary to use a 2023 GradleRIO version, ie `2023.0.0-alpha-1`
 
 ```groovy
 wpi.maven.useLocal = false
@@ -46,6 +46,11 @@ wpi.versions.wpilibVersion = '2023.+'
 wpi.versions.wpimathVersion = '2023.+'
 ```
 
+### Development Build Documentation
+
+* C++: https://github.wpilib.org/allwpilib/docs/development/cpp/
+* Java: https://github.wpilib.org/allwpilib/docs/development/java/
+
 ## Local Build
 
 Building with a local build is very similar to building with a development build. Ensure you have built and published WPILib by following the instructions attached [here](https://github.com/wpilibsuite/allwpilib#building-wpilib). Next, find the ``build.gradle`` file in your robot project and open it. Then, add the following code below the plugin section and replace ``YEAR`` with the year of the local version.
@@ -90,4 +95,4 @@ The following 3 tasks can be used for deployment:
 
 Deploying any of these to the roboRIO will disable the current startup project until it is redeployed.
 
-From here, ssh into the roboRIO using the `admin` account (`lvuser` will fail to run in many cases). In the admin home directory, a file for each deploy type will exist (`myRobotCpp`, `myRobotCppStatic` and `myRobotJavaRun`). These can be run to start up the corresponding project.
+From here, ssh into the roboRIO using the `lvuser` account and run `frcRunRobot.sh` (It's in path).

MavenArtifacts.md

@@ -72,12 +72,16 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 * wpigui
   * imgui
 
-* ntcore
-  * wpiutil
-
 * wpimath
   * wpiutil
 
+* wpinet
+  * wpiutil
+
+* ntcore
+  * wpiutil
+  * wpinet
+
 * glass/libglass
   * wpiutil
   * wpimath
@@ -85,6 +89,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 
 * glass/libglassnt
   * wpiutil
+  * wpinet
   * ntcore
   * wpimath
   * wpigui
@@ -94,6 +99,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 
 * halsim
   * wpiutil
+  * wpinet
   * ntcore
   * wpimath
   * wpigui
@@ -102,12 +108,14 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
 
 * cscore
   * opencv
+  * wpinet
   * wpiutil
 
 * cameraserver
   * ntcore
   * cscore
   * opencv
+  * wpinet
   * wpiutil
 
 * wpilibj
@@ -115,6 +123,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * cameraserver
   * ntcore
   * cscore
+  * wpinet
   * wpiutil
 
 * wpilibc
@@ -123,6 +132,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * ntcore
   * cscore
   * wpimath
+  * wpinet
   * wpiutil
 
 * wpilibNewCommands
@@ -132,6 +142,7 @@ All artifacts are based at `edu.wpi.first.artifactname` in the repository.
   * ntcore
   * cscore
   * wpimath
+  * wpinet
   * wpiutil
 
 

README.md

@@ -1,8 +1,8 @@
 # WPILib Project
 
 ![CI](https://github.com/wpilibsuite/allwpilib/workflows/CI/badge.svg)
-[![C++ Documentation](https://img.shields.io/badge/documentation-c%2B%2B-blue)](https://first.wpi.edu/wpilib/allwpilib/docs/development/cpp/)
-[![Java Documentation](https://img.shields.io/badge/documentation-java-orange)](https://first.wpi.edu/wpilib/allwpilib/docs/development/java/)
+[![C++ Documentation](https://img.shields.io/badge/documentation-c%2B%2B-blue)](https://github.wpilib.org/allwpilib/docs/development/cpp/)
+[![Java Documentation](https://img.shields.io/badge/documentation-java-orange)](https://github.wpilib.org/allwpilib/docs/development/java/)
 
 Welcome to the WPILib project. This repository contains the HAL, WPILibJ, and WPILibC projects. These are the core libraries for creating robot programs for the roboRIO.
 
@@ -33,7 +33,7 @@ Below is a list of instructions that guide you through cloning, building, publis
 1. Clone the repository with `git clone https://github.com/wpilibsuite/allwpilib.git`
 2. Build the repository with `./gradlew build` or `./gradlew build --build-cache` if you have an internet connection
 3. Publish the artifacts locally by running `./gradlew publish`
-4. [Update your](OtherVersions.md) `build.gradle` [to use the artifacts](OtherVersions.md)
+4. [Update your](DevelopmentBuilds.md) `build.gradle` [to use the artifacts](DevelopmentBuilds.md)
 
 # Building WPILib
 
@@ -62,7 +62,7 @@ On macOS ARM, run `softwareupdate --install-rosetta`. This is necessary to be ab
 
 Clone the WPILib repository and follow the instructions above for installing any required tooling.
 
-See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions.
+See the [styleguide README](https://github.com/wpilibsuite/styleguide/blob/main/README.md) for wpiformat setup instructions. We use clang-format 14.
 
 ## Building
 
@@ -104,7 +104,7 @@ Run with `--build-cache` on the command-line to use the shared [build cache](htt
 
 ### Using Development Builds
 
-Please read the documentation available [here](OtherVersions.md)
+Please read the documentation available [here](DevelopmentBuilds.md)
 
 ### Custom toolchain location
 
@@ -137,7 +137,9 @@ make
 
 #### wpiformat
 
-wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on Windows or `python3 -m wpiformat` on other platforms.
+wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat -clang 14` on Windows or `python3 -m wpiformat -clang 14` on other platforms.
+
+Once a PR has been submitted, formatting can be run in CI by commenting `/wpiformat` on the PR. A new commit will be pushed with the formatting changes.
 
 #### Java Code Quality Tools
 

ThirdPartyNotices.txt

@@ -45,6 +45,7 @@ Drake                 wpimath/src/main/native/thirdparty/drake/
                       wpimath/src/test/native/cpp/drake/
                       wpimath/src/test/native/include/drake/
 V8 export-template    wpiutil/src/main/native/include/wpi/SymbolExports.h
+GCEM                  wpimath/src/main/native/thirdparty/gcem/include/
 
 ==============================================================================
 Google Test License
@@ -1224,3 +1225,20 @@ DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+============
+GCEM License
+============
+Copyright 2022 - ktholer (https://github.com/kthohr/gcem)
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

apriltag/CMakeLists.txt

@@ -0,0 +1,41 @@
+project(fieldImages)
+
+include(CompileWarnings)
+include(GenResources)
+
+if (WITH_JAVA)
+     find_package(Java REQUIRED)
+     include(UseJava)
+
+     file(GLOB JACKSON_JARS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/*.jar")
+
+     set(CMAKE_JAVA_INCLUDE_PATH apriltags.jar ${JACKSON_JARS})
+
+     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+     file(GLOB_RECURSE JAVA_RESOURCES src/main/native/resources/*.json)
+     add_jar(apriltags_jar SOURCES ${JAVA_SOURCES} RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${JAVA_RESOURCES} INCLUDE_JARS wpimath_jar OUTPUT_NAME apriltag)
+endif()
+
+
+GENERATE_RESOURCES(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltags_resources_src)
+
+file(GLOB_RECURSE apriltags_native_src src/main/native/cpp/*.cpp)
+
+add_library(apriltags ${apriltags_native_src} ${apriltags_resources_src})
+set_target_properties(apriltags PROPERTIES DEBUG_POSTFIX "d")
+
+set_property(TARGET apriltags PROPERTY FOLDER "libraries")
+target_compile_features(apriltags PUBLIC cxx_std_20)
+wpilib_target_warnings(apriltags)
+target_link_libraries(apriltags wpimath)
+
+target_include_directories(apriltags PUBLIC
+                            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/main/native/include>
+                            $<INSTALL_INTERFACE:${include_dest}/apriltags>)
+
+
+if (WITH_TESTS)
+    wpilib_add_test(apriltags src/test/native/cpp)
+    target_include_directories(apriltags_test PRIVATE src/test/native/include)
+    target_link_libraries(apriltags_test apriltags gmock_main)
+endif()

apriltag/build.gradle

@@ -0,0 +1,77 @@
+apply from: "${rootDir}/shared/resources.gradle"
+
+ext {
+    nativeName = 'apriltags'
+    devMain = 'edu.wpi.first.apriltag.DevMain'
+
+    def generateTask = createGenerateResourcesTask('main', 'APRILTAGS', 'frc', project)
+
+    tasks.withType(CppCompile) {
+        dependsOn generateTask
+    }
+    extraSetup = {
+        it.sources {
+            resourcesCpp(CppSourceSet) {
+                source {
+                    srcDirs "$buildDir/generated/main/cpp", "$rootDir/shared/singlelib"
+                    include '*.cpp'
+                }
+            }
+        }
+    }
+}
+
+evaluationDependsOn(':wpimath')
+
+apply from: "${rootDir}/shared/javacpp/setupBuild.gradle"
+
+dependencies {
+    implementation project(':wpimath')
+}
+
+sourceSets {
+    main {
+        resources {
+            srcDirs 'src/main/native/resources'
+        }
+    }
+}
+
+
+model {
+    components {}
+    binaries {
+        all {
+            if (!it.buildable || !(it instanceof NativeBinarySpec)) {
+                return
+            }
+            it.cppCompiler.define 'WPILIB_EXPORTS'
+
+            lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+            lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
+
+            if ((it instanceof NativeExecutableBinarySpec || it instanceof GoogleTestTestSuiteBinarySpec) && it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
+                nativeUtils.useRequiredLibrary(it, 'ni_link_libraries', 'ni_runtime_libraries')
+            }
+        }
+    }
+    tasks {
+        def c = $.components
+        def found = false
+        def systemArch = getCurrentArch()
+        c.each {
+            if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+                it.binaries.each {
+                    if (!found) {
+                        def arch = it.targetPlatform.name
+                        if (arch == systemArch) {
+                            def filePath = it.tasks.install.installDirectory.get().toString() + File.separatorChar + 'lib'
+
+                            found = true
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

apriltag/src/dev/java/edu/wpi/first/apriltag/DevMain.java

@@ -0,0 +1,14 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+public final class DevMain {
+  /** Main entry point. */
+  public static void main(String[] args) {
+    System.out.println("Hello World!");
+  }
+
+  private DevMain() {}
+}

apriltag/src/dev/native/cpp/main.cpp

@@ -0,0 +1,5 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+int main() {}

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java

@@ -0,0 +1,47 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import edu.wpi.first.math.geometry.Pose3d;
+import java.util.Objects;
+
+@SuppressWarnings("MemberName")
+public class AprilTag {
+  @JsonProperty(value = "ID")
+  public int ID;
+
+  @JsonProperty(value = "pose")
+  public Pose3d pose;
+
+  @SuppressWarnings("ParameterName")
+  @JsonCreator
+  public AprilTag(
+      @JsonProperty(required = true, value = "ID") int ID,
+      @JsonProperty(required = true, value = "pose") Pose3d pose) {
+    this.ID = ID;
+    this.pose = pose;
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj instanceof AprilTag) {
+      var other = (AprilTag) obj;
+      return ID == other.ID && pose.equals(other.pose);
+    }
+    return false;
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(ID, pose);
+  }
+
+  @Override
+  public String toString() {
+    return "AprilTag(ID: " + ID + ", pose: " + pose + ")";
+  }
+}

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -0,0 +1,236 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import com.fasterxml.jackson.annotation.JsonAutoDetect;
+import com.fasterxml.jackson.annotation.JsonCreator;
+import com.fasterxml.jackson.annotation.JsonIgnore;
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.nio.file.Path;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.Objects;
+import java.util.Optional;
+
+/**
+ * Class for representing a layout of AprilTags on a field and reading them from a JSON format.
+ *
+ * <p>The JSON format contains two top-level objects, "tags" and "field". The "tags" object is a
+ * list of all AprilTags contained within a layout. Each AprilTag serializes to a JSON object
+ * containing an ID and a Pose3d. The "field" object is a descriptor of the size of the field in
+ * meters with "width" and "length" values. This is to account for arbitrary field sizes when
+ * transforming the poses.
+ *
+ * <p>Pose3ds are assumed to be measured from the bottom-left corner of the field, when the blue
+ * alliance is at the left. By default, Pose3ds will be returned as declared when calling {@link
+ * AprilTagFieldLayout#getTagPose(int)}. {@link #setOrigin(OriginPosition)} can be used to transform
+ * the poses returned from {@link AprilTagFieldLayout#getTagPose(int)} to be correct relative to a
+ * different coordinate frame.
+ */
+@JsonIgnoreProperties(ignoreUnknown = true)
+@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+public class AprilTagFieldLayout {
+  public enum OriginPosition {
+    kBlueAllianceWallRightSide,
+    kRedAllianceWallRightSide,
+  }
+
+  private final Map<Integer, AprilTag> m_apriltags = new HashMap<>();
+
+  @JsonProperty(value = "field")
+  private FieldDimensions m_fieldDimensions;
+
+  private Pose3d m_origin;
+
+  /**
+   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
+   *
+   * @param path Path of the JSON file to import from.
+   * @throws IOException If reading from the file fails.
+   */
+  public AprilTagFieldLayout(String path) throws IOException {
+    this(Path.of(path));
+  }
+
+  /**
+   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
+   *
+   * @param path Path of the JSON file to import from.
+   * @throws IOException If reading from the file fails.
+   */
+  public AprilTagFieldLayout(Path path) throws IOException {
+    AprilTagFieldLayout layout =
+        new ObjectMapper().readValue(path.toFile(), AprilTagFieldLayout.class);
+    m_apriltags.putAll(layout.m_apriltags);
+    m_fieldDimensions = layout.m_fieldDimensions;
+    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
+  }
+
+  /**
+   * Construct a new AprilTagFieldLayout from a list of {@link AprilTag} objects.
+   *
+   * @param apriltags List of {@link AprilTag}.
+   * @param fieldLength Length of the field the layout is representing in meters.
+   * @param fieldWidth Width of the field the layout is representing in meters.
+   */
+  public AprilTagFieldLayout(List<AprilTag> apriltags, double fieldLength, double fieldWidth) {
+    this(apriltags, new FieldDimensions(fieldLength, fieldWidth));
+  }
+
+  @JsonCreator
+  private AprilTagFieldLayout(
+      @JsonProperty(required = true, value = "tags") List<AprilTag> apriltags,
+      @JsonProperty(required = true, value = "field") FieldDimensions fieldDimensions) {
+    // To ensure the underlying semantics don't change with what kind of list is passed in
+    for (AprilTag tag : apriltags) {
+      m_apriltags.put(tag.ID, tag);
+    }
+    m_fieldDimensions = fieldDimensions;
+    setOrigin(OriginPosition.kBlueAllianceWallRightSide);
+  }
+
+  /**
+   * Returns a List of the {@link AprilTag AprilTags} used in this layout.
+   *
+   * @return The {@link AprilTag AprilTags} used in this layout.
+   */
+  @JsonProperty("tags")
+  public List<AprilTag> getTags() {
+    return new ArrayList<>(m_apriltags.values());
+  }
+
+  /**
+   * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
+   * calculated from the field dimensions.
+   *
+   * <p>This transforms the Pose3ds returned by {@link #getTagPose(int)} to return the correct pose
+   * relative to a predefined coordinate frame.
+   *
+   * @param origin The predefined origin
+   */
+  @JsonIgnore
+  public void setOrigin(OriginPosition origin) {
+    switch (origin) {
+      case kBlueAllianceWallRightSide:
+        setOrigin(new Pose3d());
+        break;
+      case kRedAllianceWallRightSide:
+        setOrigin(
+            new Pose3d(
+                new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
+                new Rotation3d(0, 0, Math.PI)));
+        break;
+      default:
+        throw new IllegalArgumentException("Unsupported enum value");
+    }
+  }
+
+  /**
+   * Sets the origin for tag pose transformation.
+   *
+   * <p>This transforms the Pose3ds returned by {@link #getTagPose(int)} to return the correct pose
+   * relative to the provided origin.
+   *
+   * @param origin The new origin for tag transformations
+   */
+  @JsonIgnore
+  public void setOrigin(Pose3d origin) {
+    m_origin = origin;
+  }
+
+  /**
+   * Gets an AprilTag pose by its ID.
+   *
+   * @param ID The ID of the tag.
+   * @return The pose corresponding to the ID passed in or an empty optional if a tag with that ID
+   *     was not found.
+   */
+  @SuppressWarnings("ParameterName")
+  public Optional<Pose3d> getTagPose(int ID) {
+    AprilTag tag = m_apriltags.get(ID);
+    if (tag == null) {
+      return Optional.empty();
+    }
+    return Optional.of(tag.pose.relativeTo(m_origin));
+  }
+
+  /**
+   * Serializes a AprilTagFieldLayout to a JSON file.
+   *
+   * @param path The path to write to.
+   * @throws IOException If writing to the file fails.
+   */
+  public void serialize(String path) throws IOException {
+    serialize(Path.of(path));
+  }
+
+  /**
+   * Serializes a AprilTagFieldLayout to a JSON file.
+   *
+   * @param path The path to write to.
+   * @throws IOException If writing to the file fails.
+   */
+  public void serialize(Path path) throws IOException {
+    new ObjectMapper().writeValue(path.toFile(), this);
+  }
+
+  /**
+   * Deserializes a field layout from a resource within a jar file.
+   *
+   * @param resourcePath The absolute path of the resource
+   * @return The deserialized layout
+   * @throws IOException If the resource could not be loaded
+   */
+  public static AprilTagFieldLayout loadFromResource(String resourcePath) throws IOException {
+    try (InputStream stream = AprilTagFieldLayout.class.getResourceAsStream(resourcePath);
+        InputStreamReader reader = new InputStreamReader(stream)) {
+      return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
+    }
+  }
+
+  @Override
+  public boolean equals(Object obj) {
+    if (obj instanceof AprilTagFieldLayout) {
+      var other = (AprilTagFieldLayout) obj;
+      return m_apriltags.equals(other.m_apriltags) && m_origin.equals(other.m_origin);
+    }
+    return false;
+  }
+
+  @Override
+  public int hashCode() {
+    return Objects.hash(m_apriltags, m_origin);
+  }
+
+  @JsonIgnoreProperties(ignoreUnknown = true)
+  @JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
+  private static class FieldDimensions {
+    @SuppressWarnings("MemberName")
+    @JsonProperty(value = "length")
+    public double fieldLength;
+
+    @SuppressWarnings("MemberName")
+    @JsonProperty(value = "width")
+    public double fieldWidth;
+
+    @JsonCreator()
+    FieldDimensions(
+        @JsonProperty(required = true, value = "length") double fieldLength,
+        @JsonProperty(required = true, value = "width") double fieldWidth) {
+      this.fieldLength = fieldLength;
+      this.fieldWidth = fieldWidth;
+    }
+  }
+}

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java

@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+public enum AprilTagFields {
+  k2022RapidReact("2022-rapidreact.json");
+
+  public static final String kBaseResourceDir = "/edu/wpi/first/apriltag/";
+
+  /** Alias to the current game. */
+  public static final AprilTagFields kDefaultField = k2022RapidReact;
+
+  public final String m_resourceFile;
+
+  AprilTagFields(String resourceFile) {
+    m_resourceFile = kBaseResourceDir + resourceFile;
+  }
+}

apriltag/src/main/native/cpp/AprilTag.cpp

@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/apriltag/AprilTag.h"
+
+#include <wpi/json.h>
+
+using namespace frc;
+
+bool AprilTag::operator==(const AprilTag& other) const {
+  return ID == other.ID && pose == other.pose;
+}
+
+bool AprilTag::operator!=(const AprilTag& other) const {
+  return !operator==(other);
+}
+
+void frc::to_json(wpi::json& json, const AprilTag& apriltag) {
+  json = wpi::json{{"ID", apriltag.ID}, {"pose", apriltag.pose}};
+}
+
+void frc::from_json(const wpi::json& json, AprilTag& apriltag) {
+  apriltag.ID = json.at("ID").get<int>();
+  apriltag.pose = json.at("pose").get<Pose3d>();
+}

apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp

@@ -0,0 +1,117 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/apriltag/AprilTagFieldLayout.h"
+
+#include <system_error>
+
+#include <units/angle.h>
+#include <units/length.h>
+#include <wpi/json.h>
+#include <wpi/raw_istream.h>
+#include <wpi/raw_ostream.h>
+
+using namespace frc;
+
+AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
+  std::error_code error_code;
+
+  wpi::raw_fd_istream input{path, error_code};
+  if (error_code) {
+    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
+  }
+
+  wpi::json json;
+  input >> json;
+
+  for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
+    m_apriltags[tag.ID] = tag;
+  }
+  m_fieldWidth = units::meter_t{json.at("field").at("width").get<double>()};
+  m_fieldLength = units::meter_t{json.at("field").at("height").get<double>()};
+}
+
+AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
+                                         units::meter_t fieldLength,
+                                         units::meter_t fieldWidth)
+    : m_fieldLength(std::move(fieldLength)),
+      m_fieldWidth(std::move(fieldWidth)) {
+  for (const auto& tag : apriltags) {
+    m_apriltags[tag.ID] = tag;
+  }
+}
+
+void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
+  switch (origin) {
+    case OriginPosition::kBlueAllianceWallRightSide:
+      SetOrigin(Pose3d{});
+      break;
+    case OriginPosition::kRedAllianceWallRightSide:
+      SetOrigin(Pose3d{Translation3d{m_fieldLength, m_fieldWidth, 0_m},
+                       Rotation3d{0_deg, 0_deg, 180_deg}});
+      break;
+    default:
+      throw std::invalid_argument("Invalid origin");
+  }
+}
+
+void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
+  m_origin = origin;
+}
+
+std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
+  const auto& it = m_apriltags.find(ID);
+  if (it == m_apriltags.end()) {
+    return std::nullopt;
+  }
+  return it->second.pose.RelativeTo(m_origin);
+}
+
+void AprilTagFieldLayout::Serialize(std::string_view path) {
+  std::error_code error_code;
+
+  wpi::raw_fd_ostream output{path, error_code};
+  if (error_code) {
+    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
+  }
+
+  wpi::json json = *this;
+  output << json;
+  output.flush();
+}
+
+bool AprilTagFieldLayout::operator==(const AprilTagFieldLayout& other) const {
+  return m_apriltags == other.m_apriltags && m_origin == other.m_origin &&
+         m_fieldLength == other.m_fieldLength &&
+         m_fieldWidth == other.m_fieldWidth;
+}
+
+bool AprilTagFieldLayout::operator!=(const AprilTagFieldLayout& other) const {
+  return !operator==(other);
+}
+
+void frc::to_json(wpi::json& json, const AprilTagFieldLayout& layout) {
+  std::vector<AprilTag> tagVector;
+  tagVector.reserve(layout.m_apriltags.size());
+  for (const auto& pair : layout.m_apriltags) {
+    tagVector.push_back(pair.second);
+  }
+
+  json = wpi::json{{"field",
+                    {{"length", layout.m_fieldLength.value()},
+                     {"width", layout.m_fieldWidth.value()}}},
+                   {"tags", tagVector}};
+}
+
+void frc::from_json(const wpi::json& json, AprilTagFieldLayout& layout) {
+  layout.m_apriltags.clear();
+  for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
+    layout.m_apriltags[tag.ID] = tag;
+  }
+
+  layout.m_fieldLength =
+      units::meter_t{json.at("field").at("length").get<double>()};
+  layout.m_fieldWidth =
+      units::meter_t{json.at("field").at("width").get<double>()};
+}

apriltag/src/main/native/cpp/AprilTagFields.cpp

@@ -0,0 +1,28 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/apriltag/AprilTagFields.h"
+
+#include <wpi/json.h>
+
+namespace frc {
+
+// C++ generated from resource files
+std::string_view GetResource_2022_rapidreact_json();
+
+AprilTagFieldLayout LoadAprilTagLayoutField(AprilTagField field) {
+  std::string_view fieldString;
+  switch (field) {
+    case AprilTagField::k2022RapidReact:
+      fieldString = GetResource_2022_rapidreact_json();
+      break;
+    case AprilTagField::kNumFields:
+      throw std::invalid_argument("Invalid Field");
+  }
+
+  wpi::json json = wpi::json::parse(fieldString);
+  return json.get<AprilTagFieldLayout>();
+}
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTag.h

@@ -0,0 +1,45 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <wpi/SymbolExports.h>
+
+#include "frc/geometry/Pose3d.h"
+
+namespace wpi {
+class json;
+}  // namespace wpi
+
+namespace frc {
+
+struct WPILIB_DLLEXPORT AprilTag {
+  int ID;
+
+  Pose3d pose;
+
+  /**
+   * Checks equality between this AprilTag and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are equal.
+   */
+  bool operator==(const AprilTag& other) const;
+
+  /**
+   * Checks inequality between this AprilTag and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are not equal.
+   */
+  bool operator!=(const AprilTag& other) const;
+};
+
+WPILIB_DLLEXPORT
+void to_json(wpi::json& json, const AprilTag& apriltag);
+
+WPILIB_DLLEXPORT
+void from_json(const wpi::json& json, AprilTag& apriltag);
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h

@@ -0,0 +1,139 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <optional>
+#include <string_view>
+#include <unordered_map>
+#include <vector>
+
+#include <units/length.h>
+#include <wpi/SymbolExports.h>
+
+#include "frc/apriltag/AprilTag.h"
+#include "frc/geometry/Pose3d.h"
+
+namespace wpi {
+class json;
+}  // namespace wpi
+
+namespace frc {
+/**
+ * Class for representing a layout of AprilTags on a field and reading them from
+ * a JSON format.
+ *
+ * The JSON format contains two top-level objects, "tags" and "field".
+ * The "tags" object is a list of all AprilTags contained within a layout. Each
+ * AprilTag serializes to a JSON object containing an ID and a Pose3d. The
+ * "field" object is a descriptor of the size of the field in meters with
+ * "width" and "length" values.  This is to account for arbitrary field sizes
+ * when transforming the poses.
+ *
+ * Pose3ds are assumed to be measured from the bottom-left corner of the field,
+ * when the blue alliance is at the left. By default, Pose3ds will be returned
+ * as declared when calling GetTagPose(int).
+ * SetOrigin(AprilTagFieldLayout::OriginPosition) can be used to transform the
+ * poses returned by GetTagPose(int) to be correct relative to a different
+ * coordinate frame.
+ */
+class WPILIB_DLLEXPORT AprilTagFieldLayout {
+ public:
+  enum class OriginPosition {
+    kBlueAllianceWallRightSide,
+    kRedAllianceWallRightSide,
+  };
+
+  AprilTagFieldLayout() = default;
+
+  /**
+   * Construct a new AprilTagFieldLayout with values imported from a JSON file.
+   *
+   * @param path Path of the JSON file to import from.
+   */
+  explicit AprilTagFieldLayout(std::string_view path);
+
+  /**
+   * Construct a new AprilTagFieldLayout from a vector of AprilTag objects.
+   *
+   * @param apriltags Vector of AprilTags.
+   * @param fieldLength Length of field the layout is representing.
+   * @param fieldWidth Width of field the layout is representing.
+   */
+  AprilTagFieldLayout(std::vector<AprilTag> apriltags,
+                      units::meter_t fieldLength, units::meter_t fieldWidth);
+
+  /**
+   * Sets the origin based on a predefined enumeration of coordinate frame
+   * origins. The origins are calculated from the field dimensions.
+   *
+   * This transforms the Pose3ds returned by GetTagPose(int) to return the
+   * correct pose relative to a predefined coordinate frame.
+   *
+   * @param origin The predefined origin
+   */
+  void SetOrigin(OriginPosition origin);
+
+  /**
+   * Sets the origin for tag pose transformation.
+   *
+   * This tranforms the Pose3ds returned by GetTagPose(int) to return the
+   * correct pose relative to the provided origin.
+   *
+   * @param origin The new origin for tag transformations
+   */
+  void SetOrigin(const Pose3d& origin);
+
+  /**
+   * Gets an AprilTag pose by its ID.
+   *
+   * @param ID The ID of the tag.
+   * @return The pose corresponding to the ID that was passed in or an empty
+   * optional if a tag with that ID is not found.
+   */
+  std::optional<Pose3d> GetTagPose(int ID) const;
+
+  /**
+   * Serializes an AprilTagFieldLayout to a JSON file.
+   *
+   * @param path The path to write the JSON file to.
+   */
+  void Serialize(std::string_view path);
+
+  /*
+   * Checks equality between this AprilTagFieldLayout and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are equal.
+   */
+  bool operator==(const AprilTagFieldLayout& other) const;
+
+  /**
+   * Checks inequality between this AprilTagFieldLayout and another object.
+   *
+   * @param other The other object.
+   * @return Whether the two objects are not equal.
+   */
+  bool operator!=(const AprilTagFieldLayout& other) const;
+
+ private:
+  std::unordered_map<int, AprilTag> m_apriltags;
+  units::meter_t m_fieldLength;
+  units::meter_t m_fieldWidth;
+  Pose3d m_origin;
+
+  friend WPILIB_DLLEXPORT void to_json(wpi::json& json,
+                                       const AprilTagFieldLayout& layout);
+
+  friend WPILIB_DLLEXPORT void from_json(const wpi::json& json,
+                                         AprilTagFieldLayout& layout);
+};
+
+WPILIB_DLLEXPORT
+void to_json(wpi::json& json, const AprilTagFieldLayout& layout);
+
+WPILIB_DLLEXPORT
+void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
+
+}  // namespace frc

apriltag/src/main/native/include/frc/apriltag/AprilTagFields.h

@@ -0,0 +1,31 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+#include <wpi/SymbolExports.h>
+
+#include "frc/apriltag/AprilTagFieldLayout.h"
+
+namespace frc {
+
+enum class AprilTagField {
+  k2022RapidReact,
+
+  // This is a placeholder for denoting the last supported field. This should
+  // always be the last entry in the enum and should not be used by users
+  kNumFields,
+};
+
+/**
+ * Loads an AprilTagFieldLayout from a predefined field
+ *
+ * @param field The predefined field
+ */
+WPILIB_DLLEXPORT AprilTagFieldLayout
+LoadAprilTagLayoutField(AprilTagField field);
+
+}  // namespace frc

apriltag/src/main/native/resources/edu/wpi/first/apriltag/2022-rapidreact.json

@@ -0,0 +1,415 @@
+{
+  "tags" : [ {
+    "ID" : 0,
+    "pose" : {
+      "translation" : {
+        "x" : -0.0035306,
+        "y" : 7.578928199999999,
+        "z" : 0.8858503999999999
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 1.0,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.0
+        }
+      }
+    }
+  }, {
+    "ID" : 1,
+    "pose" : {
+      "translation" : {
+        "x" : 3.2327088,
+        "y" : 5.486654,
+        "z" : 1.7254728
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 1.0,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.0
+        }
+      }
+    }
+  }, {
+    "ID" : 2,
+    "pose" : {
+      "translation" : {
+        "x" : 3.067812,
+        "y" : 5.3305202,
+        "z" : 1.3762228
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.7071067811865476,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : -0.7071067811865475
+        }
+      }
+    }
+  }, {
+    "ID" : 3,
+    "pose" : {
+      "translation" : {
+        "x" : 0.0039878,
+        "y" : 5.058536999999999,
+        "z" : 0.80645
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 1.0,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.0
+        }
+      }
+    }
+  }, {
+    "ID" : 4,
+    "pose" : {
+      "translation" : {
+        "x" : 0.0039878,
+        "y" : 3.5124898,
+        "z" : 0.80645
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 1.0,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.0
+        }
+      }
+    }
+  }, {
+    "ID" : 5,
+    "pose" : {
+      "translation" : {
+        "x" : 0.12110719999999998,
+        "y" : 1.7178274,
+        "z" : 0.8906002000000001
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.9196502204050923,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.39273842708457407
+        }
+      }
+    }
+  }, {
+    "ID" : 6,
+    "pose" : {
+      "translation" : {
+        "x" : 0.8733027999999999,
+        "y" : 0.9412985999999999,
+        "z" : 0.8906002000000001
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.9196502204050923,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.39273842708457407
+        }
+      }
+    }
+  }, {
+    "ID" : 7,
+    "pose" : {
+      "translation" : {
+        "x" : 1.6150844,
+        "y" : 0.15725139999999999,
+        "z" : 0.8906002000000001
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.9196502204050923,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.39273842708457407
+        }
+      }
+    }
+  }, {
+    "ID" : 10,
+    "pose" : {
+      "translation" : {
+        "x" : 16.4627306,
+        "y" : 0.6506718,
+        "z" : 0.8858503999999999
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 6.123233995736766E-17,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 1.0
+        }
+      }
+    }
+  }, {
+    "ID" : 11,
+    "pose" : {
+      "translation" : {
+        "x" : 13.2350002,
+        "y" : 2.743454,
+        "z" : 1.7254728
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 6.123233995736766E-17,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 1.0
+        }
+      }
+    }
+  }, {
+    "ID" : 12,
+    "pose" : {
+      "translation" : {
+        "x" : 13.391388000000001,
+        "y" : 2.8998418,
+        "z" : 1.3762228
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.7071067811865476,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.7071067811865475
+        }
+      }
+    }
+  }, {
+    "ID" : 13,
+    "pose" : {
+      "translation" : {
+        "x" : 16.4552122,
+        "y" : 3.1755079999999998,
+        "z" : 0.80645
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 6.123233995736766E-17,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 1.0
+        }
+      }
+    }
+  }, {
+    "ID" : 14,
+    "pose" : {
+      "translation" : {
+        "x" : 16.4552122,
+        "y" : 4.7171356,
+        "z" : 0.80645
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 6.123233995736766E-17,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 1.0
+        }
+      }
+    }
+  }, {
+    "ID" : 15,
+    "pose" : {
+      "translation" : {
+        "x" : 16.3350194,
+        "y" : 6.5149729999999995,
+        "z" : 0.8937752
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : -0.37298778257580906,
+          "X" : -0.0,
+          "Y" : 0.0,
+          "Z" : 0.9278362538989199
+        }
+      }
+    }
+  }, {
+    "ID" : 16,
+    "pose" : {
+      "translation" : {
+        "x" : 15.5904946,
+        "y" : 7.292695599999999,
+        "z" : 0.8906002000000001
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : -0.37298778257580906,
+          "X" : -0.0,
+          "Y" : 0.0,
+          "Z" : 0.9278362538989199
+        }
+      }
+    }
+  }, {
+    "ID" : 17,
+    "pose" : {
+      "translation" : {
+        "x" : 14.847188999999998,
+        "y" : 8.0691228,
+        "z" : 0.8906002000000001
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : -0.37298778257580906,
+          "X" : -0.0,
+          "Y" : 0.0,
+          "Z" : 0.9278362538989199
+        }
+      }
+    }
+  }, {
+    "ID" : 40,
+    "pose" : {
+      "translation" : {
+        "x" : 7.874127,
+        "y" : 4.9131728,
+        "z" : 0.7032752
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.5446390350150271,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.838670567945424
+        }
+      }
+    }
+  }, {
+    "ID" : 41,
+    "pose" : {
+      "translation" : {
+        "x" : 7.4312271999999995,
+        "y" : 3.759327,
+        "z" : 0.7032752
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : -0.20791169081775934,
+          "X" : -0.0,
+          "Y" : 0.0,
+          "Z" : 0.9781476007338057
+        }
+      }
+    }
+  }, {
+    "ID" : 42,
+    "pose" : {
+      "translation" : {
+        "x" : 8.585073,
+        "y" : 3.3164272,
+        "z" : 0.7032752
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.838670567945424,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : -0.5446390350150271
+        }
+      }
+    }
+  }, {
+    "ID" : 43,
+    "pose" : {
+      "translation" : {
+        "x" : 9.0279728,
+        "y" : 4.470273,
+        "z" : 0.7032752
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.9781476007338057,
+          "X" : 0.0,
+          "Y" : 0.0,
+          "Z" : 0.20791169081775934
+        }
+      }
+    }
+  }, {
+    "ID" : 50,
+    "pose" : {
+      "translation" : {
+        "x" : 7.6790296,
+        "y" : 4.3261534,
+        "z" : 2.4177244
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.17729273396782605,
+          "X" : -0.22744989571511945,
+          "Y" : 0.04215534644161733,
+          "Z" : 0.9565859910053995
+        }
+      }
+    }
+  }, {
+    "ID" : 51,
+    "pose" : {
+      "translation" : {
+        "x" : 8.0182466,
+        "y" : 3.5642296,
+        "z" : 2.4177244
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : -0.5510435465842192,
+          "X" : -0.19063969497246985,
+          "Y" : -0.13102303230819815,
+          "Z" : 0.8017733354717242
+        }
+      }
+    }
+  }, {
+    "ID" : 52,
+    "pose" : {
+      "translation" : {
+        "x" : 8.7801704,
+        "y" : 3.9034466,
+        "z" : 2.4177244
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : -0.9565859910053994,
+          "X" : -0.04215534644161739,
+          "Y" : -0.22744989571511942,
+          "Z" : 0.17729273396782633
+        }
+      }
+    }
+  }, {
+    "ID" : 53,
+    "pose" : {
+      "translation" : {
+        "x" : 8.4409534,
+        "y" : 4.6653704,
+        "z" : 2.4177244
+      },
+      "rotation" : {
+        "quaternion" : {
+          "W" : 0.8017733354717241,
+          "X" : -0.1310230323081982,
+          "Y" : 0.19063969497246983,
+          "Z" : 0.5510435465842194
+        }
+      }
+    }
+  } ],
+  "field" : {
+    "length" : 8.2296,
+    "width" : 16.4592
+  }
+}

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagPoseSetOriginTest.java

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.geometry.Translation3d;
+import edu.wpi.first.math.util.Units;
+import java.util.List;
+import org.junit.jupiter.api.Test;
+
+class AprilTagPoseSetOriginTest {
+  @Test
+  void transformationMatches() {
+    var layout =
+        new AprilTagFieldLayout(
+            List.of(
+                new AprilTag(1, new Pose3d(new Translation3d(0, 0, 0), new Rotation3d(0, 0, 0))),
+                new AprilTag(
+                    2,
+                    new Pose3d(
+                        new Translation3d(
+                            Units.feetToMeters(4.0), Units.feetToMeters(4), Units.feetToMeters(4)),
+                        new Rotation3d(0, 0, Units.degreesToRadians(180))))),
+            Units.feetToMeters(54.0),
+            Units.feetToMeters(27.0));
+    layout.setOrigin(AprilTagFieldLayout.OriginPosition.kRedAllianceWallRightSide);
+
+    assertEquals(
+        new Pose3d(
+            new Translation3d(Units.feetToMeters(54.0), Units.feetToMeters(27.0), 0.0),
+            new Rotation3d(0.0, 0.0, Units.degreesToRadians(180.0))),
+        layout.getTagPose(1).orElse(null));
+
+    assertEquals(
+        new Pose3d(
+            new Translation3d(
+                Units.feetToMeters(50.0), Units.feetToMeters(23.0), Units.feetToMeters(4)),
+            new Rotation3d(0.0, 0.0, 0)),
+        layout.getTagPose(2).orElse(null));
+  }
+}

apriltag/src/test/java/edu/wpi/first/apriltag/AprilTagSerializationTest.java

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+
+import com.fasterxml.jackson.databind.ObjectMapper;
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.util.Units;
+import java.util.List;
+import org.junit.jupiter.api.Test;
+
+class AprilTagSerializationTest {
+  @Test
+  void deserializeMatches() {
+    var layout =
+        new AprilTagFieldLayout(
+            List.of(
+                new AprilTag(1, new Pose3d(0, 0, 0, new Rotation3d(0, 0, 0))),
+                new AprilTag(3, new Pose3d(0, 1, 0, new Rotation3d(0, 0, 0)))),
+            Units.feetToMeters(54.0),
+            Units.feetToMeters(27.0));
+
+    var objectMapper = new ObjectMapper();
+
+    var deserialized =
+        assertDoesNotThrow(
+            () ->
+                objectMapper.readValue(
+                    objectMapper.writeValueAsString(layout), AprilTagFieldLayout.class));
+
+    assertEquals(layout, deserialized);
+  }
+}

apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java

@@ -0,0 +1,74 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.apriltag;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertTrue;
+
+import edu.wpi.first.math.geometry.Pose3d;
+import edu.wpi.first.math.geometry.Rotation3d;
+import edu.wpi.first.math.util.Units;
+import java.io.IOException;
+import java.util.Optional;
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.api.Test;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class LoadConfigTest {
+  @ParameterizedTest
+  @EnumSource(AprilTagFields.class)
+  void testLoad(AprilTagFields field) {
+    AprilTagFieldLayout layout =
+        Assertions.assertDoesNotThrow(
+            () -> AprilTagFieldLayout.loadFromResource(field.m_resourceFile));
+    assertNotNull(layout);
+  }
+
+  @Test
+  void test2022RapidReact() throws IOException {
+    AprilTagFieldLayout layout =
+        AprilTagFieldLayout.loadFromResource(AprilTagFields.k2022RapidReact.m_resourceFile);
+
+    // Blue Hangar Truss - Hub
+    Pose3d expectedPose =
+        new Pose3d(
+            Units.inchesToMeters(127.272),
+            Units.inchesToMeters(216.01),
+            Units.inchesToMeters(67.932),
+            new Rotation3d(0, 0, 0));
+    Optional<Pose3d> maybePose = layout.getTagPose(1);
+    assertTrue(maybePose.isPresent());
+    assertEquals(expectedPose, maybePose.get());
+
+    // Blue Terminal Near Station
+    expectedPose =
+        new Pose3d(
+            Units.inchesToMeters(4.768),
+            Units.inchesToMeters(67.631),
+            Units.inchesToMeters(35.063),
+            new Rotation3d(0, 0, Math.toRadians(46.25)));
+    maybePose = layout.getTagPose(5);
+    assertTrue(maybePose.isPresent());
+    assertEquals(expectedPose, maybePose.get());
+
+    // Upper Hub Blue-Near
+    expectedPose =
+        new Pose3d(
+            Units.inchesToMeters(332.321),
+            Units.inchesToMeters(183.676),
+            Units.inchesToMeters(95.186),
+            new Rotation3d(0, Math.toRadians(26.75), Math.toRadians(69)));
+    maybePose = layout.getTagPose(53);
+    assertTrue(maybePose.isPresent());
+    assertEquals(expectedPose, maybePose.get());
+
+    // Doesn't exist
+    maybePose = layout.getTagPose(54);
+    assertFalse(maybePose.isPresent());
+  }
+}

apriltag/src/test/native/cpp/AprilTagJsonTest.cpp

@@ -0,0 +1,27 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <vector>
+
+#include <wpi/json.h>
+
+#include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagFieldLayout.h"
+#include "frc/geometry/Pose3d.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+TEST(AprilTagJsonTest, DeserializeMatches) {
+  auto layout = AprilTagFieldLayout{
+      std::vector{
+          AprilTag{1, Pose3d{}},
+          AprilTag{3, Pose3d{0_m, 1_m, 0_m, Rotation3d{0_deg, 0_deg, 0_deg}}}},
+      54_ft, 27_ft};
+
+  AprilTagFieldLayout deserialized;
+  wpi::json json = layout;
+  EXPECT_NO_THROW(deserialized = json.get<AprilTagFieldLayout>());
+  EXPECT_EQ(layout, deserialized);
+}

apriltag/src/test/native/cpp/AprilTagPoseSetOriginTest.cpp

@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <vector>
+
+#include <wpi/json.h>
+
+#include "frc/apriltag/AprilTag.h"
+#include "frc/apriltag/AprilTagFieldLayout.h"
+#include "frc/geometry/Pose3d.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+TEST(AprilTagPoseSetOriginTest, TransformationMatches) {
+  auto layout = AprilTagFieldLayout{
+      std::vector<AprilTag>{
+          AprilTag{1,
+                   Pose3d{0_ft, 0_ft, 0_ft, Rotation3d{0_deg, 0_deg, 0_deg}}},
+          AprilTag{
+              2, Pose3d{4_ft, 4_ft, 4_ft, Rotation3d{0_deg, 0_deg, 180_deg}}}},
+      54_ft, 27_ft};
+
+  layout.SetOrigin(
+      AprilTagFieldLayout::OriginPosition::kRedAllianceWallRightSide);
+
+  auto mirrorPose =
+      Pose3d{54_ft, 27_ft, 0_ft, Rotation3d{0_deg, 0_deg, 180_deg}};
+  EXPECT_EQ(mirrorPose, *layout.GetTagPose(1));
+  mirrorPose = Pose3d{50_ft, 23_ft, 4_ft, Rotation3d{0_deg, 0_deg, 0_deg}};
+  EXPECT_EQ(mirrorPose, *layout.GetTagPose(2));
+}

apriltag/src/test/native/cpp/LoadConfigTest.cpp

@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/apriltag/AprilTagFields.h"
+#include "gtest/gtest.h"
+
+namespace frc {
+
+std::vector<AprilTagField> GetAllFields() {
+  std::vector<AprilTagField> output;
+
+  for (int i = 0; i < static_cast<int>(AprilTagField::kNumFields); ++i) {
+    output.push_back(static_cast<AprilTagField>(i));
+  }
+
+  return output;
+}
+
+TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
+  AprilTagFieldLayout layout =
+      LoadAprilTagLayoutField(AprilTagField::k2022RapidReact);
+
+  // Blue Hangar Truss - Hub
+  auto expectedPose =
+      Pose3d{127.272_in, 216.01_in, 67.932_in, Rotation3d{0_deg, 0_deg, 0_deg}};
+  auto maybePose = layout.GetTagPose(1);
+  EXPECT_TRUE(maybePose);
+  EXPECT_EQ(expectedPose, *maybePose);
+
+  // Blue Terminal Near Station
+  expectedPose = Pose3d{4.768_in, 67.631_in, 35.063_in,
+                        Rotation3d{0_deg, 0_deg, 46.25_deg}};
+  maybePose = layout.GetTagPose(5);
+  EXPECT_TRUE(maybePose);
+  EXPECT_EQ(expectedPose, *maybePose);
+
+  // Upper Hub Blue-Near
+  expectedPose = Pose3d{332.321_in, 183.676_in, 95.186_in,
+                        Rotation3d{0_deg, 26.75_deg, 69_deg}};
+  maybePose = layout.GetTagPose(53);
+  EXPECT_TRUE(maybePose);
+  EXPECT_EQ(expectedPose, *maybePose);
+
+  // Doesn't exist
+  maybePose = layout.GetTagPose(54);
+  EXPECT_FALSE(maybePose);
+}
+
+// Test all of the fields in the enum
+class AllFieldsFixtureTest : public ::testing::TestWithParam<AprilTagField> {};
+
+TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
+  AprilTagField field = GetParam();
+  EXPECT_NO_THROW(LoadAprilTagLayoutField(field));
+}
+
+INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,
+                         ::testing::ValuesIn(GetAllFields()));
+
+}  // namespace frc

apriltag/src/test/native/cpp/main.cpp

@@ -0,0 +1,11 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  return ret;
+}

build.gradle

@@ -13,10 +13,10 @@ buildscript {
 
 plugins {
     id 'base'
-    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.1.0'
+    id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '2023.0.0'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
     id 'edu.wpi.first.NativeUtils' apply false
-    id 'edu.wpi.first.GradleJni' version '1.0.0'
+    id 'edu.wpi.first.GradleJni' version '1.1.0'
     id 'edu.wpi.first.GradleVsCode'
     id 'idea'
     id 'visual-studio'
@@ -136,8 +136,10 @@ subprojects {
     }
 
     // Sign outputs with Developer ID
-    if (project.hasProperty("developerID")) {
-        tasks.withType(AbstractLinkTask) { task ->
+    tasks.withType(AbstractLinkTask) { task ->
+        task.inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
+        if (project.hasProperty("developerID")) {
             // Don't sign any executables because codesign complains
             // about relative rpath.
             if (!(task instanceof LinkExecutable)) {

buildSrc/build.gradle

@@ -5,5 +5,5 @@ repositories {
     }
 }
 dependencies {
-    implementation "edu.wpi.first:native-utils:2023.2.7"
+    implementation "edu.wpi.first:native-utils:2023.8.0"
 }

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -1,13 +1,14 @@
-import groovy.transform.CompileStatic
-import javax.inject.Inject
-import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact
-import edu.wpi.first.deployutils.deploy.context.DeployContext
-import org.gradle.api.Project
-import edu.wpi.first.deployutils.ActionWrapper
-import edu.wpi.first.deployutils.deploy.target.RemoteTarget
-import edu.wpi.first.deployutils.PredicateWrapper
+import groovy.transform.CompileStatic;
+import javax.inject.Inject;
 
-import java.util.function.Function
+import org.gradle.api.Project;
+
+import edu.wpi.first.deployutils.deploy.CommandDeployResult;
+import edu.wpi.first.deployutils.deploy.artifact.MavenArtifact;
+import edu.wpi.first.deployutils.deploy.context.DeployContext;
+import edu.wpi.first.deployutils.deploy.target.RemoteTarget;
+import edu.wpi.first.deployutils.PredicateWrapper;
+import edu.wpi.first.deployutils.ActionWrapper;
 
 @CompileStatic
 public class WPIJREArtifact extends MavenArtifact {
@@ -17,6 +18,18 @@ public class WPIJREArtifact extends MavenArtifact {
         return configName;
     }
 
+    public boolean isCheckJreVersion() {
+        return checkJreVersion;
+    }
+
+    public void setCheckJreVersion(boolean checkJreVersion) {
+        this.checkJreVersion = checkJreVersion;
+    }
+
+    private boolean checkJreVersion = true;
+
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2023:17.0.5u7-1"
+
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {
         super(name, target);
@@ -24,10 +37,10 @@ public class WPIJREArtifact extends MavenArtifact {
         this.configName = configName;
         Project project = target.getProject();
         getConfiguration().set(project.getConfigurations().create(configName));
-        getDependency().set(project.getDependencies().add(configName, "edu.wpi.first.jdk:roborio-2022:11.0.12u5-1"));
+        getDependency().set(project.getDependencies().add(configName, artifactLocation));
 
         setOnlyIf(new PredicateWrapper({ DeployContext ctx ->
-            return jreMissing(ctx) || project.hasProperty("force-redeploy-jre");
+            return jreMissing(ctx) || jreOutOfDate(ctx) || project.hasProperty("force-redeploy-jre");
         }));
 
         getDirectory().set("/tmp");
@@ -35,7 +48,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
         getPostdeploy().add(new ActionWrapper({ DeployContext ctx ->
             ctx.getLogger().log("Installing JRE...");
-            ctx.execute("opkg remove frc2022-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
+            ctx.execute("opkg remove frc*-openjdk*; opkg install /tmp/frcjre.ipk; rm /tmp/frcjre.ipk");
             ctx.getLogger().log("JRE Deployed!");
         }));
     }
@@ -44,5 +57,21 @@ public class WPIJREArtifact extends MavenArtifact {
         return ctx.execute("if [[ -f \"/usr/local/frc/JRE/bin/java\" ]]; then echo OK; else echo MISSING; fi").getResult().contains("MISSING");
     }
 
-
+    private boolean jreOutOfDate(DeployContext ctx) {
+        if (!checkJreVersion) {
+            return false;
+        }
+        String version = getDependency().get().getVersion();
+        CommandDeployResult cmdResult = ctx.execute("opkg list-installed | grep openjdk");
+        if (cmdResult.getExitCode() != 0) {
+            ctx.getLogger().log("JRE not found");
+            return false;
+        }
+        String result = cmdResult.getResult().trim();
+        ctx.getLogger().log("Searching for JRE " + version);
+        ctx.getLogger().log("Found JRE " + result);
+        boolean matches = result.contains(version);
+        ctx.getLogger().log(matches ? "JRE Is Correct Version" : "JRE is mismatched. Reinstalling");
+        return !matches;
+    }
 }

cscore/build.gradle

@@ -180,7 +180,7 @@ model {
     components {
         examplesMap.each { key, value ->
             if (key == "usbviewer") {
-                if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
+                if (!project.hasProperty('onlylinuxathena')) {
                     "${key}"(NativeExecutableSpec) {
                         targetBuildTypes 'debug'
                         binaries.all {
@@ -189,7 +189,7 @@ model {
                             lib project: ':wpigui', library: 'wpigui', linkage: 'static'
                             lib library: 'cscore', linkage: 'shared'
                             nativeUtils.useRequiredLibrary(it, 'imgui_static')
-                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
+                            if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                                 it.buildable = false
                                 return
                             }
@@ -199,6 +199,9 @@ model {
                                 it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
                             } else {
                                 it.linker.args << '-lX11'
+                                if (it.targetPlatform.name.startsWith('linuxarm')) {
+                                    it.linker.args << '-lGL'
+                                }
                             }
                         }
                         sources {

cscore/src/main/native/linux/UsbCameraImpl.cpp

@@ -140,6 +140,12 @@ int UsbCameraImpl::RawToPercentage(const UsbCameraProperty& rawProp,
     }
     return 100;
   }
+  // Arducam OV9281 exposure setting quirk
+  if (m_ov9281_exposure && rawProp.name == "raw_exposure_absolute" &&
+      rawProp.minimum == 1 && rawProp.maximum == 5000) {
+    // real range is 1-75
+    return 100.0 * (rawValue - 1) / (75 - 1);
+  }
   return 100.0 * (rawValue - rawProp.minimum) /
          (rawProp.maximum - rawProp.minimum);
 }
@@ -159,6 +165,12 @@ int UsbCameraImpl::PercentageToRaw(const UsbCameraProperty& rawProp,
     }
     return quirkLifeCamHd3000[ndx];
   }
+  // Arducam OV9281 exposure setting quirk
+  if (m_ov9281_exposure && rawProp.name == "raw_exposure_absolute" &&
+      rawProp.minimum == 1 && rawProp.maximum == 5000) {
+    // real range is 1-75
+    return 1 + (75 - 1) * (percentValue / 100.0);
+  }
   return rawProp.minimum +
          (rawProp.maximum - rawProp.minimum) * (percentValue / 100.0);
 }
@@ -1384,6 +1396,7 @@ void UsbCameraImpl::SetQuirks() {
   std::string_view desc = GetDescription(descbuf);
   m_lifecam_exposure = wpi::ends_with(desc, "LifeCam HD-3000") ||
                        wpi::ends_with(desc, "LifeCam Cinema (TM)");
+  m_ov9281_exposure = wpi::contains(desc, "OV9281");
   m_picamera = wpi::ends_with(desc, "mmal service");
 
   int deviceNum = GetDeviceNum(m_path.c_str());

cscore/src/main/native/linux/UsbCameraImpl.h

@@ -161,6 +161,7 @@ class UsbCameraImpl : public SourceImpl {
   // Quirks
   bool m_lifecam_exposure{false};    // Microsoft LifeCam exposure
   bool m_ps3eyecam_exposure{false};  // PS3 Eyecam exposure
+  bool m_ov9281_exposure{false};     // Arducam OV9281 exposure
   bool m_picamera{false};            // Raspberry Pi camera
 
   //

datalogtool/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
+if (!project.hasProperty('onlylinuxathena')) {
 
     description = "roboRIO Team Number Setter"
 
@@ -24,19 +24,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
     def wpilibVersionFileInput = file("src/main/generate/WPILibVersion.cpp.in")
     def wpilibVersionFileOutput = file("$buildDir/generated/main/cpp/WPILibVersion.cpp")
 
-    nativeUtils {
-        nativeDependencyContainer {
-            libssh(getNativeDependencyTypeClass('WPIStaticMavenDependency')) {
-                groupId = "edu.wpi.first.thirdparty.frc2023"
-                artifactId = "libssh"
-                headerClassifier = "headers"
-                sourceClassifier = "sources"
-                ext = "zip"
-                version = '0.95-3'
-                targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms)
-            }
-        }
-    }
+    apply from: "${rootDir}/shared/libssh.gradle"
 
     task generateCppVersion() {
         description = 'Generates the wpilib version class'
@@ -107,7 +95,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -124,6 +112,9 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
                         it.linker.args << '-framework' << 'Kerberos'
                     } else {
                         it.linker.args << '-lX11'
+                        if (it.targetPlatform.name.startsWith('linuxarm')) {
+                            it.linker.args << '-lGL'
+                        }
                     }
                 }
             }

datalogtool/publish.gradle

@@ -37,6 +37,8 @@ model {
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
+                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
                             doLast {
                                 if (project.hasProperty("developerID")) {
                                     // Get path to binary.

datalogtool/src/main/native/cpp/Downloader.cpp

@@ -75,6 +75,20 @@ void Downloader::DisplayRemoteDirSelector() {
     m_cv.notify_all();
   }
 
+  ImGui::SameLine();
+  if (ImGui::Button("Deselect All")) {
+    for (auto&& download : m_downloadList) {
+      download.enabled = false;
+    }
+  }
+
+  ImGui::SameLine();
+  if (ImGui::Button("Select All")) {
+    for (auto&& download : m_downloadList) {
+      download.enabled = true;
+    }
+  }
+
   // Remote directory text box
   ImGui::SetNextItemWidth(ImGui::GetFontSize() * 20);
   if (ImGui::InputText("Remote Dir", &m_remoteDir,

docs/build.gradle

@@ -4,6 +4,7 @@ plugins {
 }
 
 evaluationDependsOn(':wpiutil')
+evaluationDependsOn(':wpinet')
 evaluationDependsOn(':ntcore')
 evaluationDependsOn(':cscore')
 evaluationDependsOn(':hal')
@@ -28,6 +29,7 @@ def cppIncludeRoots = []
 
 cppProjectZips.add(project(':hal').cppHeadersZip)
 cppProjectZips.add(project(':wpiutil').cppHeadersZip)
+cppProjectZips.add(project(':wpinet').cppHeadersZip)
 cppProjectZips.add(project(':ntcore').cppHeadersZip)
 cppProjectZips.add(project(':cscore').cppHeadersZip)
 cppProjectZips.add(project(':cameraserver').cppHeadersZip)
@@ -109,7 +111,7 @@ doxygen {
         // libuv
         exclude 'uv.h'
         exclude 'uv/**'
-        exclude 'wpi/uv/**'
+        exclude 'wpinet/uv/**'
 
         // json
         exclude 'wpi/json.h'
@@ -124,6 +126,15 @@ doxygen {
         exclude 'units/**'
     }
 
+    //TODO: building memory docs causes search to break
+    exclude 'wpi/memory/**'
+
+    aliases 'effects=\\par <i>Effects:</i>^^',
+            'notes=\\par <i>Notes:</i>^^',
+            'requires=\\par <i>Requires:</i>^^',
+            'requiredbe=\\par <i>Required Behavior:</i>^^',
+            'concept{2}=<a href=\"md_doc_concepts.html#\1\">\2</a>',
+            'defaultbe=\\par <i>Default Behavior:</i>^^'
     case_sense_names false
     extension_mapping 'inc=C++', 'no_extension=C++'
     extract_all true
@@ -200,6 +211,7 @@ task generateJavaDocs(type: Javadoc) {
     dependsOn project(':ntcore').ntcoreGenerateJavaTypes
     source project(':hal').sourceSets.main.java
     source project(':wpiutil').sourceSets.main.java
+    source project(':wpinet').sourceSets.main.java
     source project(':cscore').sourceSets.main.java
     source project(':ntcore').sourceSets.main.java
     source project(':wpimath').sourceSets.main.java

fieldImages/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
+if (!project.hasProperty('onlylinuxathena')) {
 
     apply plugin: 'cpp'
     apply plugin: 'c'

glass/build.gradle

@@ -1,6 +1,6 @@
 import org.gradle.internal.os.OperatingSystem
 
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxarm32') && !project.hasProperty('onlylinuxarm64')) {
+if (!project.hasProperty('onlylinuxathena')) {
 
     description = "A different kind of dashboard"
 
@@ -100,7 +100,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -128,7 +128,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -169,7 +169,7 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
                     }
                 }
                 binaries.all {
-                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm32 || it.targetPlatform.name == nativeUtils.wpi.platforms.linuxarm64) {
+                    if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                         it.buildable = false
                         return
                     }
@@ -190,6 +190,9 @@ if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxar
                         it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
                     } else {
                         it.linker.args << '-lX11'
+                        if (it.targetPlatform.name.startsWith('linuxarm')) {
+                            it.linker.args << '-lGL'
+                        }
                     }
                 }
             }

glass/publish.gradle

@@ -92,6 +92,8 @@ model {
                             into("MacOS") { with copySpec { from binary.executable.file } }
                             into("Resources") { with copySpec { from icon } }
 
+                            inputs.property "HasDeveloperId", project.hasProperty("developerID")
+
                             doLast {
                                 if (project.hasProperty("developerID")) {
                                     // Get path to binary.

glass/src/app/native/cpp/main.cpp

@@ -70,44 +70,41 @@ static void RemapEnterKeyCallback(GLFWwindow* window, int key, int scancode,
 }
 
 static void NtInitialize() {
-  // update window title when connection status changes
   auto inst = nt::GetDefaultInstance();
-  auto poller = nt::CreateConnectionListenerPoller(inst);
-  nt::AddPolledConnectionListener(poller, true);
+  auto poller = nt::CreateListenerPoller(inst);
+  nt::AddPolledListener(
+      poller, inst,
+      NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE | NT_EVENT_LOGMESSAGE);
   gui::AddEarlyExecute([poller] {
     auto win = gui::GetSystemWindow();
     if (!win) {
       return;
     }
-    for (auto&& event : nt::ReadConnectionListenerQueue(poller)) {
-      if (event.connected) {
-        glfwSetWindowTitle(
-            win, fmt::format("Glass - Connected ({})", event.conn.remote_ip)
-                     .c_str());
-      } else {
-        glfwSetWindowTitle(win, "Glass - DISCONNECTED");
+    for (auto&& event : nt::ReadListenerQueue(poller)) {
+      if (auto connInfo = event.GetConnectionInfo()) {
+        // update window title when connection status changes
+        if ((event.flags & NT_EVENT_CONNECTED) != 0) {
+          glfwSetWindowTitle(
+              win, fmt::format("Glass - Connected ({})", connInfo->remote_ip)
+                       .c_str());
+        } else {
+          glfwSetWindowTitle(win, "Glass - DISCONNECTED");
+        }
+      } else if (auto msg = event.GetLogMessage()) {
+        const char* level = "";
+        if (msg->level >= NT_LOG_CRITICAL) {
+          level = "CRITICAL: ";
+        } else if (msg->level >= NT_LOG_ERROR) {
+          level = "ERROR: ";
+        } else if (msg->level >= NT_LOG_WARNING) {
+          level = "WARNING: ";
+        }
+        gNetworkTablesLog.Append(fmt::format(
+            "{}{} ({}:{})\n", level, msg->message, msg->filename, msg->line));
       }
     }
   });
 
-  // handle NetworkTables log messages
-  auto logPoller = nt::CreateLoggerPoller(inst);
-  nt::AddPolledLogger(logPoller, NT_LOG_INFO, 100);
-  gui::AddEarlyExecute([logPoller] {
-    for (auto&& msg : nt::ReadLoggerQueue(logPoller)) {
-      const char* level = "";
-      if (msg.level >= NT_LOG_CRITICAL) {
-        level = "CRITICAL: ";
-      } else if (msg.level >= NT_LOG_ERROR) {
-        level = "ERROR: ";
-      } else if (msg.level >= NT_LOG_WARNING) {
-        level = "WARNING: ";
-      }
-      gNetworkTablesLog.Append(fmt::format("{}{} ({}:{})\n", level, msg.message,
-                                           msg.filename, msg.line));
-    }
-  });
-
   gNetworkTablesLogWindow = std::make_unique<glass::Window>(
       glass::GetStorageRoot().GetChild("NetworkTables Log"),
       "NetworkTables Log", glass::Window::kHide);

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -113,7 +113,7 @@ class PopupState {
 struct DisplayOptions {
   explicit DisplayOptions(const gui::Texture& texture) : texture{texture} {}
 
-  enum Style { kBoxImage = 0, kLine, kLineClosed, kTrack };
+  enum Style { kBoxImage = 0, kLine, kLineClosed, kTrack, kHidden };
 
   static constexpr Style kDefaultStyle = kBoxImage;
   static constexpr float kDefaultWeight = 4.0f;
@@ -547,7 +547,7 @@ ObjectInfo::ObjectInfo(Storage& storage)
                                 DisplayOptions::kDefaultLength.to<float>())},
       m_style{storage.GetString("style"),
               DisplayOptions::kDefaultStyle,
-              {"Box/Image", "Line", "Line (Closed)", "Track"}},
+              {"Box/Image", "Line", "Line (Closed)", "Track", "Hidden"}},
       m_weight{storage.GetFloat("weight", DisplayOptions::kDefaultWeight)},
       m_color{
           storage.GetFloatArray("color", DisplayOptions::kDefaultColorFloat)},
@@ -840,6 +840,8 @@ void PoseFrameData::Draw(ImDrawList* drawList, std::vector<ImVec2>* center,
       left->emplace_back(m_corners[4]);
       right->emplace_back(m_corners[5]);
       break;
+    case DisplayOptions::kHidden:
+      break;
   }
 
   if (m_displayOptions.arrows) {

glass/src/lib/native/cpp/other/Plot.cpp

@@ -53,11 +53,12 @@ struct PlotSeriesRef {
 };
 
 class PlotSeries {
-  explicit PlotSeries(Storage& storage, int yAxis = 0);
+  explicit PlotSeries(Storage& storage);
 
  public:
   PlotSeries(Storage& storage, std::string_view id);
-  PlotSeries(Storage& storage, DataSource* source, int yAxis = 0);
+  PlotSeries(Storage& storage, DataSource* source);
+  PlotSeries(Storage& storage, DataSource* source, int yAxis);
 
   const std::string& GetId() const { return m_id; }
 
@@ -195,7 +196,7 @@ class PlotView : public View {
 
 }  // namespace
 
-PlotSeries::PlotSeries(Storage& storage, int yAxis)
+PlotSeries::PlotSeries(Storage& storage)
     : m_id{storage.GetString("id")},
       m_name{storage.GetString("name")},
       m_yAxis{storage.GetInt("yAxis", 0)},
@@ -208,12 +209,10 @@ PlotSeries::PlotSeries(Storage& storage, int yAxis)
       m_digital{
           storage.GetString("digital"), kAuto, {"Auto", "Digital", "Analog"}},
       m_digitalBitHeight{storage.GetInt("digitalBitHeight", 8)},
-      m_digitalBitGap{storage.GetInt("digitalBitGap", 4)} {
-  m_yAxis = yAxis;
-}
+      m_digitalBitGap{storage.GetInt("digitalBitGap", 4)} {}
 
 PlotSeries::PlotSeries(Storage& storage, std::string_view id)
-    : PlotSeries{storage, 0} {
+    : PlotSeries{storage} {
   m_id = id;
   if (DataSource* source = DataSource::Find(id)) {
     SetSource(source);
@@ -222,12 +221,17 @@ PlotSeries::PlotSeries(Storage& storage, std::string_view id)
   CheckSource();
 }
 
-PlotSeries::PlotSeries(Storage& storage, DataSource* source, int yAxis)
-    : PlotSeries{storage, yAxis} {
+PlotSeries::PlotSeries(Storage& storage, DataSource* source)
+    : PlotSeries{storage} {
   SetSource(source);
   m_id = source->GetId();
 }
 
+PlotSeries::PlotSeries(Storage& storage, DataSource* source, int yAxis)
+    : PlotSeries{storage, source} {
+  m_yAxis = yAxis;
+}
+
 void PlotSeries::CheckSource() {
   if (!m_newValueConn.connected() && !m_sourceCreatedConn.connected()) {
     m_source = nullptr;

glass/src/libnt/native/cpp/NTField2D.cpp

@@ -117,58 +117,55 @@ NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
                  {{nt::PubSubOption::SendAll(true),
                    nt::PubSubOption::Periodic(0.05)}}},
       m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
-      m_topicListener{inst},
-      m_valueListener{inst} {
-  m_topicListener.Add(m_tableSub, NT_TOPIC_NOTIFY_PUBLISH |
-                                      NT_TOPIC_NOTIFY_UNPUBLISH |
-                                      NT_TOPIC_NOTIFY_IMMEDIATE);
-  m_valueListener.Add(m_tableSub,
-                      NT_VALUE_NOTIFY_IMMEDIATE | NT_VALUE_NOTIFY_LOCAL);
+      m_poller{inst} {
+  m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
+                                       nt::EventFlags::kValueAll |
+                                       nt::EventFlags::kImmediate);
 }
 
 NTField2DModel::~NTField2DModel() = default;
 
 void NTField2DModel::Update() {
-  // handle publish/unpublish
-  for (auto&& event : m_topicListener.ReadQueue()) {
-    auto name = wpi::drop_front(event.info.name, m_path.size());
-    if (name.empty() || name[0] == '.') {
-      continue;
-    }
-    auto [it, match] = Find(event.info.name);
-    if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
-      if (match) {
-        m_objects.erase(it);
+  for (auto&& event : m_poller.ReadQueue()) {
+    if (auto info = event.GetTopicInfo()) {
+      // handle publish/unpublish
+      auto name = wpi::drop_front(info->name, m_path.size());
+      if (name.empty() || name[0] == '.') {
+        continue;
       }
-      continue;
-    } else if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
-      if (!match) {
-        it = m_objects.emplace(
-            it, std::make_unique<ObjectModel>(
-                    event.info.name, nt::DoubleArrayTopic{event.info.topic}));
+      auto [it, match] = Find(info->name);
+      if (event.flags & nt::EventFlags::kUnpublish) {
+        if (match) {
+          m_objects.erase(it);
+        }
+        continue;
+      } else if (event.flags & nt::EventFlags::kPublish) {
+        if (!match) {
+          it = m_objects.emplace(
+              it, std::make_unique<ObjectModel>(
+                      info->name, nt::DoubleArrayTopic{info->topic}));
+        }
+      } else if (!match) {
+        continue;
+      }
+    } else if (auto valueData = event.GetValueEventData()) {
+      // update values
+      // .name
+      if (valueData->topic == m_nameTopic.GetHandle()) {
+        if (valueData->value && valueData->value.IsString()) {
+          m_nameValue = valueData->value.GetString();
+        }
+        continue;
       }
-    } else if (!match) {
-      continue;
-    }
-  }
 
-  // update values
-  for (auto&& event : m_valueListener.ReadQueue()) {
-    // .name
-    if (event.topic == m_nameTopic.GetHandle()) {
-      if (event.value && event.value.IsString()) {
-        m_nameValue = event.value.GetString();
+      auto it =
+          std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
+            return e->GetTopic().GetHandle() == valueData->topic;
+          });
+      if (it != m_objects.end()) {
+        (*it)->NTUpdate(valueData->value);
+        continue;
       }
-      continue;
-    }
-
-    auto it =
-        std::find_if(m_objects.begin(), m_objects.end(), [&](const auto& e) {
-          return e->GetTopic().GetHandle() == event.topic;
-        });
-    if (it != m_objects.end()) {
-      (*it)->NTUpdate(event.value);
-      continue;
     }
   }
 }

glass/src/libnt/native/cpp/NTMechanism2D.cpp

@@ -41,8 +41,7 @@ class NTMechanismGroupImpl final {
   const char* GetName() const { return m_name.c_str(); }
   void ForEachObject(wpi::function_ref<void(MechanismObjectModel& model)> func);
 
-  void NTUpdate(const nt::TopicNotification& event, std::string_view name);
-  void NTUpdate(const nt::ValueNotification& event, std::string_view name);
+  void NTUpdate(const nt::Event& event, std::string_view name);
 
  protected:
   nt::NetworkTableInstance m_inst;
@@ -74,8 +73,7 @@ class NTMechanismObjectModel final : public MechanismObjectModel {
   frc::Rotation2d GetAngle() const final { return m_angleValue; }
   units::meter_t GetLength() const final { return m_lengthValue; }
 
-  bool NTUpdate(const nt::TopicNotification& event, std::string_view name);
-  void NTUpdate(const nt::ValueNotification& event, std::string_view name);
+  bool NTUpdate(const nt::Event& event, std::string_view name);
 
  private:
   NTMechanismGroupImpl m_group;
@@ -102,7 +100,7 @@ void NTMechanismGroupImpl::ForEachObject(
   }
 }
 
-void NTMechanismGroupImpl::NTUpdate(const nt::TopicNotification& event,
+void NTMechanismGroupImpl::NTUpdate(const nt::Event& event,
                                     std::string_view name) {
   if (name.empty()) {
     return;
@@ -118,83 +116,69 @@ void NTMechanismGroupImpl::NTUpdate(const nt::TopicNotification& event,
       [](const auto& e, std::string_view name) { return e->GetName() < name; });
   bool match = it != m_objects.end() && (*it)->GetName() == name;
 
-  if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
-    if (!match) {
-      it = m_objects.emplace(
-          it, std::make_unique<NTMechanismObjectModel>(
-                  m_inst, fmt::format("{}/{}", m_path, name), name));
-      match = true;
+  if (event.GetTopicInfo()) {
+    if (event.flags & nt::EventFlags::kPublish) {
+      if (!match) {
+        it = m_objects.emplace(
+            it, std::make_unique<NTMechanismObjectModel>(
+                    m_inst, fmt::format("{}/{}", m_path, name), name));
+        match = true;
+      }
     }
-  }
 
-  if (match) {
-    if ((*it)->NTUpdate(event, childName)) {
-      m_objects.erase(it);
+    if (match) {
+      if ((*it)->NTUpdate(event, childName)) {
+        m_objects.erase(it);
+      }
+    }
+  } else if (event.GetValueEventData()) {
+    if (match) {
+      (*it)->NTUpdate(event, childName);
     }
   }
 }
 
-void NTMechanismGroupImpl::NTUpdate(const nt::ValueNotification& event,
-                                    std::string_view name) {
-  if (name.empty()) {
-    return;
-  }
-  std::string_view childName;
-  std::tie(name, childName) = wpi::split(name, '/');
-  if (childName.empty()) {
-    return;
-  }
-
-  auto it = std::lower_bound(
-      m_objects.begin(), m_objects.end(), name,
-      [](const auto& e, std::string_view name) { return e->GetName() < name; });
-  if (it != m_objects.end() && (*it)->GetName() == name) {
-    (*it)->NTUpdate(event, childName);
-  }
-}
-
-bool NTMechanismObjectModel::NTUpdate(const nt::TopicNotification& event,
+bool NTMechanismObjectModel::NTUpdate(const nt::Event& event,
                                       std::string_view childName) {
-  if (event.info.topic == m_typeTopic.GetHandle()) {
-    if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
-      return true;
+  if (auto info = event.GetTopicInfo()) {
+    if (info->topic == m_typeTopic.GetHandle()) {
+      if (event.flags & nt::EventFlags::kUnpublish) {
+        return true;
+      }
+    } else if (info->topic != m_colorTopic.GetHandle() &&
+               info->topic != m_weightTopic.GetHandle() &&
+               info->topic != m_angleTopic.GetHandle() &&
+               info->topic != m_lengthTopic.GetHandle()) {
+      m_group.NTUpdate(event, childName);
+    }
+  } else if (auto valueData = event.GetValueEventData()) {
+    if (valueData->topic == m_typeTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsString()) {
+        m_typeValue = valueData->value.GetString();
+      }
+    } else if (valueData->topic == m_colorTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsString()) {
+        ConvertColor(valueData->value.GetString(), &m_colorValue);
+      }
+    } else if (valueData->topic == m_weightTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsDouble()) {
+        m_weightValue = valueData->value.GetDouble();
+      }
+    } else if (valueData->topic == m_angleTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsDouble()) {
+        m_angleValue = units::degree_t{valueData->value.GetDouble()};
+      }
+    } else if (valueData->topic == m_lengthTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsDouble()) {
+        m_lengthValue = units::meter_t{valueData->value.GetDouble()};
+      }
+    } else {
+      m_group.NTUpdate(event, childName);
     }
-  } else if (event.info.topic != m_colorTopic.GetHandle() &&
-             event.info.topic != m_weightTopic.GetHandle() &&
-             event.info.topic != m_angleTopic.GetHandle() &&
-             event.info.topic != m_lengthTopic.GetHandle()) {
-    m_group.NTUpdate(event, childName);
   }
   return false;
 }
 
-void NTMechanismObjectModel::NTUpdate(const nt::ValueNotification& event,
-                                      std::string_view childName) {
-  if (event.topic == m_typeTopic.GetHandle()) {
-    if (event.value && event.value.IsString()) {
-      m_typeValue = event.value.GetString();
-    }
-  } else if (event.topic == m_colorTopic.GetHandle()) {
-    if (event.value && event.value.IsString()) {
-      ConvertColor(event.value.GetString(), &m_colorValue);
-    }
-  } else if (event.topic == m_weightTopic.GetHandle()) {
-    if (event.value && event.value.IsDouble()) {
-      m_weightValue = event.value.GetDouble();
-    }
-  } else if (event.topic == m_angleTopic.GetHandle()) {
-    if (event.value && event.value.IsDouble()) {
-      m_angleValue = units::degree_t{event.value.GetDouble()};
-    }
-  } else if (event.topic == m_lengthTopic.GetHandle()) {
-    if (event.value && event.value.IsDouble()) {
-      m_lengthValue = units::meter_t{event.value.GetDouble()};
-    }
-  } else {
-    m_group.NTUpdate(event, childName);
-  }
-}
-
 class NTMechanism2DModel::RootModel final : public MechanismRootModel {
  public:
   RootModel(nt::NetworkTableInstance inst, std::string_view path,
@@ -209,8 +193,7 @@ class NTMechanism2DModel::RootModel final : public MechanismRootModel {
     m_group.ForEachObject(func);
   }
 
-  bool NTUpdate(const nt::TopicNotification& event, std::string_view childName);
-  void NTUpdate(const nt::ValueNotification& event, std::string_view childName);
+  bool NTUpdate(const nt::Event& event, std::string_view childName);
 
   frc::Translation2d GetPosition() const override { return m_pos; };
 
@@ -221,36 +204,35 @@ class NTMechanism2DModel::RootModel final : public MechanismRootModel {
   frc::Translation2d m_pos;
 };
 
-bool NTMechanism2DModel::RootModel::NTUpdate(const nt::TopicNotification& event,
+bool NTMechanism2DModel::RootModel::NTUpdate(const nt::Event& event,
                                              std::string_view childName) {
-  if (event.info.topic == m_xTopic.GetHandle() ||
-      event.info.topic == m_yTopic.GetHandle()) {
-    if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
-      return true;
+  if (auto info = event.GetTopicInfo()) {
+    if (info->topic == m_xTopic.GetHandle() ||
+        info->topic == m_yTopic.GetHandle()) {
+      if (event.flags & nt::EventFlags::kUnpublish) {
+        return true;
+      }
+    } else {
+      m_group.NTUpdate(event, childName);
+    }
+  } else if (auto valueData = event.GetValueEventData()) {
+    if (valueData->topic == m_xTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsDouble()) {
+        m_pos = frc::Translation2d{units::meter_t{valueData->value.GetDouble()},
+                                   m_pos.Y()};
+      }
+    } else if (valueData->topic == m_yTopic.GetHandle()) {
+      if (valueData->value && valueData->value.IsDouble()) {
+        m_pos = frc::Translation2d{
+            m_pos.X(), units::meter_t{valueData->value.GetDouble()}};
+      }
+    } else {
+      m_group.NTUpdate(event, childName);
     }
-  } else {
-    m_group.NTUpdate(event, childName);
   }
   return false;
 }
 
-void NTMechanism2DModel::RootModel::NTUpdate(const nt::ValueNotification& event,
-                                             std::string_view childName) {
-  if (event.topic == m_xTopic.GetHandle()) {
-    if (event.value && event.value.IsDouble()) {
-      m_pos = frc::Translation2d{units::meter_t{event.value.GetDouble()},
-                                 m_pos.Y()};
-    }
-  } else if (event.topic == m_yTopic.GetHandle()) {
-    if (event.value && event.value.IsDouble()) {
-      m_pos = frc::Translation2d{m_pos.X(),
-                                 units::meter_t{event.value.GetDouble()}};
-    }
-  } else {
-    m_group.NTUpdate(event, childName);
-  }
-}
-
 NTMechanism2DModel::NTMechanism2DModel(std::string_view path)
     : NTMechanism2DModel{nt::NetworkTableInstance::GetDefault(), path} {}
 
@@ -265,75 +247,88 @@ NTMechanism2DModel::NTMechanism2DModel(nt::NetworkTableInstance inst,
       m_nameTopic{m_inst.GetTopic(fmt::format("{}/.name", path))},
       m_dimensionsTopic{m_inst.GetTopic(fmt::format("{}/dims", path))},
       m_bgColorTopic{m_inst.GetTopic(fmt::format("{}/backgroundColor", path))},
-      m_topicListener{m_inst},
-      m_valueListener{m_inst},
+      m_poller{m_inst},
       m_dimensionsValue{1_m, 1_m} {
-  m_topicListener.Add(m_tableSub, NT_TOPIC_NOTIFY_PUBLISH |
-                                      NT_TOPIC_NOTIFY_UNPUBLISH |
-                                      NT_TOPIC_NOTIFY_IMMEDIATE);
-  m_valueListener.Add(m_tableSub,
-                      NT_VALUE_NOTIFY_IMMEDIATE | NT_VALUE_NOTIFY_LOCAL);
+  m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |
+                                       nt::EventFlags::kValueAll |
+                                       nt::EventFlags::kImmediate);
 }
 
 NTMechanism2DModel::~NTMechanism2DModel() = default;
 
 void NTMechanism2DModel::Update() {
-  for (auto&& event : m_topicListener.ReadQueue()) {
-    auto name = wpi::drop_front(event.info.name, m_path.size());
-    if (name.empty() || name[0] == '.') {
-      continue;
-    }
-    std::string_view childName;
-    std::tie(name, childName) = wpi::split(name, '/');
-    if (childName.empty()) {
-      continue;
-    }
-
-    auto it = std::lower_bound(m_roots.begin(), m_roots.end(), name,
-                               [](const auto& e, std::string_view name) {
-                                 return e->GetName() < name;
-                               });
-    bool match = it != m_roots.end() && (*it)->GetName() == name;
-
-    if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
-      if (!match) {
-        it = m_roots.emplace(
-            it, std::make_unique<RootModel>(
-                    m_inst, fmt::format("{}{}", m_path, name), name));
-        match = true;
+  for (auto&& event : m_poller.ReadQueue()) {
+    if (auto info = event.GetTopicInfo()) {
+      auto name = wpi::drop_front(info->name, m_path.size());
+      if (name.empty() || name[0] == '.') {
+        continue;
       }
-    }
-    if (match) {
-      if ((*it)->NTUpdate(event, childName)) {
-        m_roots.erase(it);
+      std::string_view childName;
+      std::tie(name, childName) = wpi::split(name, '/');
+      if (childName.empty()) {
+        continue;
       }
-    }
-  }
 
-  for (auto&& event : m_valueListener.ReadQueue()) {
-    // .name
-    if (event.topic == m_nameTopic.GetHandle()) {
-      if (event.value && event.value.IsString()) {
-        m_nameValue = event.value.GetString();
-      }
-      continue;
-    }
+      auto it = std::lower_bound(m_roots.begin(), m_roots.end(), name,
+                                 [](const auto& e, std::string_view name) {
+                                   return e->GetName() < name;
+                                 });
+      bool match = it != m_roots.end() && (*it)->GetName() == name;
 
-    // dims
-    if (event.topic == m_dimensionsTopic.GetHandle()) {
-      if (event.value && event.value.IsDoubleArray()) {
-        auto arr = event.value.GetDoubleArray();
-        if (arr.size() == 2) {
-          m_dimensionsValue = frc::Translation2d{units::meter_t{arr[0]},
-                                                 units::meter_t{arr[1]}};
+      if (event.flags & nt::EventFlags::kPublish) {
+        if (!match) {
+          it = m_roots.emplace(
+              it, std::make_unique<RootModel>(
+                      m_inst, fmt::format("{}{}", m_path, name), name));
+          match = true;
         }
       }
-    }
+      if (match) {
+        if ((*it)->NTUpdate(event, childName)) {
+          m_roots.erase(it);
+        }
+      }
+    } else if (auto valueData = event.GetValueEventData()) {
+      if (valueData->topic == m_nameTopic.GetHandle()) {
+        // .name
+        if (valueData->value && valueData->value.IsString()) {
+          m_nameValue = valueData->value.GetString();
+        }
+      } else if (valueData->topic == m_dimensionsTopic.GetHandle()) {
+        // dims
+        if (valueData->value && valueData->value.IsDoubleArray()) {
+          auto arr = valueData->value.GetDoubleArray();
+          if (arr.size() == 2) {
+            m_dimensionsValue = frc::Translation2d{units::meter_t{arr[0]},
+                                                   units::meter_t{arr[1]}};
+          }
+        }
+      } else if (valueData->topic == m_bgColorTopic.GetHandle()) {
+        // backgroundColor
+        if (valueData->value && valueData->value.IsString()) {
+          ConvertColor(valueData->value.GetString(), &m_bgColorValue);
+        }
+      } else {
+        auto fullName = nt::Topic{valueData->topic}.GetName();
+        auto name = wpi::drop_front(fullName, m_path.size());
+        if (name.empty() || name[0] == '.') {
+          continue;
+        }
+        std::string_view childName;
+        std::tie(name, childName) = wpi::split(name, '/');
+        if (childName.empty()) {
+          continue;
+        }
 
-    // backgroundColor
-    if (event.topic == m_bgColorTopic.GetHandle()) {
-      if (event.value && event.value.IsString()) {
-        ConvertColor(event.value.GetString(), &m_bgColorValue);
+        auto it = std::lower_bound(m_roots.begin(), m_roots.end(), name,
+                                   [](const auto& e, std::string_view name) {
+                                     return e->GetName() < name;
+                                   });
+        if (it != m_roots.end() && (*it)->GetName() == name) {
+          if ((*it)->NTUpdate(event, childName)) {
+            m_roots.erase(it);
+          }
+        }
       }
     }
   }

glass/src/libnt/native/cpp/NetworkTables.cpp

@@ -110,15 +110,10 @@ NetworkTablesModel::NetworkTablesModel()
     : NetworkTablesModel{nt::NetworkTableInstance::GetDefault()} {}
 
 NetworkTablesModel::NetworkTablesModel(nt::NetworkTableInstance inst)
-    : m_inst{inst},
-      m_subscriber{nt::SubscribeMultiple(inst.GetHandle(), {{"", "$"}})},
-      m_topicPoller{inst},
-      m_valuePoller{inst} {
-  m_topicPoller.Add({{""}},
-                    NT_TOPIC_NOTIFY_IMMEDIATE | NT_TOPIC_NOTIFY_PROPERTIES |
-                        NT_TOPIC_NOTIFY_PUBLISH | NT_TOPIC_NOTIFY_UNPUBLISH);
-  m_valuePoller.Add(m_subscriber,
-                    NT_VALUE_NOTIFY_IMMEDIATE | NT_VALUE_NOTIFY_LOCAL);
+    : m_inst{inst}, m_poller{inst} {
+  m_poller.AddListener({{"", "$"}}, nt::EventFlags::kTopic |
+                                        nt::EventFlags::kValueAll |
+                                        nt::EventFlags::kImmediate);
 }
 
 NetworkTablesModel::Entry::~Entry() {
@@ -426,56 +421,57 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
 
 void NetworkTablesModel::Update() {
   bool updateTree = false;
-  for (auto&& event : m_topicPoller.ReadQueue()) {
-    auto& entry = m_entries[event.info.topic];
-    if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
-      if (!entry) {
-        entry = std::make_unique<Entry>();
-        m_sortedEntries.emplace_back(entry.get());
+  for (auto&& event : m_poller.ReadQueue()) {
+    if (auto info = event.GetTopicInfo()) {
+      auto& entry = m_entries[info->topic];
+      if (event.flags & nt::EventFlags::kPublish) {
+        if (!entry) {
+          entry = std::make_unique<Entry>();
+          m_sortedEntries.emplace_back(entry.get());
+          updateTree = true;
+        }
+      }
+      if (event.flags & nt::EventFlags::kUnpublish) {
+        auto it = std::find(m_sortedEntries.begin(), m_sortedEntries.end(),
+                            entry.get());
+        // will be removed completely below
+        if (it != m_sortedEntries.end()) {
+          *it = nullptr;
+        }
+        m_entries.erase(info->topic);
+        updateTree = true;
+        continue;
+      }
+      if (event.flags & nt::EventFlags::kProperties) {
         updateTree = true;
       }
-    }
-    if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
-      auto it = std::find(m_sortedEntries.begin(), m_sortedEntries.end(),
-                          entry.get());
-      // will be removed completely below
-      if (it != m_sortedEntries.end()) {
-        *it = nullptr;
+      if (entry) {
+        entry->UpdateTopic(std::move(event));
       }
-      m_entries.erase(event.info.topic);
-      updateTree = true;
-      continue;
-    }
-    if (event.flags & NT_TOPIC_NOTIFY_PROPERTIES) {
-      updateTree = true;
-    }
-    if (entry) {
-      entry->UpdateTopic(std::move(event));
-    }
-  }
-  for (auto&& event : m_valuePoller.ReadQueue()) {
-    auto& entry = m_entries[event.topic];
-    if (entry) {
-      entry->UpdateFromValue(std::move(event.value), entry->info.name,
-                             entry->info.type_str);
-      if (wpi::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
-          entry->info.type_str == "msgpack") {
-        // meta topic handling
-        if (entry->info.name == "$clients") {
-          UpdateClients(entry->value.GetRaw());
-        } else if (entry->info.name == "$serverpub") {
-          m_server.UpdatePublishers(entry->value.GetRaw());
-        } else if (entry->info.name == "$serversub") {
-          m_server.UpdateSubscribers(entry->value.GetRaw());
-        } else if (wpi::starts_with(entry->info.name, "$clientpub$")) {
-          auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
-          if (it != m_clients.end()) {
-            it->second.UpdatePublishers(entry->value.GetRaw());
-          }
-        } else if (wpi::starts_with(entry->info.name, "$clientsub$")) {
-          auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
-          if (it != m_clients.end()) {
-            it->second.UpdateSubscribers(entry->value.GetRaw());
+    } else if (auto valueData = event.GetValueEventData()) {
+      auto& entry = m_entries[valueData->topic];
+      if (entry) {
+        entry->UpdateFromValue(std::move(valueData->value), entry->info.name,
+                               entry->info.type_str);
+        if (wpi::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
+            entry->info.type_str == "msgpack") {
+          // meta topic handling
+          if (entry->info.name == "$clients") {
+            UpdateClients(entry->value.GetRaw());
+          } else if (entry->info.name == "$serverpub") {
+            m_server.UpdatePublishers(entry->value.GetRaw());
+          } else if (entry->info.name == "$serversub") {
+            m_server.UpdateSubscribers(entry->value.GetRaw());
+          } else if (wpi::starts_with(entry->info.name, "$clientpub$")) {
+            auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
+            if (it != m_clients.end()) {
+              it->second.UpdatePublishers(entry->value.GetRaw());
+            }
+          } else if (wpi::starts_with(entry->info.name, "$clientsub$")) {
+            auto it = m_clients.find(wpi::drop_front(entry->info.name, 11));
+            if (it != m_clients.end()) {
+              it->second.UpdateSubscribers(entry->value.GetRaw());
+            }
           }
         }
       }

glass/src/libnt/native/cpp/NetworkTablesProvider.cpp

@@ -23,13 +23,10 @@ NetworkTablesProvider::NetworkTablesProvider(Storage& storage,
                                              nt::NetworkTableInstance inst)
     : Provider{storage.GetChild("windows")},
       m_inst{inst},
-      m_topicPoller{inst},
-      m_valuePoller{inst},
+      m_poller{inst},
       m_typeCache{storage.GetChild("types")} {
   storage.SetCustomApply([this] {
-    m_topicListener = m_topicPoller.Add({{""}}, NT_TOPIC_NOTIFY_PUBLISH |
-                                                    NT_TOPIC_NOTIFY_UNPUBLISH |
-                                                    NT_TOPIC_NOTIFY_IMMEDIATE);
+    m_listener = m_poller.AddListener({{""}}, nt::EventFlags::kTopic);
     for (auto&& childIt : m_storage.GetChildren()) {
       auto id = childIt.key();
       auto typePtr = m_typeCache.FindValue(id);
@@ -51,8 +48,8 @@ NetworkTablesProvider::NetworkTablesProvider(Storage& storage,
     }
   });
   storage.SetCustomClear([this, &storage] {
-    m_topicPoller.Remove(m_topicListener);
-    m_topicListener = 0;
+    m_poller.RemoveListener(m_listener);
+    m_listener = 0;
     for (auto&& modelEntry : m_modelEntries) {
       modelEntry->model.reset();
     }
@@ -102,59 +99,60 @@ void NetworkTablesProvider::DisplayMenu() {
 void NetworkTablesProvider::Update() {
   Provider::Update();
 
-  // add/remove entries from NT changes
-  for (auto&& event : m_topicPoller.ReadQueue()) {
-    // look for .type fields
-    if (!wpi::ends_with(event.info.name, "/.type") ||
-        event.info.type != NT_STRING || event.info.type_str != "string") {
-      continue;
-    }
-
-    if (event.flags & NT_TOPIC_NOTIFY_UNPUBLISH) {
-      auto it = m_topicMap.find(event.info.topic);
-      if (it != m_topicMap.end()) {
-        m_valuePoller.Remove(it->second.listener);
-        m_topicMap.erase(it);
+  for (auto&& event : m_poller.ReadQueue()) {
+    if (auto info = event.GetTopicInfo()) {
+      // add/remove entries from NT changes
+      // look for .type fields
+      if (!wpi::ends_with(info->name, "/.type") || info->type != NT_STRING ||
+          info->type_str != "string") {
+        continue;
       }
 
-      auto it2 = std::find_if(
-          m_viewEntries.begin(), m_viewEntries.end(), [&](const auto& elem) {
-            return static_cast<Entry*>(elem->modelEntry)
-                       ->typeTopic.GetHandle() == event.info.topic;
-          });
-      if (it2 != m_viewEntries.end()) {
-        m_viewEntries.erase(it2);
+      if (event.flags & nt::EventFlags::kUnpublish) {
+        auto it = m_topicMap.find(info->topic);
+        if (it != m_topicMap.end()) {
+          m_poller.RemoveListener(it->second.listener);
+          m_topicMap.erase(it);
+        }
+
+        auto it2 = std::find_if(
+            m_viewEntries.begin(), m_viewEntries.end(), [&](const auto& elem) {
+              return static_cast<Entry*>(elem->modelEntry)
+                         ->typeTopic.GetHandle() == info->topic;
+            });
+        if (it2 != m_viewEntries.end()) {
+          m_viewEntries.erase(it2);
+        }
+      } else if (event.flags & nt::EventFlags::kPublish) {
+        // subscribe to it; use a subscriber so we only get string values
+        SubListener sublistener;
+        sublistener.subscriber = nt::StringTopic{info->topic}.Subscribe("");
+        sublistener.listener = m_poller.AddListener(
+            sublistener.subscriber,
+            nt::EventFlags::kValueAll | nt::EventFlags::kImmediate);
+        m_topicMap.try_emplace(info->topic, std::move(sublistener));
       }
-    } else if (event.flags & NT_TOPIC_NOTIFY_PUBLISH) {
-      // subscribe to it
-      SubListener sublistener;
-      sublistener.subscriber = nt::StringTopic{event.info.topic}.Subscribe("");
-      sublistener.listener =
-          m_valuePoller.Add(sublistener.subscriber,
-                            NT_VALUE_NOTIFY_LOCAL | NT_VALUE_NOTIFY_IMMEDIATE);
-      m_topicMap.try_emplace(event.info.topic, std::move(sublistener));
+    } else if (auto valueData = event.GetValueEventData()) {
+      // handle actual .type strings
+      if (!valueData->value.IsString()) {
+        continue;
+      }
+
+      // only handle ones where we have a builder
+      auto builderIt = m_typeMap.find(valueData->value.GetString());
+      if (builderIt == m_typeMap.end()) {
+        continue;
+      }
+
+      auto topicName = nt::GetTopicName(valueData->topic);
+      auto tableName = wpi::drop_back(topicName, 6);
+
+      GetOrCreateView(builderIt->second, nt::Topic{valueData->topic},
+                      tableName);
+      // cache the type
+      m_typeCache.SetString(tableName, valueData->value.GetString());
     }
   }
-
-  // handle actual .type strings
-  for (auto&& event : m_valuePoller.ReadQueue()) {
-    if (!event.value.IsString()) {
-      continue;
-    }
-
-    // only handle ones where we have a builder
-    auto builderIt = m_typeMap.find(event.value.GetString());
-    if (builderIt == m_typeMap.end()) {
-      continue;
-    }
-
-    auto topicName = nt::GetTopicName(event.topic);
-    auto tableName = wpi::drop_back(topicName, 6);
-
-    GetOrCreateView(builderIt->second, nt::Topic{event.topic}, tableName);
-    // cache the type
-    m_typeCache.SetString(tableName, event.value.GetString());
-  }
 }
 
 void NetworkTablesProvider::Register(std::string_view typeName,

glass/src/libnt/native/include/glass/networktables/NTField2D.h

@@ -12,9 +12,8 @@
 
 #include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/NetworkTableListener.h>
 #include <networktables/StringTopic.h>
-#include <networktables/TopicListener.h>
-#include <networktables/ValueListener.h>
 #include <ntcore_cpp.h>
 
 #include "glass/other/Field2D.h"
@@ -48,8 +47,7 @@ class NTField2DModel : public Field2DModel {
   nt::NetworkTableInstance m_inst;
   nt::MultiSubscriber m_tableSub;
   nt::StringTopic m_nameTopic;
-  nt::TopicListenerPoller m_topicListener;
-  nt::ValueListenerPoller m_valueListener;
+  nt::NetworkTableListenerPoller m_poller;
   std::string m_nameValue;
 
   class ObjectModel;

glass/src/libnt/native/include/glass/networktables/NTMechanism2D.h

@@ -13,8 +13,7 @@
 #include <frc/geometry/Translation2d.h>
 #include <networktables/MultiSubscriber.h>
 #include <networktables/NetworkTableInstance.h>
-#include <networktables/TopicListener.h>
-#include <networktables/ValueListener.h>
+#include <networktables/NetworkTableListener.h>
 
 #include "glass/other/Mechanism2D.h"
 
@@ -50,8 +49,7 @@ class NTMechanism2DModel : public Mechanism2DModel {
   nt::Topic m_nameTopic;
   nt::Topic m_dimensionsTopic;
   nt::Topic m_bgColorTopic;
-  nt::TopicListenerPoller m_topicListener;
-  nt::ValueListenerPoller m_valueListener;
+  nt::NetworkTableListenerPoller m_poller;
 
   std::string m_nameValue;
   frc::Translation2d m_dimensionsValue;

glass/src/libnt/native/include/glass/networktables/NetworkTables.h

@@ -14,8 +14,7 @@
 #include <vector>
 
 #include <networktables/NetworkTableInstance.h>
-#include <networktables/TopicListener.h>
-#include <networktables/ValueListener.h>
+#include <networktables/NetworkTableListener.h>
 #include <ntcore_cpp.h>
 #include <wpi/DenseMap.h>
 #include <wpi/json.h>
@@ -84,8 +83,10 @@ class NetworkTablesModel : public Model {
     Entry& operator=(const Entry&) = delete;
     ~Entry();
 
-    void UpdateTopic(nt::TopicNotification&& event) {
-      UpdateInfo(std::move(event.info));
+    void UpdateTopic(nt::Event&& event) {
+      if (std::holds_alternative<nt::TopicInfo>(event.data)) {
+        UpdateInfo(std::get<nt::TopicInfo>(std::move(event.data)));
+      }
     }
     void UpdateInfo(nt::TopicInfo&& info_);
 
@@ -179,9 +180,7 @@ class NetworkTablesModel : public Model {
   void UpdateClients(std::span<const uint8_t> data);
 
   nt::NetworkTableInstance m_inst;
-  NT_MultiSubscriber m_subscriber;
-  nt::TopicListenerPoller m_topicPoller;
-  nt::ValueListenerPoller m_valuePoller;
+  nt::NetworkTableListenerPoller m_poller;
   wpi::DenseMap<NT_Topic, std::unique_ptr<Entry>> m_entries;
 
   // sorted by name

glass/src/libnt/native/include/glass/networktables/NetworkTablesProvider.h

@@ -10,10 +10,9 @@
 #include <vector>
 
 #include <networktables/NetworkTableInstance.h>
+#include <networktables/NetworkTableListener.h>
 #include <networktables/StringTopic.h>
 #include <networktables/Topic.h>
-#include <networktables/TopicListener.h>
-#include <networktables/ValueListener.h>
 #include <wpi/DenseMap.h>
 #include <wpi/StringMap.h>
 
@@ -79,9 +78,8 @@ class NetworkTablesProvider : private Provider<detail::NTProviderFunctions> {
   void Update() override;
 
   nt::NetworkTableInstance m_inst;
-  nt::TopicListenerPoller m_topicPoller;
-  NT_TopicListener m_topicListener{0};
-  nt::ValueListenerPoller m_valuePoller;
+  nt::NetworkTableListenerPoller m_poller;
+  NT_Listener m_listener{0};
 
   // cached mapping from table name to type string
   Storage& m_typeCache;
@@ -96,7 +94,7 @@ class NetworkTablesProvider : private Provider<detail::NTProviderFunctions> {
 
   struct SubListener {
     nt::StringSubscriber subscriber;
-    NT_ValueListener listener;
+    NT_Listener listener;
   };
 
   // mapping from .type topic to subscriber/listener

hal/src/main/native/athena/AddressableLED.cpp

@@ -6,11 +6,11 @@
 
 #include <cstring>
 
-#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga_HMB.h>
 #include <fmt/format.h>
 
 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
+#include "FPGACalls.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "PortsInternal.h"
@@ -21,51 +21,6 @@
 
 using namespace hal;
 
-extern "C" {
-NiFpga_Status NiFpga_ClientFunctionCall(NiFpga_Session session, uint32_t group,
-                                        uint32_t functionId,
-                                        const void* inBuffer,
-                                        size_t inBufferSize, void* outBuffer,
-                                        size_t outBufferSize);
-}  // extern "C"
-
-// Shim for broken ChipObject function
-static const uint32_t clientFeature_hostMemoryBuffer = 0;
-static const uint32_t hostMemoryBufferFunction_open = 2;
-
-// Input arguments for HMB open
-struct AtomicHMBOpenInputs {
-  const char* memoryName;
-};
-
-// Output arguments for HMB open
-struct AtomicHMBOpenOutputs {
-  size_t size;
-  void* virtualAddress;
-};
-
-static NiFpga_Status OpenHostMemoryBuffer(NiFpga_Session session,
-                                          const char* memoryName,
-                                          void** virtualAddress, size_t* size) {
-  struct AtomicHMBOpenOutputs outputs;
-
-  struct AtomicHMBOpenInputs inputs;
-  inputs.memoryName = memoryName;
-
-  NiFpga_Status retval = NiFpga_ClientFunctionCall(
-      session, clientFeature_hostMemoryBuffer, hostMemoryBufferFunction_open,
-      &inputs, sizeof(struct AtomicHMBOpenInputs), &outputs,
-      sizeof(struct AtomicHMBOpenOutputs));
-  if (NiFpga_IsError(retval)) {
-    return retval;
-  }
-  *virtualAddress = outputs.virtualAddress;
-  if (size) {
-    *size = outputs.size;
-  }
-  return retval;
-}
-
 namespace {
 struct AddressableLED {
   std::unique_ptr<tLED> led;
@@ -89,6 +44,8 @@ void InitializeAddressableLED() {
 }
 }  // namespace hal::init
 
+static constexpr const char* HmbName = "HMB_0_LED";
+
 extern "C" {
 
 HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
@@ -146,8 +103,8 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
 
   uint32_t session = led->led->getSystemInterface()->getHandle();
 
-  *status = OpenHostMemoryBuffer(session, "HMB_0_LED", &led->ledBuffer,
-                                 &led->ledBufferSize);
+  *status = hal::HAL_NiFpga_OpenHmb(session, HmbName, &led->ledBufferSize,
+                                    &led->ledBuffer);
 
   if (*status != 0) {
     addressableLEDHandles->Free(handle);
@@ -158,6 +115,12 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
 }
 
 void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
+  auto led = addressableLEDHandles->Get(handle);
+  if (!led) {
+    return;
+  }
+  uint32_t session = led->led->getSystemInterface()->getHandle();
+  hal::HAL_NiFpga_CloseHmb(session, HmbName);
   addressableLEDHandles->Free(handle);
 }
 

hal/src/main/native/athena/FPGACalls.cpp

@@ -0,0 +1,66 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "FPGACalls.h"
+
+#include <cerrno>
+
+#include "dlfcn.h"
+#include "hal/Errors.h"
+
+static void* NiFpgaLibrary = nullptr;
+
+namespace hal {
+HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
+HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
+HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
+HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
+HAL_NiFpga_OpenHmbFunc HAL_NiFpga_OpenHmb;
+HAL_NiFpga_CloseHmbFunc HAL_NiFpga_CloseHmb;
+
+namespace init {
+int InitializeFPGA() {
+  NiFpgaLibrary = dlopen("libNiFpga.so", RTLD_LAZY);
+  if (!NiFpgaLibrary) {
+    return errno;
+  }
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+  HAL_NiFpga_ReserveIrqContext =
+      reinterpret_cast<HAL_NiFpga_ReserveIrqContextFunc>(
+          dlsym(NiFpgaLibrary, "NiFpgaDll_ReserveIrqContext"));
+  HAL_NiFpga_UnreserveIrqContext =
+      reinterpret_cast<HAL_NiFpga_UnreserveIrqContextFunc>(
+          dlsym(NiFpgaLibrary, "NiFpgaDll_UnreserveIrqContext"));
+  HAL_NiFpga_WaitOnIrqs = reinterpret_cast<HAL_NiFpga_WaitOnIrqsFunc>(
+      dlsym(NiFpgaLibrary, "NiFpgaDll_WaitOnIrqs"));
+  HAL_NiFpga_AcknowledgeIrqs = reinterpret_cast<HAL_NiFpga_AcknowledgeIrqsFunc>(
+      dlsym(NiFpgaLibrary, "NiFpgaDll_AcknowledgeIrqs"));
+  HAL_NiFpga_OpenHmb = reinterpret_cast<HAL_NiFpga_OpenHmbFunc>(
+      dlsym(NiFpgaLibrary, "NiFpgaDll_OpenHmb"));
+  HAL_NiFpga_CloseHmb = reinterpret_cast<HAL_NiFpga_CloseHmbFunc>(
+      dlsym(NiFpgaLibrary, "NiFpgaDll_CloseHmb"));
+#pragma GCC diagnostic pop
+
+  if (HAL_NiFpga_ReserveIrqContext == nullptr ||
+      HAL_NiFpga_UnreserveIrqContext == nullptr ||
+      HAL_NiFpga_WaitOnIrqs == nullptr ||
+      HAL_NiFpga_AcknowledgeIrqs == nullptr || HAL_NiFpga_OpenHmb == nullptr ||
+      HAL_NiFpga_CloseHmb == nullptr) {
+    HAL_NiFpga_ReserveIrqContext = nullptr;
+    HAL_NiFpga_UnreserveIrqContext = nullptr;
+    HAL_NiFpga_WaitOnIrqs = nullptr;
+    HAL_NiFpga_AcknowledgeIrqs = nullptr;
+    HAL_NiFpga_OpenHmb = nullptr;
+    HAL_NiFpga_CloseHmb = nullptr;
+    dlclose(NiFpgaLibrary);
+    NiFpgaLibrary = nullptr;
+    return NO_AVAILABLE_RESOURCES;
+  }
+
+  return HAL_SUCCESS;
+}
+}  // namespace init
+}  // namespace hal

hal/src/main/native/athena/FPGACalls.h

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <FRC_FPGA_ChipObject/fpgainterfacecapi/NiFpga.h>
+
+namespace hal {
+namespace init {
+[[nodiscard]] int InitializeFPGA();
+}  // namespace init
+
+using HAL_NiFpga_ReserveIrqContextFunc =
+    NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext* context);
+
+extern HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
+
+using HAL_NiFpga_UnreserveIrqContextFunc =
+    NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext context);
+
+extern HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
+
+using HAL_NiFpga_WaitOnIrqsFunc = NiFpga_Status (*)(
+    NiFpga_Session session, NiFpga_IrqContext context, uint32_t irqs,
+    uint32_t timeout, uint32_t* irqsAsserted, NiFpga_Bool* timedOut);
+
+extern HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
+
+using HAL_NiFpga_AcknowledgeIrqsFunc = NiFpga_Status (*)(NiFpga_Session session,
+                                                         uint32_t irqs);
+
+extern HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
+
+using HAL_NiFpga_OpenHmbFunc = NiFpga_Status (*)(const NiFpga_Session session,
+                                                 const char* memoryName,
+                                                 size_t* memorySize,
+                                                 void** virtualAddress);
+
+extern HAL_NiFpga_OpenHmbFunc HAL_NiFpga_OpenHmb;
+
+using HAL_NiFpga_CloseHmbFunc = NiFpga_Status (*)(const NiFpga_Session session,
+                                                  const char* memoryName);
+
+extern HAL_NiFpga_CloseHmbFunc HAL_NiFpga_CloseHmb;
+}  // namespace hal

hal/src/main/native/athena/FRCDriverStation.cpp

@@ -19,16 +19,19 @@
 #include <wpi/condition_variable.h>
 #include <wpi/mutex.h>
 
+#include "HALInitializer.h"
 #include "hal/DriverStation.h"
 #include "hal/Errors.h"
 
 static_assert(sizeof(int32_t) >= sizeof(int),
               "FRC_NetworkComm status variable is larger than 32 bits");
 
+namespace {
 struct HAL_JoystickAxesInt {
   int16_t count;
   int16_t axes[HAL_kMaxJoystickAxes];
 };
+}  // namespace
 
 namespace {
 struct JoystickDataCache {
@@ -57,10 +60,11 @@ static wpi::mutex msgMutex;
 
 static int32_t HAL_GetJoystickAxesInternal(int32_t joystickNum,
                                            HAL_JoystickAxes* axes) {
-  JoystickAxes_t netcommAxes;
+  HAL_JoystickAxesInt netcommAxes;
 
   int retVal = FRC_NetworkCommunication_getJoystickAxes(
-      joystickNum, &netcommAxes, HAL_kMaxJoystickAxes);
+      joystickNum, reinterpret_cast<JoystickAxes_t*>(&netcommAxes),
+      HAL_kMaxJoystickAxes);
 
   // copy integer values to double values
   axes->count = netcommAxes.count;
@@ -443,6 +447,7 @@ void HAL_RefreshDSData(void) {
 }
 
 void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
+  hal::init::CheckInit();
   driverStation->newDataEvents.Add(handle);
 }
 

hal/src/main/native/athena/HAL.cpp

@@ -21,6 +21,7 @@
 #include <wpi/mutex.h>
 #include <wpi/timestamp.h>
 
+#include "FPGACalls.h"
 #include "HALInitializer.h"
 #include "HALInternal.h"
 #include "hal/ChipObject.h"
@@ -81,6 +82,7 @@ void InitializeHAL() {
 }  // namespace init
 
 void ReleaseFPGAInterrupt(int32_t interruptNumber) {
+  hal::init::CheckInit();
   if (!global) {
     return;
   }
@@ -251,6 +253,7 @@ HAL_RuntimeType HAL_GetRuntimeType(void) {
 }
 
 int32_t HAL_GetFPGAVersion(int32_t* status) {
+  hal::init::CheckInit();
   if (!global) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return 0;
@@ -259,6 +262,7 @@ int32_t HAL_GetFPGAVersion(int32_t* status) {
 }
 
 int64_t HAL_GetFPGARevision(int32_t* status) {
+  hal::init::CheckInit();
   if (!global) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return 0;
@@ -267,6 +271,7 @@ int64_t HAL_GetFPGARevision(int32_t* status) {
 }
 
 uint64_t HAL_GetFPGATime(int32_t* status) {
+  hal::init::CheckInit();
   if (!global) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return 0;
@@ -313,6 +318,7 @@ uint64_t HAL_ExpandFPGATime(uint32_t unexpandedLower, int32_t* status) {
 }
 
 HAL_Bool HAL_GetFPGAButton(int32_t* status) {
+  hal::init::CheckInit();
   if (!global) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return false;
@@ -321,6 +327,7 @@ HAL_Bool HAL_GetFPGAButton(int32_t* status) {
 }
 
 HAL_Bool HAL_GetSystemActive(int32_t* status) {
+  hal::init::CheckInit();
   if (!watchdog) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return false;
@@ -329,6 +336,7 @@ HAL_Bool HAL_GetSystemActive(int32_t* status) {
 }
 
 HAL_Bool HAL_GetBrownedOut(int32_t* status) {
+  hal::init::CheckInit();
   if (!watchdog) {
     *status = NiFpga_Status_ResourceNotInitialized;
     return false;
@@ -394,6 +402,11 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     return true;
   }
 
+  int fpgaInit = hal::init::InitializeFPGA();
+  if (fpgaInit != HAL_SUCCESS) {
+    return false;
+  }
+
   hal::init::InitializeHAL();
 
   hal::init::HAL_IsInitialized.store(true);
@@ -426,11 +439,7 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     return false;
   }
 
-  status = InterruptManager::Initialize(global->getSystemInterface());
-
-  if (status != 0) {
-    return false;
-  }
+  InterruptManager::Initialize(global->getSystemInterface());
 
   hal::InitializeDriverStation();
 

hal/src/main/native/athena/InterruptManager.cpp

@@ -6,34 +6,11 @@
 
 #include <fmt/format.h>
 
+#include "FPGACalls.h"
 #include "HALInternal.h"
 #include "dlfcn.h"
 #include "hal/Errors.h"
 
-// Low level FPGA calls
-using HAL_NiFpga_ReserveIrqContextFunc =
-    NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext* context);
-
-static HAL_NiFpga_ReserveIrqContextFunc HAL_NiFpga_ReserveIrqContext;
-
-using HAL_NiFpga_UnreserveIrqContextFunc =
-    NiFpga_Status (*)(NiFpga_Session session, NiFpga_IrqContext context);
-
-static HAL_NiFpga_UnreserveIrqContextFunc HAL_NiFpga_UnreserveIrqContext;
-
-using HAL_NiFpga_WaitOnIrqsFunc = NiFpga_Status (*)(
-    NiFpga_Session session, NiFpga_IrqContext context, uint32_t irqs,
-    uint32_t timeout, uint32_t* irqsAsserted, NiFpga_Bool* timedOut);
-
-static HAL_NiFpga_WaitOnIrqsFunc HAL_NiFpga_WaitOnIrqs;
-
-using HAL_NiFpga_AcknowledgeIrqsFunc = NiFpga_Status (*)(NiFpga_Session session,
-                                                         uint32_t irqs);
-
-static HAL_NiFpga_AcknowledgeIrqsFunc HAL_NiFpga_AcknowledgeIrqs;
-
-static void* NiFpgaLibrary = nullptr;
-
 using namespace hal;
 
 InterruptManager& InterruptManager::GetInstance() {
@@ -41,37 +18,9 @@ InterruptManager& InterruptManager::GetInstance() {
   return manager;
 }
 
-int32_t InterruptManager::Initialize(tSystemInterface* baseSystem) {
+void InterruptManager::Initialize(tSystemInterface* baseSystem) {
   auto& manager = GetInstance();
   manager.fpgaSession = baseSystem->getHandle();
-
-  NiFpgaLibrary = dlopen("libNiFpga.so", RTLD_LAZY);
-  if (!NiFpgaLibrary) {
-    return errno;
-  }
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-  HAL_NiFpga_ReserveIrqContext =
-      reinterpret_cast<HAL_NiFpga_ReserveIrqContextFunc>(
-          dlsym(NiFpgaLibrary, "NiFpgaDll_ReserveIrqContext"));
-  HAL_NiFpga_UnreserveIrqContext =
-      reinterpret_cast<HAL_NiFpga_UnreserveIrqContextFunc>(
-          dlsym(NiFpgaLibrary, "NiFpgaDll_UnreserveIrqContext"));
-  HAL_NiFpga_WaitOnIrqs = reinterpret_cast<HAL_NiFpga_WaitOnIrqsFunc>(
-      dlsym(NiFpgaLibrary, "NiFpgaDll_WaitOnIrqs"));
-  HAL_NiFpga_AcknowledgeIrqs = reinterpret_cast<HAL_NiFpga_AcknowledgeIrqsFunc>(
-      dlsym(NiFpgaLibrary, "NiFpgaDll_AcknowledgeIrqs"));
-#pragma GCC diagnostic pop
-
-  if (HAL_NiFpga_ReserveIrqContext == nullptr ||
-      HAL_NiFpga_UnreserveIrqContext == nullptr ||
-      HAL_NiFpga_WaitOnIrqs == nullptr ||
-      HAL_NiFpga_AcknowledgeIrqs == nullptr) {
-    return NO_AVAILABLE_RESOURCES;
-  }
-
-  return HAL_SUCCESS;
 }
 
 NiFpga_IrqContext InterruptManager::GetContext() noexcept {

hal/src/main/native/include/hal/roborio/InterruptManager.h

@@ -14,7 +14,7 @@ namespace hal {
 class InterruptManager {
  public:
   static InterruptManager& GetInstance();
-  static int32_t Initialize(tSystemInterface* baseSystem);
+  static void Initialize(tSystemInterface* baseSystem);
 
   NiFpga_IrqContext GetContext() noexcept;
   void ReleaseContext(NiFpga_IrqContext context) noexcept;

hal/src/main/native/sim/DriverStation.cpp

@@ -168,17 +168,26 @@ int32_t HAL_SendConsoleLine(const char* line) {
 }
 
 int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
+  if (gShutdown) {
+    return INCOMPATIBLE_STATE;
+  }
   std::scoped_lock lock{driverStation->cacheMutex};
   *controlWord = newestControlWord;
   return 0;
 }
 
 HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
+  if (gShutdown) {
+    return HAL_AllianceStationID_kRed1;
+  }
   std::scoped_lock lock{driverStation->cacheMutex};
   return currentRead->allianceStation;
 }
 
 int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
+  if (gShutdown) {
+    return INCOMPATIBLE_STATE;
+  }
   CHECK_JOYSTICK_NUMBER(joystickNum);
   std::scoped_lock lock{driverStation->cacheMutex};
   *axes = currentRead->axes[joystickNum];
@@ -186,6 +195,9 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes) {
 }
 
 int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
+  if (gShutdown) {
+    return INCOMPATIBLE_STATE;
+  }
   CHECK_JOYSTICK_NUMBER(joystickNum);
   std::scoped_lock lock{driverStation->cacheMutex};
   *povs = currentRead->povs[joystickNum];
@@ -194,6 +206,9 @@ int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs) {
 
 int32_t HAL_GetJoystickButtons(int32_t joystickNum,
                                HAL_JoystickButtons* buttons) {
+  if (gShutdown) {
+    return INCOMPATIBLE_STATE;
+  }
   CHECK_JOYSTICK_NUMBER(joystickNum);
   std::scoped_lock lock{driverStation->cacheMutex};
   *buttons = currentRead->buttons[joystickNum];
@@ -202,6 +217,9 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum,
 
 void HAL_GetAllJoystickData(HAL_JoystickAxes* axes, HAL_JoystickPOVs* povs,
                             HAL_JoystickButtons* buttons) {
+  if (gShutdown) {
+    return;
+  }
   std::scoped_lock lock{driverStation->cacheMutex};
   std::memcpy(axes, currentRead->axes, sizeof(currentRead->axes));
   std::memcpy(povs, currentRead->povs, sizeof(currentRead->povs));
@@ -252,6 +270,9 @@ int32_t HAL_SetJoystickOutputs(int32_t joystickNum, int64_t outputs,
 }
 
 double HAL_GetMatchTime(int32_t* status) {
+  if (gShutdown) {
+    return 0;
+  }
   std::scoped_lock lock{driverStation->cacheMutex};
   return currentRead->matchTime;
 }
@@ -282,6 +303,9 @@ void HAL_ObserveUserProgramTest(void) {
 }
 
 void HAL_RefreshDSData(void) {
+  if (gShutdown) {
+    return;
+  }
   HAL_ControlWord controlWord;
   std::memset(&controlWord, 0, sizeof(controlWord));
   controlWord.enabled = SimDriverStationData->enabled;
@@ -302,6 +326,7 @@ void HAL_ProvideNewDataEventHandle(WPI_EventHandle handle) {
   if (gShutdown) {
     return;
   }
+  hal::init::CheckInit();
   driverStation->newDataEvents.Add(handle);
 }
 
@@ -313,6 +338,9 @@ void HAL_RemoveNewDataEventHandle(WPI_EventHandle handle) {
 }
 
 HAL_Bool HAL_GetOutputsEnabled(void) {
+  if (gShutdown) {
+    return false;
+  }
   std::scoped_lock lock{driverStation->cacheMutex};
   return newestControlWord.enabled && newestControlWord.dsAttached;
 }
@@ -321,6 +349,9 @@ HAL_Bool HAL_GetOutputsEnabled(void) {
 
 namespace hal {
 void NewDriverStationData() {
+  if (gShutdown) {
+    return;
+  }
   cacheToUpdate->Update();
   {
     std::scoped_lock lock{driverStation->cacheMutex};

myRobot/build.gradle

@@ -53,12 +53,16 @@ dependencies {
     implementation project(':wpilibNewCommands')
 }
 
+tasks.withType(com.github.spotbugs.snom.SpotBugsTask).configureEach {
+    onlyIf { false }
+}
+
 def simProjects = ['halsim_gui']
 
 deploy {
     targets {
         roborio(RemoteTarget) {
-            directory = '/home/admin'
+            directory = '/home/lvuser'
             maxChannels = 4
             locations {
                 ssh(SshDeployLocation) {
@@ -78,7 +82,8 @@ deploy {
             artifacts {
                 all {
                     predeploy << { ctx ->
-                        ctx.execute('/usr/local/frc/bin/frcKillRobot.sh -t')
+                        ctx.execute('. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t 2> /dev/null')
+                        ctx.execute("sed -i -e 's/\"exec /\"/' /usr/local/frc/bin/frcRunRobot.sh")
                     }
                     postdeploy << { ctx ->
                         ctx.execute("sync")
@@ -92,6 +97,9 @@ deploy {
                     excludes.add('**/*.so.debug')
                     excludes.add('**/*.so.*.debug')
                     postdeploy << { ctx ->
+                        ctx.execute("echo '/home/lvuser/myRobotCpp' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCpp\"")
                         ctx.execute('chmod +x myRobotCpp')
                     }
                 }
@@ -99,18 +107,28 @@ deploy {
                 myRobotCppStatic(NativeExecutableArtifact) {
                     libraryDirectory = '/usr/local/frc/third-party/lib'
                     postdeploy << { ctx ->
+                        ctx.execute("echo '/home/lvuser/myRobotCppStatic' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
+                        ctx.execute("setcap cap_sys_nice+eip \"/home/lvuser/myRobotCppStatic\"")
                         ctx.execute('chmod +x myRobotCppStatic')
                     }
                 }
 
+                myRobotCppJava(NativeExecutableArtifact) {
+                    libraryDirectory = '/usr/local/frc/third-party/lib'
+                    def excludes = getLibraryFilter().getExcludes()
+                    excludes.add('**/*.so.debug')
+                    excludes.add('**/*.so.*.debug')
+                }
+
                 jre(WPIJREArtifact) {
                 }
 
                 myRobotJava(JavaArtifact) {
                     jarTask = shadowJar
                     postdeploy << { ctx ->
-                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseConcMarkSweepGC -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/admin/myRobot-all.jar' > /home/admin/myRobotJavaRun")
-                        ctx.execute("chmod +x /home/admin/myRobotJavaRun; chown lvuser /home/admin/myRobotJavaRun")
+                        ctx.execute("echo '/usr/local/frc/JRE/bin/java -XX:+UseG1GC -XX:MaxGCPauseMillis=1 -XX:GCTimeRatio=1 -Djava.library.path=/usr/local/frc/third-party/lib -Djava.lang.invoke.stringConcat=BC_SB -jar /home/lvuser/myRobot-all.jar' > /home/lvuser/robotCommand")
+                        ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
                     }
                 }
             }
@@ -122,7 +140,7 @@ tasks.register('deployJava') {
     try {
         dependsOn tasks.named('deployjreroborio')
         dependsOn tasks.named('deploymyRobotJavaroborio')
-        dependsOn tasks.named('deploymyRobotCpproborio') // Deploying shared C++ is how to get the Java shared libraries.
+        dependsOn tasks.named('deploymyRobotCppJavaroborio') // Deploying shared C++ is how to get the Java shared libraries.
     } catch (ignored) {
     }
 }
@@ -161,6 +179,7 @@ model {
                 if (binary.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
                     if (binary.buildType.name == 'debug') {
                         deploy.targets.roborio.artifacts.myRobotCpp.binary = binary
+                        deploy.targets.roborio.artifacts.myRobotCppJava.binary = binary
                     }
                 }
                 lib project: ':wpilibNewCommands', library: 'wpilibNewCommands', linkage: 'shared'

ntcore/CMakeLists.txt

@@ -35,6 +35,7 @@ set_property(TARGET ntcore PROPERTY FOLDER "libraries")
 
 install(TARGETS ntcore EXPORT ntcore DESTINATION "${main_lib_dest}")
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/ntcore")
+install(DIRECTORY ${WPILIB_BINARY_DIR}/ntcore/generated/main/native/include/ DESTINATION "${include_dest}/ntcore")
 
 if (WITH_FLAT_INSTALL)
     set (ntcore_config_dir ${wpilib_dest})

ntcore/src/generate/java/NetworkTableInstance.java.jinja

@@ -5,11 +5,15 @@
 package edu.wpi.first.networktables;
 
 import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.util.concurrent.Event;
 import edu.wpi.first.util.datalog.DataLog;
+import java.util.EnumSet;
 import java.util.HashMap;
 import java.util.Map;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ConcurrentMap;
+import java.util.concurrent.TimeUnit;
+import java.util.concurrent.locks.Condition;
 import java.util.concurrent.locks.ReentrantLock;
 import java.util.function.Consumer;
 
@@ -30,17 +34,35 @@ import java.util.function.Consumer;
  * kept to the NetworkTableInstance returned by this function to keep it from being garbage
  * collected.
  */
+@SuppressWarnings("PMD.CouplingBetweenObjects")
 public final class NetworkTableInstance implements AutoCloseable {
-  /**
-   * Client/server mode flag values (as returned by {@link #getNetworkMode()}). This is a bitmask.
-   */
-  public static final int kNetModeNone = 0x00;
+  /** Client/server mode flag values (as returned by {@link #getNetworkMode()}). */
+  public enum NetworkMode {
+    /** Running in server mode. */
+    kServer(0x01),
 
-  public static final int kNetModeServer = 0x01;
-  public static final int kNetModeClient3 = 0x02;
-  public static final int kNetModeClient4 = 0x04;
-  public static final int kNetModeStarting = 0x08;
-  public static final int kNetModeLocal = 0x10;
+    /** Running in NT3 client mode. */
+    kClient3(0x02),
+
+    /** Running in NT4 client mode. */
+    kClient4(0x04),
+
+    /** Currently starting up (either client or server). */
+    kStarting(0x08),
+
+    /** Running in local-only mode. */
+    kLocal(0x10);
+
+    private final int value;
+
+    NetworkMode(int value) {
+      this.value = value;
+    }
+
+    public int getValue() {
+      return value;
+    }
+  }
 
   /** The default port that network tables operates on for NT3. */
   public static final int kDefaultPort3 = 1735;
@@ -62,7 +84,9 @@ public final class NetworkTableInstance implements AutoCloseable {
   @Override
   public synchronized void close() {
     if (m_owned && m_handle != 0) {
+      m_listeners.close();
       NetworkTablesJNI.destroyInstance(m_handle);
+      m_handle = 0;
     }
   }
 
@@ -350,100 +374,330 @@ public final class NetworkTableInstance implements AutoCloseable {
    * Callback Creation Functions
    */
 
-  private final ReentrantLock m_connectionListenerLock = new ReentrantLock();
-  private final Map<Integer, Consumer<ConnectionNotification>> m_connectionListeners =
-      new HashMap<>();
-  private int m_connectionListenerPoller;
+  private static class ListenerStorage implements AutoCloseable {
+    private final ReentrantLock m_lock = new ReentrantLock();
+    private final Map<Integer, Consumer<NetworkTableEvent>> m_listeners = new HashMap<>();
+    private Thread m_thread;
+    private int m_poller;
+    private boolean m_waitQueue;
+    private final Event m_waitQueueEvent = new Event();
+    private final Condition m_waitQueueCond = m_lock.newCondition();
+    private final NetworkTableInstance m_inst;
 
-  @SuppressWarnings("PMD.AvoidCatchingThrowable")
-  private void startConnectionListenerThread() {
-    var connectionListenerThread =
-        new Thread(
-            () -> {
-              boolean wasInterrupted = false;
-              while (!Thread.interrupted()) {
-                try {
-                  WPIUtilJNI.waitForObject(m_connectionListenerPoller);
-                } catch (InterruptedException ex) {
-                  Thread.currentThread().interrupt();
-                  // don't try to destroy poller, as its handle is likely no longer valid
-                  wasInterrupted = true;
-                  break;
-                }
-                ConnectionNotification[] events =
-                  NetworkTablesJNI.readConnectionListenerQueue(this, m_connectionListenerPoller);
-                for (ConnectionNotification event : events) {
-                  Consumer<ConnectionNotification> listener;
-                  m_connectionListenerLock.lock();
+    ListenerStorage(NetworkTableInstance inst) {
+      m_inst = inst;
+    }
+
+    int add(
+        String[] prefixes,
+        EnumSet<NetworkTableEvent.Kind> eventKinds,
+        Consumer<NetworkTableEvent> listener) {
+      m_lock.lock();
+      try {
+        if (m_poller == 0) {
+          m_poller = NetworkTablesJNI.createListenerPoller(m_inst.getHandle());
+          startThread();
+        }
+        int h = NetworkTablesJNI.addListener(m_poller, prefixes, eventKinds);
+        m_listeners.put(h, listener);
+        return h;
+      } finally {
+        m_lock.unlock();
+      }
+    }
+
+    int add(
+        int handle,
+        EnumSet<NetworkTableEvent.Kind> eventKinds,
+        Consumer<NetworkTableEvent> listener) {
+      m_lock.lock();
+      try {
+        if (m_poller == 0) {
+          m_poller = NetworkTablesJNI.createListenerPoller(m_inst.getHandle());
+          startThread();
+        }
+        int h = NetworkTablesJNI.addListener(m_poller, handle, eventKinds);
+        m_listeners.put(h, listener);
+        return h;
+      } finally {
+        m_lock.unlock();
+      }
+    }
+
+    int addLogger(int minLevel, int maxLevel, Consumer<NetworkTableEvent> listener) {
+      m_lock.lock();
+      try {
+        if (m_poller == 0) {
+          m_poller = NetworkTablesJNI.createListenerPoller(m_inst.getHandle());
+          startThread();
+        }
+        int h = NetworkTablesJNI.addLogger(m_poller, minLevel, maxLevel);
+        m_listeners.put(h, listener);
+        return h;
+      } finally {
+        m_lock.unlock();
+      }
+    }
+
+    void remove(int listener) {
+      m_lock.lock();
+      try {
+        m_listeners.remove(listener);
+      } finally {
+        m_lock.unlock();
+      }
+      NetworkTablesJNI.removeListener(listener);
+    }
+
+    @Override
+    public void close() {
+      if (m_poller != 0) {
+        NetworkTablesJNI.destroyListenerPoller(m_poller);
+      }
+      m_poller = 0;
+    }
+
+    private void startThread() {
+      m_thread =
+          new Thread(
+              () -> {
+                boolean wasInterrupted = false;
+                int[] handles = new int[] { m_poller, m_waitQueueEvent.getHandle() };
+                while (!Thread.interrupted()) {
                   try {
-                    listener = m_connectionListeners.get(event.listener);
-                  } finally {
-                    m_connectionListenerLock.unlock();
-                  }
-                  if (listener != null) {
+                    WPIUtilJNI.waitForObjects(handles);
+                  } catch (InterruptedException ex) {
+                    m_lock.lock();
                     try {
-                      listener.accept(event);
-                    } catch (Throwable throwable) {
-                      System.err.println(
-                          "Unhandled exception during connection listener callback: "
-                              + throwable.toString());
-                      throwable.printStackTrace();
+                      if (m_waitQueue) {
+                        m_waitQueue = false;
+                        m_waitQueueCond.signalAll();
+                      }
+                    } finally {
+                      m_lock.unlock();
+                    }
+                    Thread.currentThread().interrupt();
+                    // don't try to destroy poller, as its handle is likely no longer valid
+                    wasInterrupted = true;
+                    break;
+                  }
+                  for (NetworkTableEvent event :
+                      NetworkTablesJNI.readListenerQueue(m_inst, m_poller)) {
+                    Consumer<NetworkTableEvent> listener;
+                    m_lock.lock();
+                    try {
+                      listener = m_listeners.get(event.listener);
+                    } finally {
+                      m_lock.unlock();
+                    }
+                    if (listener != null) {
+                      try {
+                        listener.accept(event);
+                      } catch (Throwable throwable) {
+                        System.err.println(
+                            "Unhandled exception during listener callback: "
+                            + throwable.toString());
+                        throwable.printStackTrace();
+                      }
                     }
                   }
+                  m_lock.lock();
+                  try {
+                    if (m_waitQueue) {
+                      m_waitQueue = false;
+                      m_waitQueueCond.signalAll();
+                    }
+                  } finally {
+                    m_lock.unlock();
+                  }
                 }
-              }
-              m_connectionListenerLock.lock();
-              try {
-                if (!wasInterrupted) {
-                  NetworkTablesJNI.destroyConnectionListenerPoller(m_connectionListenerPoller);
+                m_lock.lock();
+                try {
+                  if (!wasInterrupted) {
+                    NetworkTablesJNI.destroyListenerPoller(m_poller);
+                  }
+                  m_poller = 0;
+                } finally {
+                  m_lock.unlock();
                 }
-                m_connectionListenerPoller = 0;
-              } finally {
-                m_connectionListenerLock.unlock();
-              }
-            },
-            "NTConnectionListener");
-    connectionListenerThread.setDaemon(true);
-    connectionListenerThread.start();
-  }
+              },
+              "NTListener");
+      m_thread.setDaemon(true);
+      m_thread.start();
+    }
 
-  /**
-   * Add a connection listener.
-   *
-   * @param listener Listener to add
-   * @param immediateNotify Notify listener of all existing connections
-   * @return Listener handle
-   */
-  public int addConnectionListener(
-      Consumer<ConnectionNotification> listener, boolean immediateNotify) {
-    m_connectionListenerLock.lock();
-    try {
-      if (m_connectionListenerPoller == 0) {
-        m_connectionListenerPoller = NetworkTablesJNI.createConnectionListenerPoller(m_handle);
-        startConnectionListenerThread();
+    boolean waitForQueue(double timeout) {
+      m_lock.lock();
+      try {
+        if (m_poller != 0) {
+          m_waitQueue = true;
+          m_waitQueueEvent.set();
+          while (m_waitQueue) {
+            try {
+              if (timeout < 0) {
+                m_waitQueueCond.await();
+              } else {
+                return m_waitQueueCond.await((long) (timeout * 1e9), TimeUnit.NANOSECONDS);
+              }
+            } catch (InterruptedException ex) {
+              Thread.currentThread().interrupt();
+              return true;
+            }
+          }
+        }
+      } finally {
+        m_lock.unlock();
       }
-      int handle =
-          NetworkTablesJNI.addPolledConnectionListener(m_connectionListenerPoller, immediateNotify);
-      m_connectionListeners.put(handle, listener);
-      return handle;
-    } finally {
-      m_connectionListenerLock.unlock();
+      return true;
     }
   }
 
+  private ListenerStorage m_listeners = new ListenerStorage(this);
+
   /**
    * Remove a connection listener.
    *
    * @param listener Listener handle to remove
    */
-  public void removeConnectionListener(int listener) {
-    m_connectionListenerLock.lock();
-    try {
-      m_connectionListeners.remove(listener);
-    } finally {
-      m_connectionListenerLock.unlock();
+  public void removeListener(int listener) {
+    m_listeners.remove(listener);
+  }
+
+  /**
+   * Wait for the listener queue to be empty. This is primarily useful for deterministic
+   * testing. This blocks until either the listener queue is empty (e.g. there are no
+   * more events that need to be passed along to callbacks or poll queues) or the timeout expires.
+   *
+   * @param timeout timeout, in seconds. Set to 0 for non-blocking behavior, or a negative value to
+   *     block indefinitely
+   * @return False if timed out, otherwise true.
+   */
+  public boolean waitForListenerQueue(double timeout) {
+    return m_listeners.waitForQueue(timeout);
+  }
+
+  /**
+   * Add a connection listener. The callback function is called asynchronously on a separate
+   * thread, so it's important to use synchronization or atomics when accessing any shared state
+   * from the callback function.
+   *
+   * @param immediateNotify Notify listener of all existing connections
+   * @param listener Listener to add
+   * @return Listener handle
+   */
+  public int addConnectionListener(
+      boolean immediateNotify, Consumer<NetworkTableEvent> listener) {
+    EnumSet<NetworkTableEvent.Kind> eventKinds = EnumSet.of(NetworkTableEvent.Kind.kConnection);
+    if (immediateNotify) {
+      eventKinds.add(NetworkTableEvent.Kind.kImmediate);
     }
-    NetworkTablesJNI.removeConnectionListener(listener);
+    return m_listeners.add(m_handle, eventKinds, listener);
+  }
+
+  /**
+   * Add a listener for changes on a particular topic. The callback function is called
+   * asynchronously on a separate thread, so it's important to use synchronization or atomics when
+   * accessing any shared state from the callback function.
+   *
+   * <p>This creates a corresponding internal subscriber with the lifetime of the
+   * listener.
+   *
+   * @param topic Topic
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener handle
+   */
+  public int addListener(
+      Topic topic,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    if (topic.getInstance().getHandle() != m_handle) {
+      throw new IllegalArgumentException("topic is not from this instance");
+    }
+    return m_listeners.add(topic.getHandle(), eventKinds, listener);
+  }
+
+  /**
+   * Add a listener for changes on a subscriber. The callback function is called
+   * asynchronously on a separate thread, so it's important to use synchronization or atomics when
+   * accessing any shared state from the callback function. This does NOT keep the subscriber
+   * active.
+   *
+   * @param subscriber Subscriber
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener handle
+   */
+  public int addListener(
+      Subscriber subscriber,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    if (subscriber.getTopic().getInstance().getHandle() != m_handle) {
+      throw new IllegalArgumentException("subscriber is not from this instance");
+    }
+    return m_listeners.add(subscriber.getHandle(), eventKinds, listener);
+  }
+
+  /**
+   * Add a listener for changes on a subscriber. The callback function is called
+   * asynchronously on a separate thread, so it's important to use synchronization or atomics when
+   * accessing any shared state from the callback function. This does NOT keep the subscriber
+   * active.
+   *
+   * @param subscriber Subscriber
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener handle
+   */
+  public int addListener(
+      MultiSubscriber subscriber,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    if (subscriber.getInstance().getHandle() != m_handle) {
+      throw new IllegalArgumentException("subscriber is not from this instance");
+    }
+    return m_listeners.add(subscriber.getHandle(), eventKinds, listener);
+  }
+
+  /**
+   * Add a listener for changes on an entry. The callback function is called
+   * asynchronously on a separate thread, so it's important to use synchronization or atomics when
+   * accessing any shared state from the callback function.
+   *
+   * @param entry Entry
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener handle
+   */
+  public int addListener(
+      NetworkTableEntry entry,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    if (entry.getTopic().getInstance().getHandle() != m_handle) {
+      throw new IllegalArgumentException("entry is not from this instance");
+    }
+    return m_listeners.add(entry.getHandle(), eventKinds, listener);
+  }
+
+  /**
+   * Add a listener for changes to topics with names that start with any of the given
+   * prefixes. The callback function is called asynchronously on a separate thread, so it's
+   * important to use synchronization or atomics when accessing any shared state from the callback
+   * function.
+   *
+   * <p>This creates a corresponding internal subscriber with the lifetime of the
+   * listener.
+   *
+   * @param prefixes Topic name string prefixes
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener handle
+   */
+  public int addListener(
+      String[] prefixes,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    return m_listeners.add(prefixes, eventKinds, listener);
   }
 
   /*
@@ -453,10 +707,17 @@ public final class NetworkTableInstance implements AutoCloseable {
   /**
    * Get the current network mode.
    *
-   * @return Bitmask of NetworkMode.
+   * @return Enum set of NetworkMode.
    */
-  public int getNetworkMode() {
-    return NetworkTablesJNI.getNetworkMode(m_handle);
+  public EnumSet<NetworkMode> getNetworkMode() {
+    int flags = NetworkTablesJNI.getNetworkMode(m_handle);
+    EnumSet<NetworkMode> rv = EnumSet.noneOf(NetworkMode.class);
+    for (NetworkMode mode : NetworkMode.values()) {
+      if ((flags & mode.getValue()) != 0) {
+        rv.add(mode);
+      }
+    }
+    return rv;
   }
 
   /**
@@ -468,8 +729,8 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Stops local-only operation. startServer or startClient can be called after this call to start a
-   * server or client.
+   * Stops local-only operation. startServer or startClient can be called after this call to start
+   * a server or client.
    */
   public void stopLocal() {
     NetworkTablesJNI.stopLocal(m_handle);
@@ -600,8 +861,8 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   /**
-   * Sets server addresses and ports for client (without restarting client). The client will attempt
-   * to connect to each server in round robin fashion.
+   * Sets server addresses and ports for client (without restarting client). The client will
+   * attempt to connect to each server in round robin fashion.
    *
    * @param serverNames array of server names
    * @param ports array of port numbers (0=default)
@@ -664,8 +925,8 @@ public final class NetworkTableInstance implements AutoCloseable {
 
   /**
    * Flushes all updated values immediately to the network. Note: This is rate-limited to protect
-   * the network from flooding. This is primarily useful for synchronizing network updates with user
-   * code.
+   * the network from flooding. This is primarily useful for synchronizing network updates with
+   * user code.
    */
   public void flush() {
     NetworkTablesJNI.flush(m_handle);
@@ -734,98 +995,19 @@ public final class NetworkTableInstance implements AutoCloseable {
     NetworkTablesJNI.stopConnectionDataLog(logger);
   }
 
-  private final ReentrantLock m_loggerLock = new ReentrantLock();
-  private final Map<Integer, Consumer<LogMessage>> m_loggers = new HashMap<>();
-  private int m_loggerPoller;
-
-  @SuppressWarnings("PMD.AvoidCatchingThrowable")
-  private void startLogThread() {
-    var loggerThread =
-        new Thread(
-            () -> {
-              boolean wasInterrupted = false;
-              while (!Thread.interrupted()) {
-                try {
-                  WPIUtilJNI.waitForObject(m_loggerPoller);
-                } catch (InterruptedException ex) {
-                  Thread.currentThread().interrupt();
-                  // don't try to destroy poller, as its handle is likely no longer valid
-                  wasInterrupted = true;
-                  break;
-                }
-                LogMessage[] events = NetworkTablesJNI.readLoggerQueue(this, m_loggerPoller);
-                for (LogMessage event : events) {
-                  Consumer<LogMessage> logger;
-                  m_loggerLock.lock();
-                  try {
-                    logger = m_loggers.get(event.logger);
-                  } finally {
-                    m_loggerLock.unlock();
-                  }
-                  if (logger != null) {
-                    try {
-                      logger.accept(event);
-                    } catch (Throwable throwable) {
-                      System.err.println(
-                          "Unhandled exception during logger callback: " + throwable.toString());
-                      throwable.printStackTrace();
-                    }
-                  }
-                }
-              }
-              m_loggerLock.lock();
-              try {
-                if (!wasInterrupted) {
-                  NetworkTablesJNI.destroyLoggerPoller(m_loggerPoller);
-                }
-              } finally {
-                m_loggerLock.unlock();
-              }
-            },
-            "NTLogger");
-    loggerThread.setDaemon(true);
-    loggerThread.start();
-  }
-
   /**
    * Add logger callback function. By default, log messages are sent to stderr; this function sends
    * log messages with the specified levels to the provided callback function instead. The callback
    * function will only be called for log messages with level greater than or equal to minLevel and
    * less than or equal to maxLevel; messages outside this range will be silently ignored.
    *
-   * @param func log callback function
    * @param minLevel minimum log level
    * @param maxLevel maximum log level
-   * @return Logger handle
+   * @param func callback function
+   * @return Listener handle
    */
-  public int addLogger(Consumer<LogMessage> func, int minLevel, int maxLevel) {
-    m_loggerLock.lock();
-    try {
-      if (m_loggerPoller == 0) {
-        m_loggerPoller = NetworkTablesJNI.createLoggerPoller(m_handle);
-        startLogThread();
-      }
-      int handle = NetworkTablesJNI.addPolledLogger(m_loggerPoller, minLevel, maxLevel);
-      m_loggers.put(handle, func);
-      return handle;
-    } finally {
-      m_loggerLock.unlock();
-    }
-  }
-
-  /**
-   * Remove a logger.
-   *
-   * @param logger Logger handle to remove
-   */
-  public void removeLogger(int logger) {
-    m_loggerLock.lock();
-    try {
-      m_loggers.remove(logger);
-    } finally {
-      m_loggerLock.unlock();
-    }
-    NetworkTablesJNI.removeLogger(logger);
+  public int addLogger(int minLevel, int maxLevel, Consumer<NetworkTableEvent> func) {
+    return m_listeners.addLogger(minLevel, maxLevel, func);
   }
 
   @Override
@@ -846,5 +1028,5 @@ public final class NetworkTableInstance implements AutoCloseable {
   }
 
   private boolean m_owned;
-  private final int m_handle;
+  private int m_handle;
 }

ntcore/src/generate/java/NetworkTablesJNI.java.jinja

@@ -7,6 +7,7 @@ package edu.wpi.first.networktables;
 import edu.wpi.first.util.RuntimeLoader;
 import edu.wpi.first.util.datalog.DataLog;
 import java.io.IOException;
+import java.util.EnumSet;
 import java.util.concurrent.atomic.AtomicBoolean;
 
 public final class NetworkTablesJNI {
@@ -199,40 +200,34 @@ public final class NetworkTablesJNI {
 
   public static native TopicInfo getTopicInfo(NetworkTableInstance inst, int topic);
 
-  public static native int createTopicListenerPoller(int inst);
+  public static native int createListenerPoller(int inst);
 
-  public static native void destroyTopicListenerPoller(int poller);
+  public static native void destroyListenerPoller(int poller);
 
-  public static native int addPolledTopicListener(int poller, String[] prefixes, int flags);
+  private static int kindsToMask(EnumSet<NetworkTableEvent.Kind> kinds) {
+    int mask = 0;
+    for (NetworkTableEvent.Kind kind : kinds) {
+      mask |= kind.getValue();
+    }
+    return mask;
+  }
 
-  public static native int addPolledTopicListener(int poller, int handle, int flags);
+  public static int addListener(int poller, String[] prefixes, EnumSet<NetworkTableEvent.Kind> kinds) {
+    return addListener(poller, prefixes, kindsToMask(kinds));
+  }
 
-  public static native TopicNotification[] readTopicListenerQueue(
+  public static int addListener(int poller, int handle, EnumSet<NetworkTableEvent.Kind> kinds) {
+    return addListener(poller, handle, kindsToMask(kinds));
+  }
+
+  public static native int addListener(int poller, String[] prefixes, int mask);
+
+  public static native int addListener(int poller, int handle, int mask);
+
+  public static native NetworkTableEvent[] readListenerQueue(
       NetworkTableInstance inst, int poller);
 
-  public static native void removeTopicListener(int topicListener);
-
-  public static native int createValueListenerPoller(int inst);
-
-  public static native void destroyValueListenerPoller(int poller);
-
-  public static native int addPolledValueListener(int poller, int subentry, int flags);
-
-  public static native ValueNotification[] readValueListenerQueue(
-      NetworkTableInstance inst, int poller);
-
-  public static native void removeValueListener(int valueListener);
-
-  public static native int createConnectionListenerPoller(int inst);
-
-  public static native void destroyConnectionListenerPoller(int poller);
-
-  public static native int addPolledConnectionListener(int poller, boolean immediateNotify);
-
-  public static native ConnectionNotification[] readConnectionListenerQueue(
-      NetworkTableInstance inst, int poller);
-
-  public static native void removeConnectionListener(int connListener);
+  public static native void removeListener(int listener);
 
   public static native int getNetworkMode(int inst);
 
@@ -287,13 +282,5 @@ public final class NetworkTablesJNI {
 
   public static native void stopConnectionDataLog(int logger);
 
-  public static native int createLoggerPoller(int inst);
-
-  public static native void destroyLoggerPoller(int poller);
-
-  public static native int addPolledLogger(int poller, int minLevel, int maxLevel);
-
-  public static native LogMessage[] readLoggerQueue(NetworkTableInstance inst, int poller);
-
-  public static native void removeLogger(int logger);
+  public static native int addLogger(int poller, int minLevel, int maxLevel);
 }

ntcore/src/main/java/edu/wpi/first/networktables/ConnectionListener.java

@@ -1,145 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-import edu.wpi.first.util.WPIUtilJNI;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.concurrent.locks.Condition;
-import java.util.concurrent.locks.ReentrantLock;
-import java.util.function.Consumer;
-
-/**
- * Connection listener. This calls back to a callback function when a connection change occurs. The
- * callback function is called asynchronously on a separate thread, so it's important to use
- * synchronization or atomics when accessing any shared state from the callback function.
- */
-public final class ConnectionListener implements AutoCloseable {
-  /**
-   * Create a listener for connection changes.
-   *
-   * @param inst Instance
-   * @param immediateNotify if notification should be immediately created for existing connections
-   * @param listener Listener function
-   */
-  public ConnectionListener(
-      NetworkTableInstance inst,
-      boolean immediateNotify,
-      Consumer<ConnectionNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = inst;
-        s_poller = NetworkTablesJNI.createConnectionListenerPoller(inst.getHandle());
-        startThread();
-      }
-      m_handle = NetworkTablesJNI.addPolledConnectionListener(s_poller, immediateNotify);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  @Override
-  public synchronized void close() {
-    if (m_handle != 0) {
-      s_lock.lock();
-      try {
-        s_listeners.remove(m_handle);
-      } finally {
-        s_lock.unlock();
-      }
-      NetworkTablesJNI.removeConnectionListener(m_handle);
-      m_handle = 0;
-    }
-  }
-
-  /**
-   * Determines if the native handle is valid.
-   *
-   * @return True if the native handle is valid, false otherwise.
-   */
-  public boolean isValid() {
-    return m_handle != 0;
-  }
-
-  /**
-   * Gets the native handle.
-   *
-   * @return Native handle
-   */
-  public int getHandle() {
-    return m_handle;
-  }
-
-  private int m_handle;
-
-  private static final ReentrantLock s_lock = new ReentrantLock();
-  private static final Map<Integer, Consumer<ConnectionNotification>> s_listeners = new HashMap<>();
-  private static Thread s_thread;
-  private static NetworkTableInstance s_inst;
-  private static int s_poller;
-  private static boolean s_waitQueue;
-  private static final Condition s_waitQueueCond = s_lock.newCondition();
-
-  private static void startThread() {
-    s_thread =
-        new Thread(
-            () -> {
-              boolean wasInterrupted = false;
-              while (!Thread.interrupted()) {
-                try {
-                  WPIUtilJNI.waitForObject(s_poller);
-                } catch (InterruptedException ex) {
-                  s_lock.lock();
-                  try {
-                    if (s_waitQueue) {
-                      s_waitQueue = false;
-                      s_waitQueueCond.signalAll();
-                      continue;
-                    }
-                  } finally {
-                    s_lock.unlock();
-                  }
-                  Thread.currentThread().interrupt();
-                  // don't try to destroy poller, as its handle is likely no longer valid
-                  wasInterrupted = true;
-                  break;
-                }
-                for (ConnectionNotification event :
-                    NetworkTablesJNI.readConnectionListenerQueue(s_inst, s_poller)) {
-                  Consumer<ConnectionNotification> listener;
-                  s_lock.lock();
-                  try {
-                    listener = s_listeners.get(event.listener);
-                  } finally {
-                    s_lock.unlock();
-                  }
-                  if (listener != null) {
-                    try {
-                      listener.accept(event);
-                    } catch (Throwable throwable) {
-                      System.err.println(
-                          "Unhandled exception during listener callback: " + throwable.toString());
-                      throwable.printStackTrace();
-                    }
-                  }
-                }
-              }
-              s_lock.lock();
-              try {
-                if (!wasInterrupted) {
-                  NetworkTablesJNI.destroyConnectionListenerPoller(s_poller);
-                }
-                s_poller = 0;
-              } finally {
-                s_lock.unlock();
-              }
-            },
-            "ConnectionListener");
-    s_thread.setDaemon(true);
-    s_thread.start();
-  }
-}

ntcore/src/main/java/edu/wpi/first/networktables/ConnectionListenerPoller.java

@@ -1,78 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/**
- * A connection listener. This queues connection notifications. Code using the listener must
- * periodically call readQueue() to read the notifications.
- */
-public final class ConnectionListenerPoller implements AutoCloseable {
-  /**
-   * Construct a connection listener poller.
-   *
-   * @param inst Instance
-   */
-  public ConnectionListenerPoller(NetworkTableInstance inst) {
-    m_inst = inst;
-    m_handle = NetworkTablesJNI.createConnectionListenerPoller(inst.getHandle());
-  }
-
-  /**
-   * Create a connection listener.
-   *
-   * @param immediateNotify if notification should be immediately created for existing connections
-   * @return Listener handle
-   */
-  public int add(boolean immediateNotify) {
-    return NetworkTablesJNI.addPolledConnectionListener(m_handle, immediateNotify);
-  }
-
-  /**
-   * Remove a connection listener.
-   *
-   * @param listener Listener handle
-   */
-  public void remove(int listener) {
-    NetworkTablesJNI.removeConnectionListener(listener);
-  }
-
-  /**
-   * Read connection notifications.
-   *
-   * @return Connection notifications since the previous call to readQueue()
-   */
-  public ConnectionNotification[] readQueue() {
-    return NetworkTablesJNI.readConnectionListenerQueue(m_inst, m_handle);
-  }
-
-  @Override
-  public synchronized void close() {
-    if (m_handle != 0) {
-      NetworkTablesJNI.destroyConnectionListenerPoller(m_handle);
-    }
-    m_handle = 0;
-  }
-
-  /**
-   * Determines if the native handle is valid.
-   *
-   * @return True if the native handle is valid, false otherwise.
-   */
-  public boolean isValid() {
-    return m_handle != 0;
-  }
-
-  /**
-   * Gets the native handle.
-   *
-   * @return Handle
-   */
-  public int getHandle() {
-    return m_handle;
-  }
-
-  private final NetworkTableInstance m_inst;
-  private int m_handle;
-}

ntcore/src/main/java/edu/wpi/first/networktables/ConnectionNotification.java

@@ -1,43 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/** NetworkTables Connection notification. */
-@SuppressWarnings("MemberName")
-public final class ConnectionNotification {
-  /**
-   * Handle of listener that was triggered. ConnectionListener.getHandle() or the return value of
-   * ConnectionListenerPoller.add() can be used to map this to a specific added listener.
-   */
-  public final int listener;
-
-  /** True if event is due to connection being established. */
-  public final boolean connected;
-
-  /** Connection information. */
-  public final ConnectionInfo conn;
-
-  /**
-   * Constructor. This should generally only be used internally to NetworkTables.
-   *
-   * @param inst Instance
-   * @param listener Listener that was triggered
-   * @param connected Connected if true
-   * @param conn Connection information
-   */
-  public ConnectionNotification(
-      NetworkTableInstance inst, int listener, boolean connected, ConnectionInfo conn) {
-    this.m_inst = inst;
-    this.listener = listener;
-    this.connected = connected;
-    this.conn = conn;
-  }
-
-  private final NetworkTableInstance m_inst;
-
-  public NetworkTableInstance getInstance() {
-    return m_inst;
-  }
-}

ntcore/src/main/java/edu/wpi/first/networktables/LogMessage.java

@@ -19,9 +19,6 @@ public final class LogMessage {
   public static final int kDebug3 = 7;
   public static final int kDebug4 = 6;
 
-  /** The logger that generated the message. */
-  public final int logger;
-
   /** Log level of the message. */
   public final int level;
 
@@ -37,26 +34,15 @@ public final class LogMessage {
   /**
    * Constructor. This should generally only be used internally to NetworkTables.
    *
-   * @param inst Instance
-   * @param logger Logger
    * @param level Log level
    * @param filename Filename
    * @param line Line number
    * @param message Message
    */
-  public LogMessage(
-      NetworkTableInstance inst, int logger, int level, String filename, int line, String message) {
-    this.m_inst = inst;
-    this.logger = logger;
+  public LogMessage(int level, String filename, int line, String message) {
     this.level = level;
     this.filename = filename;
     this.line = line;
     this.message = message;
   }
-
-  private final NetworkTableInstance m_inst;
-
-  NetworkTableInstance getInstance() {
-    return m_inst;
-  }
 }

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEvent.java

@@ -0,0 +1,143 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.networktables;
+
+/**
+ * NetworkTables event.
+ *
+ * <p>There are different kinds of events. When creating a listener, a combination of event kinds
+ * can be listened to by building an EnumSet of NetworkTableEvent.Kind.
+ */
+@SuppressWarnings("MemberName")
+public final class NetworkTableEvent {
+  public enum Kind {
+    /**
+     * Initial listener addition. Set this to receive immediate notification of matches to other
+     * criteria.
+     */
+    kImmediate(0x0001),
+
+    /** Client connected (on server, any client connected). */
+    kConnected(0x0002),
+
+    /** Client disconnected (on server, any client disconnected). */
+    kDisconnected(0x0004),
+
+    /** Any connection event (connect or disconnect). */
+    kConnection(0x0004 | 0x0002),
+
+    /** New topic published. */
+    kPublish(0x0008),
+
+    /** Topic unpublished. */
+    kUnpublish(0x0010),
+
+    /** Topic properties changed. */
+    kProperties(0x0020),
+
+    /** Any topic event (publish, unpublish, or properties changed). */
+    kTopic(0x0020 | 0x0010 | 0x0008),
+
+    /** Topic value updated (via network). */
+    kValueRemote(0x0040),
+
+    /** Topic value updated (local). */
+    kValueLocal(0x0080),
+
+    /** Topic value updated (network or local). */
+    kValueAll(0x0080 | 0x0040),
+
+    /** Log message. */
+    kLogMessage(0x0100);
+
+    private final int value;
+
+    Kind(int value) {
+      this.value = value;
+    }
+
+    public int getValue() {
+      return value;
+    }
+  }
+
+  /**
+   * Handle of listener that was triggered. The value returned when adding the listener can be used
+   * to map this to a specific added listener.
+   */
+  public final int listener;
+
+  /**
+   * Determine if event is of a particular kind. For example, kPublish if the topic was not
+   * previously published. Also indicates the data included with the event:
+   *
+   * <ul>
+   *   <li>kConnected or kDisconnected: connInfo
+   *   <li>kPublish, kUnpublish, or kProperties: topicInfo
+   *   <li>kValueRemote, kValueLocal: valueData
+   *   <li>kLogMessage: logMessage
+   * </ul>
+   *
+   * @param kind Kind
+   * @return True if event matches kind
+   */
+  public boolean is(Kind kind) {
+    return (m_flags & kind.getValue()) != 0;
+  }
+
+  private final int m_flags;
+
+  /** Connection information (for connection events). */
+  public final ConnectionInfo connInfo;
+
+  /** Topic information (for topic events). */
+  public final TopicInfo topicInfo;
+
+  /** Value data (for value events). */
+  public final ValueEventData valueData;
+
+  /** Log message (for log message events). */
+  public final LogMessage logMessage;
+
+  /**
+   * Constructor. This should generally only be used internally to NetworkTables.
+   *
+   * @param inst Instance
+   * @param listener Listener that was triggered
+   * @param flags Event flags
+   * @param connInfo Connection information
+   * @param topicInfo Topic information
+   * @param valueData Value data
+   * @param logMessage Log message
+   */
+  public NetworkTableEvent(
+      NetworkTableInstance inst,
+      int listener,
+      int flags,
+      ConnectionInfo connInfo,
+      TopicInfo topicInfo,
+      ValueEventData valueData,
+      LogMessage logMessage) {
+    this.m_inst = inst;
+    this.listener = listener;
+    this.m_flags = flags;
+    this.connInfo = connInfo;
+    this.topicInfo = topicInfo;
+    this.valueData = valueData;
+    this.logMessage = logMessage;
+  }
+
+  /* Network table instance. */
+  private final NetworkTableInstance m_inst;
+
+  /**
+   * Gets the instance associated with this event.
+   *
+   * @return Instance
+   */
+  public NetworkTableInstance getInstance() {
+    return m_inst;
+  }
+}

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableListener.java

@@ -0,0 +1,176 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.networktables;
+
+import java.util.EnumSet;
+import java.util.function.Consumer;
+
+/**
+ * Event listener. This calls back to a callback function when an event matching the specified mask
+ * occurs. The callback function is called asynchronously on a separate thread, so it's important to
+ * use synchronization or atomics when accessing any shared state from the callback function.
+ */
+public final class NetworkTableListener implements AutoCloseable {
+  /**
+   * Create a listener for changes to topics with names that start with any of the given prefixes.
+   * This creates a corresponding internal subscriber with the lifetime of the listener.
+   *
+   * @param inst Instance
+   * @param prefixes Topic name string prefixes
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createListener(
+      NetworkTableInstance inst,
+      String[] prefixes,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    return new NetworkTableListener(inst, inst.addListener(prefixes, eventKinds, listener));
+  }
+
+  /**
+   * Create a listener for changes on a particular topic. This creates a corresponding internal
+   * subscriber with the lifetime of the listener.
+   *
+   * @param topic Topic
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createListener(
+      Topic topic,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    NetworkTableInstance inst = topic.getInstance();
+    return new NetworkTableListener(inst, inst.addListener(topic, eventKinds, listener));
+  }
+
+  /**
+   * Create a listener for topic changes on a subscriber. This does NOT keep the subscriber active.
+   *
+   * @param subscriber Subscriber
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createListener(
+      Subscriber subscriber,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    NetworkTableInstance inst = subscriber.getTopic().getInstance();
+    return new NetworkTableListener(inst, inst.addListener(subscriber, eventKinds, listener));
+  }
+
+  /**
+   * Create a listener for topic changes on a subscriber. This does NOT keep the subscriber active.
+   *
+   * @param subscriber Subscriber
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createListener(
+      MultiSubscriber subscriber,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    NetworkTableInstance inst = subscriber.getInstance();
+    return new NetworkTableListener(inst, inst.addListener(subscriber, eventKinds, listener));
+  }
+
+  /**
+   * Create a listener for topic changes on an entry.
+   *
+   * @param entry Entry
+   * @param eventKinds set of event kinds to listen to
+   * @param listener Listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createListener(
+      NetworkTableEntry entry,
+      EnumSet<NetworkTableEvent.Kind> eventKinds,
+      Consumer<NetworkTableEvent> listener) {
+    NetworkTableInstance inst = entry.getInstance();
+    return new NetworkTableListener(inst, inst.addListener(entry, eventKinds, listener));
+  }
+
+  /**
+   * Create a connection listener.
+   *
+   * @param inst instance
+   * @param immediateNotify notify listener of all existing connections
+   * @param listener listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createConnectionListener(
+      NetworkTableInstance inst, boolean immediateNotify, Consumer<NetworkTableEvent> listener) {
+    return new NetworkTableListener(inst, inst.addConnectionListener(immediateNotify, listener));
+  }
+
+  /**
+   * Create a listener for log messages. By default, log messages are sent to stderr; this function
+   * sends log messages with the specified levels to the provided callback function instead. The
+   * callback function will only be called for log messages with level greater than or equal to
+   * minLevel and less than or equal to maxLevel; messages outside this range will be silently
+   * ignored.
+   *
+   * @param inst instance
+   * @param minLevel minimum log level
+   * @param maxLevel maximum log level
+   * @param listener listener function
+   * @return Listener
+   */
+  public static NetworkTableListener createLogger(
+      NetworkTableInstance inst, int minLevel, int maxLevel, Consumer<NetworkTableEvent> listener) {
+    return new NetworkTableListener(inst, inst.addLogger(minLevel, maxLevel, listener));
+  }
+
+  @Override
+  public synchronized void close() {
+    if (m_handle != 0) {
+      m_inst.removeListener(m_handle);
+      m_handle = 0;
+    }
+  }
+
+  /**
+   * Determines if the native handle is valid.
+   *
+   * @return True if the native handle is valid, false otherwise.
+   */
+  public boolean isValid() {
+    return m_handle != 0;
+  }
+
+  /**
+   * Gets the native handle.
+   *
+   * @return Native handle
+   */
+  public int getHandle() {
+    return m_handle;
+  }
+
+  /**
+   * Wait for the topic listener queue to be empty. This is primarily useful for deterministic
+   * testing. This blocks until either the topic listener queue is empty (e.g. there are no more
+   * events that need to be passed along to callbacks or poll queues) or the timeout expires.
+   *
+   * @param timeout timeout, in seconds. Set to 0 for non-blocking behavior, or a negative value to
+   *     block indefinitely
+   * @return False if timed out, otherwise true.
+   */
+  public boolean waitForQueue(double timeout) {
+    return m_inst.waitForListenerQueue(timeout);
+  }
+
+  private NetworkTableListener(NetworkTableInstance inst, int handle) {
+    m_inst = inst;
+    m_handle = handle;
+  }
+
+  private final NetworkTableInstance m_inst;
+  private int m_handle;
+}

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableListenerPoller.java

@@ -0,0 +1,157 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.networktables;
+
+import java.util.EnumSet;
+
+/**
+ * Topic change listener. This queues topic change events matching the specified mask. Code using
+ * the listener must periodically call readQueue() to read the events.
+ */
+public final class NetworkTableListenerPoller implements AutoCloseable {
+  /**
+   * Construct a topic listener poller.
+   *
+   * @param inst Instance
+   */
+  public NetworkTableListenerPoller(NetworkTableInstance inst) {
+    m_inst = inst;
+    m_handle = NetworkTablesJNI.createListenerPoller(inst.getHandle());
+  }
+
+  /**
+   * Start listening to topic changes for topics with names that start with any of the given
+   * prefixes. This creates a corresponding internal subscriber with the lifetime of the listener.
+   *
+   * @param prefixes Topic name string prefixes
+   * @param eventKinds set of event kinds to listen to
+   * @return Listener handle
+   */
+  public int addListener(String[] prefixes, EnumSet<NetworkTableEvent.Kind> eventKinds) {
+    return NetworkTablesJNI.addListener(m_handle, prefixes, eventKinds);
+  }
+
+  /**
+   * Start listening to changes to a particular topic. This creates a corresponding internal
+   * subscriber with the lifetime of the listener.
+   *
+   * @param topic Topic
+   * @param eventKinds set of event kinds to listen to
+   * @return Listener handle
+   */
+  public int addListener(Topic topic, EnumSet<NetworkTableEvent.Kind> eventKinds) {
+    return NetworkTablesJNI.addListener(m_handle, topic.getHandle(), eventKinds);
+  }
+
+  /**
+   * Start listening to topic changes on a subscriber. This does NOT keep the subscriber active.
+   *
+   * @param subscriber Subscriber
+   * @param eventKinds set of event kinds to listen to
+   * @return Listener handle
+   */
+  public int addListener(Subscriber subscriber, EnumSet<NetworkTableEvent.Kind> eventKinds) {
+    return NetworkTablesJNI.addListener(m_handle, subscriber.getHandle(), eventKinds);
+  }
+
+  /**
+   * Start listening to topic changes on a subscriber. This does NOT keep the subscriber active.
+   *
+   * @param subscriber Subscriber
+   * @param eventKinds set of event kinds to listen to
+   * @return Listener handle
+   */
+  public int addListener(MultiSubscriber subscriber, EnumSet<NetworkTableEvent.Kind> eventKinds) {
+    return NetworkTablesJNI.addListener(m_handle, subscriber.getHandle(), eventKinds);
+  }
+
+  /**
+   * Start listening to topic changes on an entry.
+   *
+   * @param entry Entry
+   * @param eventKinds set of event kinds to listen to
+   * @return Listener handle
+   */
+  public int addListener(NetworkTableEntry entry, EnumSet<NetworkTableEvent.Kind> eventKinds) {
+    return NetworkTablesJNI.addListener(m_handle, entry.getHandle(), eventKinds);
+  }
+
+  /**
+   * Add a connection listener. The callback function is called asynchronously on a separate thread,
+   * so it's important to use synchronization or atomics when accessing any shared state from the
+   * callback function.
+   *
+   * @param immediateNotify notify listener of all existing connections
+   * @return Listener handle
+   */
+  public int addConnectionListener(boolean immediateNotify) {
+    EnumSet<NetworkTableEvent.Kind> eventKinds = EnumSet.of(NetworkTableEvent.Kind.kConnection);
+    if (immediateNotify) {
+      eventKinds.add(NetworkTableEvent.Kind.kImmediate);
+    }
+    return NetworkTablesJNI.addListener(m_handle, m_inst.getHandle(), eventKinds);
+  }
+
+  /**
+   * Add logger callback function. By default, log messages are sent to stderr; this function sends
+   * log messages with the specified levels to the provided callback function instead. The callback
+   * function will only be called for log messages with level greater than or equal to minLevel and
+   * less than or equal to maxLevel; messages outside this range will be silently ignored.
+   *
+   * @param minLevel minimum log level
+   * @param maxLevel maximum log level
+   * @return Listener handle
+   */
+  public int addLogger(int minLevel, int maxLevel) {
+    return NetworkTablesJNI.addLogger(m_handle, minLevel, maxLevel);
+  }
+
+  /**
+   * Remove a listener.
+   *
+   * @param listener Listener handle
+   */
+  public void removeListener(int listener) {
+    NetworkTablesJNI.removeListener(listener);
+  }
+
+  /**
+   * Read topic notifications.
+   *
+   * @return Topic notifications since the previous call to readQueue()
+   */
+  public NetworkTableEvent[] readQueue() {
+    return NetworkTablesJNI.readListenerQueue(m_inst, m_handle);
+  }
+
+  @Override
+  public synchronized void close() {
+    if (m_handle != 0) {
+      NetworkTablesJNI.destroyListenerPoller(m_handle);
+    }
+    m_handle = 0;
+  }
+
+  /**
+   * Determines if the native handle is valid.
+   *
+   * @return True if the native handle is valid, false otherwise.
+   */
+  public boolean isValid() {
+    return m_handle != 0;
+  }
+
+  /**
+   * Gets the native handle.
+   *
+   * @return Handle
+   */
+  public int getHandle() {
+    return m_handle;
+  }
+
+  private final NetworkTableInstance m_inst;
+  private int m_handle;
+}

ntcore/src/main/java/edu/wpi/first/networktables/TopicInfo.java

@@ -42,6 +42,15 @@ public final class TopicInfo {
   /* Cached topic object. */
   private Topic m_topicObject;
 
+  /**
+   * Get the instance.
+   *
+   * @return Instance
+   */
+  public NetworkTableInstance getInstance() {
+    return m_inst;
+  }
+
   /**
    * Get the topic as an object.
    *

ntcore/src/main/java/edu/wpi/first/networktables/TopicListener.java

@@ -1,240 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-import edu.wpi.first.util.WPIUtilJNI;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.concurrent.locks.Condition;
-import java.util.concurrent.locks.ReentrantLock;
-import java.util.function.Consumer;
-
-/**
- * Topic change listener. This calls back to a callback function when a topic change matching the
- * specified mask occurs. The callback function is called asynchronously on a separate thread, so
- * it's important to use synchronization or atomics when accessing any shared state from the
- * callback function.
- */
-public final class TopicListener implements AutoCloseable {
-  /**
-   * Create a listener for changes on a particular topic.
-   *
-   * @param topic Topic
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @param listener Listener function
-   */
-  public TopicListener(Topic topic, int eventMask, Consumer<TopicNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = topic.getInstance();
-        s_poller = NetworkTablesJNI.createTopicListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle = NetworkTablesJNI.addPolledTopicListener(s_poller, topic.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  /**
-   * Create a listener for topic changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @param listener Listener function
-   */
-  public TopicListener(Subscriber subscriber, int eventMask, Consumer<TopicNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = subscriber.getTopic().getInstance();
-        s_poller = NetworkTablesJNI.createTopicListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle =
-          NetworkTablesJNI.addPolledTopicListener(s_poller, subscriber.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  /**
-   * Create a listener for topic changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @param listener Listener function
-   */
-  public TopicListener(
-      MultiSubscriber subscriber, int eventMask, Consumer<TopicNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = subscriber.getInstance();
-        s_poller = NetworkTablesJNI.createTopicListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle =
-          NetworkTablesJNI.addPolledTopicListener(s_poller, subscriber.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  /**
-   * Create a listener for topic changes on an entry.
-   *
-   * @param entry Entry
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @param listener Listener function
-   */
-  public TopicListener(
-      NetworkTableEntry entry, int eventMask, Consumer<TopicNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = entry.getInstance();
-        s_poller = NetworkTablesJNI.createTopicListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle = NetworkTablesJNI.addPolledTopicListener(s_poller, entry.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  /**
-   * Create a listener for changes to topics with names that start with any of the given prefixes.
-   *
-   * @param inst Instance
-   * @param prefixes Topic name string prefixes
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @param listener Listener function
-   */
-  public TopicListener(
-      NetworkTableInstance inst,
-      String[] prefixes,
-      int eventMask,
-      Consumer<TopicNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = inst;
-        s_poller = NetworkTablesJNI.createTopicListenerPoller(inst.getHandle());
-        startThread();
-      }
-      m_handle = NetworkTablesJNI.addPolledTopicListener(s_poller, prefixes, eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  @Override
-  public synchronized void close() {
-    if (m_handle != 0) {
-      s_lock.lock();
-      try {
-        s_listeners.remove(m_handle);
-      } finally {
-        s_lock.unlock();
-      }
-      NetworkTablesJNI.removeTopicListener(m_handle);
-      m_handle = 0;
-    }
-  }
-
-  /**
-   * Determines if the native handle is valid.
-   *
-   * @return True if the native handle is valid, false otherwise.
-   */
-  public boolean isValid() {
-    return m_handle != 0;
-  }
-
-  /**
-   * Gets the native handle.
-   *
-   * @return Native handle
-   */
-  public int getHandle() {
-    return m_handle;
-  }
-
-  private int m_handle;
-
-  private static final ReentrantLock s_lock = new ReentrantLock();
-  private static final Map<Integer, Consumer<TopicNotification>> s_listeners = new HashMap<>();
-  private static Thread s_thread;
-  private static NetworkTableInstance s_inst;
-  private static int s_poller;
-  private static boolean s_waitQueue;
-  private static final Condition s_waitQueueCond = s_lock.newCondition();
-
-  private static void startThread() {
-    s_thread =
-        new Thread(
-            () -> {
-              boolean wasInterrupted = false;
-              while (!Thread.interrupted()) {
-                try {
-                  WPIUtilJNI.waitForObject(s_poller);
-                } catch (InterruptedException ex) {
-                  s_lock.lock();
-                  try {
-                    if (s_waitQueue) {
-                      s_waitQueue = false;
-                      s_waitQueueCond.signalAll();
-                      continue;
-                    }
-                  } finally {
-                    s_lock.unlock();
-                  }
-                  Thread.currentThread().interrupt();
-                  // don't try to destroy poller, as its handle is likely no longer valid
-                  wasInterrupted = true;
-                  break;
-                }
-                for (TopicNotification event :
-                    NetworkTablesJNI.readTopicListenerQueue(s_inst, s_poller)) {
-                  Consumer<TopicNotification> listener;
-                  s_lock.lock();
-                  try {
-                    listener = s_listeners.get(event.listener);
-                  } finally {
-                    s_lock.unlock();
-                  }
-                  if (listener != null) {
-                    try {
-                      listener.accept(event);
-                    } catch (Throwable throwable) {
-                      System.err.println(
-                          "Unhandled exception during listener callback: " + throwable.toString());
-                      throwable.printStackTrace();
-                    }
-                  }
-                }
-              }
-              s_lock.lock();
-              try {
-                if (!wasInterrupted) {
-                  NetworkTablesJNI.destroyTopicListenerPoller(s_poller);
-                }
-                s_poller = 0;
-              } finally {
-                s_lock.unlock();
-              }
-            },
-            "TopicListener");
-    s_thread.setDaemon(true);
-    s_thread.start();
-  }
-}

ntcore/src/main/java/edu/wpi/first/networktables/TopicListenerFlags.java

@@ -1,47 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/**
- * Flag values for use with topic listeners.
- *
- * <p>The flags are a bitmask and must be OR'ed together to indicate the combination of events
- * desired to be received.
- *
- * <p>The constants kPublish, kUnpublish, and kProperties represent different events that can occur
- * to topics.
- */
-public enum TopicListenerFlags {
-  ; // no enum values
-
-  /**
-   * Initial listener addition.
-   *
-   * <p>Set this flag to receive immediate notification of topics matching the flag criteria
-   * (generally only useful when combined with kPublish).
-   */
-  public static final int kImmediate = 0x01;
-
-  /**
-   * Newly published topic.
-   *
-   * <p>Set this flag to receive a notification when a topic is initially published.
-   */
-  public static final int kPublish = 0x02;
-
-  /**
-   * Topic has no more publishers.
-   *
-   * <p>Set this flag to receive a notification when a topic has no more publishers.
-   */
-  public static final int kUnpublish = 0x04;
-
-  /**
-   * Topic's properties changed.
-   *
-   * <p>Set this flag to receive a notification when an topic's properties change.
-   */
-  public static final int kProperties = 0x08;
-}

ntcore/src/main/java/edu/wpi/first/networktables/TopicListenerPoller.java

@@ -1,124 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/**
- * Topic change listener. This queues topic change events matching the specified mask. Code using
- * the listener must periodically call readQueue() to read the events.
- */
-public final class TopicListenerPoller implements AutoCloseable {
-  /**
-   * Construct a topic listener poller.
-   *
-   * @param inst Instance
-   */
-  public TopicListenerPoller(NetworkTableInstance inst) {
-    m_inst = inst;
-    m_handle = NetworkTablesJNI.createTopicListenerPoller(inst.getHandle());
-  }
-
-  /**
-   * Start listening to changes to a particular topic.
-   *
-   * @param topic Topic
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @return Listener handle
-   */
-  public int add(Topic topic, int eventMask) {
-    return NetworkTablesJNI.addPolledTopicListener(m_handle, topic.getHandle(), eventMask);
-  }
-
-  /**
-   * Start listening to topic changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @return Listener handle
-   */
-  public int add(Subscriber subscriber, int eventMask) {
-    return NetworkTablesJNI.addPolledTopicListener(m_handle, subscriber.getHandle(), eventMask);
-  }
-
-  /**
-   * Start listening to topic changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @return Listener handle
-   */
-  public int add(MultiSubscriber subscriber, int eventMask) {
-    return NetworkTablesJNI.addPolledTopicListener(m_handle, subscriber.getHandle(), eventMask);
-  }
-
-  /**
-   * Start listening to topic changes on an entry.
-   *
-   * @param entry Entry
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @return Listener handle
-   */
-  public int add(NetworkTableEntry entry, int eventMask) {
-    return NetworkTablesJNI.addPolledTopicListener(m_handle, entry.getHandle(), eventMask);
-  }
-
-  /**
-   * Start listening to topic changes for topics with names that start with any of the given
-   * prefixes.
-   *
-   * @param prefixes Topic name string prefixes
-   * @param eventMask Bitmask of TopicListenerFlags values
-   * @return Listener handle
-   */
-  public int add(String[] prefixes, int eventMask) {
-    return NetworkTablesJNI.addPolledTopicListener(m_handle, prefixes, eventMask);
-  }
-
-  /**
-   * Remove a listener.
-   *
-   * @param listener Listener handle
-   */
-  public void remove(int listener) {
-    NetworkTablesJNI.removeTopicListener(listener);
-  }
-
-  /**
-   * Read topic notifications.
-   *
-   * @return Topic notifications since the previous call to readQueue()
-   */
-  public TopicNotification[] readQueue() {
-    return NetworkTablesJNI.readTopicListenerQueue(m_inst, m_handle);
-  }
-
-  @Override
-  public synchronized void close() {
-    if (m_handle != 0) {
-      NetworkTablesJNI.destroyTopicListenerPoller(m_handle);
-    }
-    m_handle = 0;
-  }
-
-  /**
-   * Determines if the native handle is valid.
-   *
-   * @return True if the native handle is valid, false otherwise.
-   */
-  public boolean isValid() {
-    return m_handle != 0;
-  }
-
-  /**
-   * Gets the native handle.
-   *
-   * @return Handle
-   */
-  public int getHandle() {
-    return m_handle;
-  }
-
-  private final NetworkTableInstance m_inst;
-  private int m_handle;
-}

ntcore/src/main/java/edu/wpi/first/networktables/TopicNotification.java

@@ -1,37 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/** NetworkTables topic notification. */
-@SuppressWarnings("MemberName")
-public final class TopicNotification {
-  /**
-   * Handle of listener that was triggered. TopicListener.getHandle() or the return value of
-   * TopicListenerPoller.add() can be used to map this to a specific added listener.
-   */
-  public final int listener;
-
-  /** Topic information. */
-  public final TopicInfo info;
-
-  /**
-   * Update flags. For example, {@link TopicListenerFlags#kPublish} if the topic was not previously
-   * published.
-   */
-  public final int flags;
-
-  /**
-   * Constructor. This should generally only be used internally to NetworkTables.
-   *
-   * @param listener Listener that was triggered
-   * @param info Topic information
-   * @param flags Update flags
-   */
-  public TopicNotification(int listener, TopicInfo info, int flags) {
-    this.listener = listener;
-    this.info = info;
-    this.flags = flags;
-  }
-}

ntcore/src/main/java/edu/wpi/first/networktables/ValueEventData.java

@@ -4,15 +4,9 @@
 
 package edu.wpi.first.networktables;
 
-/** NetworkTables value notification. */
+/** NetworkTables value event data. */
 @SuppressWarnings("MemberName")
-public final class ValueNotification {
-  /**
-   * Handle of listener that was triggered. ValueListener.getHandle() or the return value of
-   * ValueListenerPoller.add() can be used to map this to a specific added listener.
-   */
-  public final int listener;
-
+public final class ValueEventData {
   /** Topic handle. Topic.getHandle() can be used to map this to the corresponding Topic object. */
   public final int topic;
 
@@ -25,39 +19,26 @@ public final class ValueNotification {
   /** The new value. */
   public final NetworkTableValue value;
 
-  /** Update flags. */
-  public final int flags;
-
   /**
    * Constructor. This should generally only be used internally to NetworkTables.
    *
    * @param inst Instance
-   * @param listener Listener that was triggered
    * @param topic Topic handle
    * @param subentry Subscriber/entry handle
    * @param value The new value
-   * @param flags Update flags
    */
-  public ValueNotification(
-      NetworkTableInstance inst,
-      int listener,
-      int topic,
-      int subentry,
-      NetworkTableValue value,
-      int flags) {
+  public ValueEventData(
+      NetworkTableInstance inst, int topic, int subentry, NetworkTableValue value) {
     this.m_inst = inst;
-    this.listener = listener;
     this.topic = topic;
     this.subentry = subentry;
     this.value = value;
-    this.flags = flags;
   }
 
-  /* Network table instance. */
-  private final NetworkTableInstance m_inst;
-
   /* Cached topic object. */
-  Topic m_topicObject;
+  private Topic m_topicObject;
+
+  private final NetworkTableInstance m_inst;
 
   /**
    * Get the topic as an object.

ntcore/src/main/java/edu/wpi/first/networktables/ValueListener.java

@@ -1,191 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-import edu.wpi.first.util.WPIUtilJNI;
-import java.util.HashMap;
-import java.util.Map;
-import java.util.concurrent.locks.Condition;
-import java.util.concurrent.locks.ReentrantLock;
-import java.util.function.Consumer;
-
-/**
- * Value change listener. This calls back to a callback function when a value change matching the
- * specified mask occurs. The callback function is called asynchronously on a separate thread, so
- * it's important to use synchronization or atomics when accessing any shared state from the
- * callback function.
- */
-public final class ValueListener implements AutoCloseable {
-  /**
-   * Create a listener for value changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of ValueListenerFlags values
-   * @param listener Listener function
-   */
-  public ValueListener(Subscriber subscriber, int eventMask, Consumer<ValueNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = subscriber.getTopic().getInstance();
-        s_poller = NetworkTablesJNI.createValueListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle =
-          NetworkTablesJNI.addPolledValueListener(s_poller, subscriber.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  /**
-   * Create a listener for value changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of ValueListenerFlags values
-   * @param listener Listener function
-   */
-  public ValueListener(
-      MultiSubscriber subscriber, int eventMask, Consumer<ValueNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = subscriber.getInstance();
-        s_poller = NetworkTablesJNI.createValueListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle =
-          NetworkTablesJNI.addPolledValueListener(s_poller, subscriber.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  /**
-   * Create a listener for value changes on an entry.
-   *
-   * @param entry Entry
-   * @param eventMask Bitmask of ValueListenerFlags values
-   * @param listener Listener function
-   */
-  public ValueListener(
-      NetworkTableEntry entry, int eventMask, Consumer<ValueNotification> listener) {
-    s_lock.lock();
-    try {
-      if (s_poller == 0) {
-        s_inst = entry.getInstance();
-        s_poller = NetworkTablesJNI.createValueListenerPoller(s_inst.getHandle());
-        startThread();
-      }
-      m_handle = NetworkTablesJNI.addPolledValueListener(s_poller, entry.getHandle(), eventMask);
-      s_listeners.put(m_handle, listener);
-    } finally {
-      s_lock.unlock();
-    }
-  }
-
-  @Override
-  public synchronized void close() {
-    if (m_handle != 0) {
-      s_lock.lock();
-      try {
-        s_listeners.remove(m_handle);
-      } finally {
-        s_lock.unlock();
-      }
-      NetworkTablesJNI.removeValueListener(m_handle);
-      m_handle = 0;
-    }
-  }
-
-  /**
-   * Determines if the native handle is valid.
-   *
-   * @return True if the native handle is valid, false otherwise.
-   */
-  public boolean isValid() {
-    return m_handle != 0;
-  }
-
-  /**
-   * Gets the native handle.
-   *
-   * @return Native handle
-   */
-  public int getHandle() {
-    return m_handle;
-  }
-
-  private int m_handle;
-
-  private static final ReentrantLock s_lock = new ReentrantLock();
-  private static final Map<Integer, Consumer<ValueNotification>> s_listeners = new HashMap<>();
-  private static Thread s_thread;
-  private static NetworkTableInstance s_inst;
-  private static int s_poller;
-  private static boolean s_waitQueue;
-  private static final Condition s_waitQueueCond = s_lock.newCondition();
-
-  private static void startThread() {
-    s_thread =
-        new Thread(
-            () -> {
-              boolean wasInterrupted = false;
-              while (!Thread.interrupted()) {
-                try {
-                  WPIUtilJNI.waitForObject(s_poller);
-                } catch (InterruptedException ex) {
-                  s_lock.lock();
-                  try {
-                    if (s_waitQueue) {
-                      s_waitQueue = false;
-                      s_waitQueueCond.signalAll();
-                      continue;
-                    }
-                  } finally {
-                    s_lock.unlock();
-                  }
-                  Thread.currentThread().interrupt();
-                  // don't try to destroy poller, as its handle is likely no longer valid
-                  wasInterrupted = true;
-                  break;
-                }
-                for (ValueNotification event :
-                    NetworkTablesJNI.readValueListenerQueue(s_inst, s_poller)) {
-                  Consumer<ValueNotification> listener;
-                  s_lock.lock();
-                  try {
-                    listener = s_listeners.get(event.listener);
-                  } finally {
-                    s_lock.unlock();
-                  }
-                  if (listener != null) {
-                    try {
-                      listener.accept(event);
-                    } catch (Throwable throwable) {
-                      System.err.println(
-                          "Unhandled exception during listener callback: " + throwable.toString());
-                      throwable.printStackTrace();
-                    }
-                  }
-                }
-              }
-              s_lock.lock();
-              try {
-                if (!wasInterrupted) {
-                  NetworkTablesJNI.destroyValueListenerPoller(s_poller);
-                }
-                s_poller = 0;
-              } finally {
-                s_lock.unlock();
-              }
-            },
-            "ValueListener");
-    s_thread.setDaemon(true);
-    s_thread.start();
-  }
-}

ntcore/src/main/java/edu/wpi/first/networktables/ValueListenerFlags.java

@@ -1,34 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/**
- * Flag values for use with value listeners.
- *
- * <p>The flags are a bitmask and must be OR'ed together to indicate the combination of events
- * desired to be received.
- *
- * <p>By default, notifications are only generated for remote changes occurring after the listener
- * is created. The constants kImmediate and kLocal are modifiers that cause notifications to be
- * generated at other times.
- */
-public enum ValueListenerFlags {
-  ; // no enum values
-
-  /**
-   * Initial listener addition.
-   *
-   * <p>Set this flag to receive immediate notification of the current value.
-   */
-  public static final int kImmediate = 0x01;
-
-  /**
-   * Changed locally.
-   *
-   * <p>Set this flag to receive notification of both local changes and changes coming from remote
-   * nodes. By default, notifications are only generated for remote changes.
-   */
-  public static final int kLocal = 0x02;
-}

ntcore/src/main/java/edu/wpi/first/networktables/ValueListenerPoller.java

@@ -1,101 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.networktables;
-
-/**
- * Value change listener. This queues value change events matching the specified mask. Code using
- * the listener must periodically call readQueue() to read the events.
- */
-public final class ValueListenerPoller implements AutoCloseable {
-  /**
-   * Construct a value listener poller.
-   *
-   * @param inst Instance
-   */
-  public ValueListenerPoller(NetworkTableInstance inst) {
-    m_inst = inst;
-    m_handle = NetworkTablesJNI.createValueListenerPoller(inst.getHandle());
-  }
-
-  /**
-   * Start listening to value changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of ValueListenerFlags values
-   * @return Listener handle
-   */
-  public int add(Subscriber subscriber, int eventMask) {
-    return NetworkTablesJNI.addPolledValueListener(m_handle, subscriber.getHandle(), eventMask);
-  }
-
-  /**
-   * Start listening to value changes on a subscriber.
-   *
-   * @param subscriber Subscriber
-   * @param eventMask Bitmask of ValueListenerFlags values
-   * @return Listener handle
-   */
-  public int add(MultiSubscriber subscriber, int eventMask) {
-    return NetworkTablesJNI.addPolledValueListener(m_handle, subscriber.getHandle(), eventMask);
-  }
-
-  /**
-   * Start listening to value changes on an entry.
-   *
-   * @param entry Entry
-   * @param eventMask Bitmask of ValueListenerFlags values
-   * @return Listener handle
-   */
-  public int add(NetworkTableEntry entry, int eventMask) {
-    return NetworkTablesJNI.addPolledValueListener(m_handle, entry.getHandle(), eventMask);
-  }
-
-  /**
-   * Remove a listener.
-   *
-   * @param listener Listener handle
-   */
-  public void remove(int listener) {
-    NetworkTablesJNI.removeValueListener(listener);
-  }
-
-  /**
-   * Read value notifications.
-   *
-   * @return Value notifications since the previous call to readQueue()
-   */
-  public ValueNotification[] readQueue() {
-    return NetworkTablesJNI.readValueListenerQueue(m_inst, m_handle);
-  }
-
-  @Override
-  public synchronized void close() {
-    if (m_handle != 0) {
-      NetworkTablesJNI.destroyValueListenerPoller(m_handle);
-    }
-    m_handle = 0;
-  }
-
-  /**
-   * Determines if the native handle is valid.
-   *
-   * @return True if the native handle is valid, false otherwise.
-   */
-  public boolean isValid() {
-    return m_handle != 0;
-  }
-
-  /**
-   * Gets the native handle.
-   *
-   * @return Handle
-   */
-  public int getHandle() {
-    return m_handle;
-  }
-
-  private final NetworkTableInstance m_inst;
-  private int m_handle;
-}

ntcore/src/main/native/cpp/ConnectionList.cpp

@@ -4,184 +4,16 @@
 
 #include "ConnectionList.h"
 
-#include <atomic>
-#include <optional>
-
-#include <wpi/DataLog.h>
-#include <wpi/DenseMap.h>
-#include <wpi/SafeThread.h>
-#include <wpi/Synchronization.h>
-#include <wpi/UidVector.h>
+#include <wpi/SmallVector.h>
 #include <wpi/json_serializer.h>
 #include <wpi/raw_ostream.h>
 
-#include "HandleMap.h"
+#include "IListenerStorage.h"
+#include "ntcore_c.h"
 #include "ntcore_cpp.h"
 
 using namespace nt;
 
-namespace {
-
-struct PollerData {
-  static constexpr auto kType = Handle::kConnectionListenerPoller;
-
-  explicit PollerData(NT_ConnectionListenerPoller handle) : handle{handle} {}
-
-  wpi::SignalObject<NT_ConnectionListenerPoller> handle;
-  std::vector<ConnectionNotification> queue;
-};
-
-struct ListenerData {
-  static constexpr auto kType = Handle::kConnectionListener;
-
-  ListenerData(NT_ConnectionListener handle, PollerData* poller)
-      : handle{handle}, poller{poller} {}
-
-  wpi::SignalObject<NT_ConnectionListener> handle;
-  PollerData* poller;
-};
-
-struct DataLoggerData {
-  static constexpr auto kType = Handle::kConnectionDataLogger;
-
-  DataLoggerData(NT_ConnectionDataLogger handle, wpi::log::DataLog& log,
-                 std::string_view name, int64_t time)
-      : handle{handle},
-        entry{log, name, "{\"schema\":\"NTConnectionInfo\",\"source\":\"NT\"}",
-              "json", time} {}
-
-  NT_ConnectionDataLogger handle;
-  wpi::log::StringLogEntry entry;
-};
-
-class ListenerThread final : public wpi::SafeThreadEvent {
- public:
-  explicit ListenerThread(NT_ConnectionListenerPoller poller)
-      : m_poller{poller} {}
-
-  void Main() final;
-
-  NT_ConnectionListenerPoller m_poller;
-  wpi::DenseMap<NT_ConnectionListener,
-                std::function<void(const ConnectionNotification& event)>>
-      m_callbacks;
-};
-
-class CLImpl {
- public:
-  explicit CLImpl(int inst) : m_inst{inst} {}
-
-  int m_inst;
-
-  // shared with user (must be atomic or mutex-protected)
-  std::atomic_bool m_connected{false};
-  wpi::UidVector<std::optional<ConnectionInfo>, 8> m_connections;
-
-  HandleMap<PollerData, 8> m_pollers;
-  HandleMap<ListenerData, 8> m_listeners;
-  HandleMap<DataLoggerData, 8> m_dataloggers;
-
-  wpi::SafeThreadOwner<ListenerThread> m_listenerThread;
-
-  NT_ConnectionListener AddListener(
-      std::function<void(const ConnectionNotification& event)> callback,
-      bool immediateNotify);
-  PollerData* CreateListenerPoller() { return m_pollers.Add(m_inst); }
-  void DestroyListenerPoller(NT_ConnectionListenerPoller pollerHandle);
-  NT_ConnectionListener AddPolledListener(
-      NT_ConnectionListenerPoller pollerHandle, bool immediateNotify);
-  void RemoveListener(NT_ConnectionListener listenerHandle);
-};
-
-}  // namespace
-
-void ListenerThread::Main() {
-  while (m_active) {
-    WPI_Handle signaledBuf[2];
-    auto signaled =
-        wpi::WaitForObjects({m_poller, m_stopEvent.GetHandle()}, signaledBuf);
-    if (signaled.empty() || !m_active) {
-      return;
-    }
-    // call all the way back out to the C++ API to ensure valid handle
-    auto events = nt::ReadConnectionListenerQueue(m_poller);
-    if (events.empty()) {
-      continue;
-    }
-    std::unique_lock lock{m_mutex};
-    for (auto&& event : events) {
-      auto callbackIt = m_callbacks.find(event.listener);
-      if (callbackIt != m_callbacks.end()) {
-        auto callback = callbackIt->second;
-        lock.unlock();
-        callback(event);
-        lock.lock();
-      }
-    }
-  }
-}
-
-NT_ConnectionListener CLImpl::AddListener(
-    std::function<void(const ConnectionNotification& event)> callback,
-    bool immediateNotify) {
-  if (!m_listenerThread) {
-    m_listenerThread.Start(CreateListenerPoller()->handle);
-  }
-  if (auto thr = m_listenerThread.GetThread()) {
-    auto listener = AddPolledListener(thr->m_poller, immediateNotify);
-    if (listener) {
-      thr->m_callbacks.try_emplace(listener, std::move(callback));
-    }
-    return listener;
-  } else {
-    return {};
-  }
-}
-
-void CLImpl::DestroyListenerPoller(NT_ConnectionListenerPoller pollerHandle) {
-  if (auto poller = m_pollers.Remove(pollerHandle)) {
-    // ensure all listeners that use this poller are removed
-    wpi::SmallVector<NT_ConnectionListener, 16> toRemove;
-    for (auto&& listener : m_listeners) {
-      if (listener->poller == poller.get()) {
-        toRemove.emplace_back(listener->handle);
-      }
-    }
-    for (auto handle : toRemove) {
-      RemoveListener(handle);
-    }
-  }
-}
-
-NT_ConnectionListener CLImpl::AddPolledListener(
-    NT_ConnectionListenerPoller pollerHandle, bool immediateNotify) {
-  auto poller = m_pollers.Get(pollerHandle);
-  if (!poller) {
-    return {};
-  }
-
-  auto listener = m_listeners.Add(m_inst, poller);
-  if (immediateNotify && !m_connections.empty()) {
-    for (auto&& conn : m_connections) {
-      listener->poller->queue.emplace_back(listener->handle.GetHandle(), true,
-                                           *conn);
-    }
-    listener->poller->handle.Set();
-    listener->handle.Set();
-  }
-  return listener->handle;
-}
-
-void CLImpl::RemoveListener(NT_ConnectionListener listenerHandle) {
-  if (auto listener = m_listeners.Remove(listenerHandle)) {
-    if (auto thr = m_listenerThread.GetThread()) {
-      if (thr->m_poller == listener->poller->handle) {
-        thr->m_callbacks.erase(listenerHandle);
-      }
-    }
-  }
-}
-
 static std::string ConnInfoToJson(bool connected, const ConnectionInfo& info) {
   std::string str;
   wpi::raw_string_ostream os{str};
@@ -200,50 +32,35 @@ static std::string ConnInfoToJson(bool connected, const ConnectionInfo& info) {
   return str;
 }
 
-class ConnectionList::Impl : public CLImpl {
- public:
-  explicit Impl(int inst) : CLImpl{inst} {}
-};
-
-ConnectionList::ConnectionList(int inst)
-    : m_impl{std::make_unique<Impl>(inst)} {}
+ConnectionList::ConnectionList(int inst, IListenerStorage& listenerStorage)
+    : m_inst{inst}, m_listenerStorage{listenerStorage} {}
 
 ConnectionList::~ConnectionList() = default;
 
 int ConnectionList::AddConnection(const ConnectionInfo& info) {
   std::scoped_lock lock{m_mutex};
-  m_impl->m_connected = true;
-  for (auto&& listener : m_impl->m_listeners) {
-    listener->poller->queue.emplace_back(listener->handle.GetHandle(), true,
-                                         info);
-    listener->poller->handle.Set();
-    listener->handle.Set();
-  }
-  if (!m_impl->m_dataloggers.empty()) {
+  m_connected = true;
+  m_listenerStorage.Notify({}, NT_EVENT_CONNECTED, &info);
+  if (!m_dataloggers.empty()) {
     auto now = Now();
-    for (auto&& datalogger : m_impl->m_dataloggers) {
+    for (auto&& datalogger : m_dataloggers) {
       datalogger->entry.Append(ConnInfoToJson(true, info), now);
     }
   }
-  return m_impl->m_connections.emplace_back(info);
+  return m_connections.emplace_back(info);
 }
 
 void ConnectionList::RemoveConnection(int handle) {
   std::scoped_lock lock{m_mutex};
-  auto val = m_impl->m_connections.erase(handle);
-  if (m_impl->m_connections.empty()) {
-    m_impl->m_connected = false;
+  auto val = m_connections.erase(handle);
+  if (m_connections.empty()) {
+    m_connected = false;
   }
   if (val) {
-    for (auto&& listener : m_impl->m_listeners) {
-      listener->poller->queue.emplace_back(listener->handle.GetHandle(), false,
-                                           *val);
-      listener->poller->handle.Set();
-      listener->handle.Set();
-    }
-    if (!m_impl->m_dataloggers.empty()) {
+    m_listenerStorage.Notify({}, NT_EVENT_DISCONNECTED, &(*val));
+    if (!m_dataloggers.empty()) {
       auto now = Now();
-      for (auto&& datalogger : m_impl->m_dataloggers) {
+      for (auto&& datalogger : m_dataloggers) {
         datalogger->entry.Append(ConnInfoToJson(false, *val), now);
       }
     }
@@ -252,79 +69,50 @@ void ConnectionList::RemoveConnection(int handle) {
 
 void ConnectionList::ClearConnections() {
   std::scoped_lock lock{m_mutex};
-  m_impl->m_connected = false;
-  for (auto&& conn : m_impl->m_connections) {
-    for (auto&& listener : m_impl->m_listeners) {
-      listener->poller->queue.emplace_back(listener->handle.GetHandle(), false,
-                                           *conn);
-      listener->poller->handle.Set();
-      listener->handle.Set();
-    }
+  m_connected = false;
+  for (auto&& conn : m_connections) {
+    m_listenerStorage.Notify({}, NT_EVENT_DISCONNECTED, &(*conn));
   }
-  m_impl->m_connections.clear();
+  m_connections.clear();
 }
 
 std::vector<ConnectionInfo> ConnectionList::GetConnections() const {
   std::scoped_lock lock{m_mutex};
   std::vector<ConnectionInfo> info;
-  info.reserve(m_impl->m_connections.size());
-  for (auto&& conn : m_impl->m_connections) {
+  info.reserve(m_connections.size());
+  for (auto&& conn : m_connections) {
     info.emplace_back(*conn);
   }
   return info;
 }
 
 bool ConnectionList::IsConnected() const {
-  return m_impl->m_connected;
+  return m_connected;
 }
 
-NT_ConnectionListener ConnectionList::AddListener(
-    std::function<void(const ConnectionNotification& event)> callback,
-    bool immediateNotify) {
+void ConnectionList::AddListener(NT_Listener listener, unsigned int eventMask) {
   std::scoped_lock lock{m_mutex};
-  return m_impl->AddListener(std::move(callback), immediateNotify);
-}
-
-NT_ConnectionListenerPoller ConnectionList::CreateListenerPoller() {
-  std::scoped_lock lock{m_mutex};
-  return m_impl->CreateListenerPoller()->handle;
-}
-
-void ConnectionList::DestroyListenerPoller(
-    NT_ConnectionListenerPoller pollerHandle) {
-  std::scoped_lock lock{m_mutex};
-  m_impl->DestroyListenerPoller(pollerHandle);
-}
-
-NT_ConnectionListener ConnectionList::AddPolledListener(
-    NT_ConnectionListenerPoller pollerHandle, bool immediateNotify) {
-  std::scoped_lock lock{m_mutex};
-  return m_impl->AddPolledListener(pollerHandle, immediateNotify);
-}
-
-std::vector<ConnectionNotification> ConnectionList::ReadListenerQueue(
-    NT_ConnectionListenerPoller pollerHandle) {
-  std::scoped_lock lock{m_mutex};
-  if (auto poller = m_impl->m_pollers.Get(pollerHandle)) {
-    std::vector<ConnectionNotification> rv;
-    rv.swap(poller->queue);
-    return rv;
-  } else {
-    return {};
+  eventMask &= (NT_EVENT_CONNECTION | NT_EVENT_IMMEDIATE);
+  m_listenerStorage.Activate(listener, eventMask);
+  if ((eventMask & (NT_EVENT_CONNECTED | NT_EVENT_IMMEDIATE)) ==
+          (NT_EVENT_CONNECTED | NT_EVENT_IMMEDIATE) &&
+      !m_connections.empty()) {
+    wpi::SmallVector<const ConnectionInfo*, 16> infos;
+    infos.reserve(m_connections.size());
+    for (auto&& conn : m_connections) {
+      infos.emplace_back(&(*conn));
+    }
+    m_listenerStorage.Notify({&listener, 1},
+                             NT_EVENT_CONNECTED | NT_EVENT_IMMEDIATE, infos);
   }
 }
 
-void ConnectionList::RemoveListener(NT_ConnectionListener listenerHandle) {
-  std::scoped_lock lock{m_mutex};
-  m_impl->RemoveListener(listenerHandle);
-}
-
 NT_ConnectionDataLogger ConnectionList::StartDataLog(wpi::log::DataLog& log,
                                                      std::string_view name) {
   std::scoped_lock lock{m_mutex};
   auto now = Now();
-  auto datalogger = m_impl->m_dataloggers.Add(m_impl->m_inst, log, name, now);
-  for (auto&& conn : m_impl->m_connections) {
+  auto datalogger = m_dataloggers.Add(m_inst, log, name, now);
+  for (auto&& conn : m_connections) {
     datalogger->entry.Append(ConnInfoToJson(true, *conn), now);
   }
   return datalogger->handle;
@@ -332,7 +120,7 @@ NT_ConnectionDataLogger ConnectionList::StartDataLog(wpi::log::DataLog& log,
 
 void ConnectionList::StopDataLog(NT_ConnectionDataLogger logger) {
   std::scoped_lock lock{m_mutex};
-  if (auto datalogger = m_impl->m_dataloggers.Remove(logger)) {
+  if (auto datalogger = m_dataloggers.Remove(logger)) {
     datalogger->entry.Finish(Now());
   }
 }

ntcore/src/main/native/cpp/ConnectionList.h

@@ -4,21 +4,31 @@
 
 #pragma once
 
+#include <stdint.h>
+
+#include <atomic>
 #include <functional>
 #include <memory>
+#include <optional>
 #include <string_view>
 #include <vector>
 
+#include <wpi/DataLog.h>
+#include <wpi/UidVector.h>
 #include <wpi/mutex.h>
 
+#include "Handle.h"
+#include "HandleMap.h"
 #include "IConnectionList.h"
 #include "ntcore_cpp.h"
 
 namespace nt {
 
+class IListenerStorage;
+
 class ConnectionList final : public IConnectionList {
  public:
-  explicit ConnectionList(int inst);
+  ConnectionList(int inst, IListenerStorage& listenerStorage);
   ~ConnectionList() final;
 
   // IConnectionList interface
@@ -30,27 +40,35 @@ class ConnectionList final : public IConnectionList {
   std::vector<ConnectionInfo> GetConnections() const final;
   bool IsConnected() const final;
 
-  NT_ConnectionListener AddListener(
-      std::function<void(const ConnectionNotification& event)> callback,
-      bool immediateNotify);
-
-  NT_ConnectionListenerPoller CreateListenerPoller();
-  void DestroyListenerPoller(NT_ConnectionListenerPoller pollerHandle);
-  NT_ConnectionListener AddPolledListener(
-      NT_ConnectionListenerPoller pollerHandle, bool immediateNotify);
-  std::vector<ConnectionNotification> ReadListenerQueue(
-      NT_ConnectionListenerPoller pollerHandle);
-  void RemoveListener(NT_ConnectionListener listenerHandle);
+  void AddListener(NT_Listener listener, unsigned int eventMask);
 
   NT_ConnectionDataLogger StartDataLog(wpi::log::DataLog& log,
                                        std::string_view name);
   void StopDataLog(NT_ConnectionDataLogger logger);
 
  private:
-  class Impl;
-  std::unique_ptr<Impl> m_impl;
-
+  int m_inst;
+  IListenerStorage& m_listenerStorage;
   mutable wpi::mutex m_mutex;
+
+  // shared with user (must be atomic or mutex-protected)
+  std::atomic_bool m_connected{false};
+  wpi::UidVector<std::optional<ConnectionInfo>, 8> m_connections;
+
+  struct DataLoggerData {
+    static constexpr auto kType = Handle::kConnectionDataLogger;
+
+    DataLoggerData(NT_ConnectionDataLogger handle, wpi::log::DataLog& log,
+                   std::string_view name, int64_t time)
+        : handle{handle},
+          entry{log, name,
+                "{\"schema\":\"NTConnectionInfo\",\"source\":\"NT\"}", "json",
+                time} {}
+
+    NT_ConnectionDataLogger handle;
+    wpi::log::StringLogEntry entry;
+  };
+  HandleMap<DataLoggerData, 8> m_dataloggers;
 };
 
 }  // namespace nt

ntcore/src/main/native/cpp/Handle.h

@@ -18,24 +18,16 @@ namespace nt {
 class Handle {
  public:
   enum Type {
-    kConnectionListener = wpi::kHandleTypeNTBase,
-    kConnectionListenerPoller,
+    kListener = wpi::kHandleTypeNTBase,
+    kListenerPoller,
     kEntry,
-    kEntryListener,
-    kEntryListenerPoller,
     kInstance,
-    kLogger,
-    kLoggerPoller,
     kDataLogger,
     kConnectionDataLogger,
     kMultiSubscriber,
     kTopic,
-    kTopicListener,
-    kTopicListenerPoller,
     kSubscriber,
     kPublisher,
-    kValueListener,
-    kValueListenerPoller,
     kTypeMax
   };
   static_assert(kTypeMax <= wpi::kHandleTypeHALBase);

ntcore/src/main/native/cpp/IListenerStorage.h

@@ -0,0 +1,49 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <span>
+#include <string_view>
+
+#include "ntcore_cpp.h"
+
+namespace nt {
+
+class IListenerStorage {
+ public:
+  // Return false if event should not be issued (final check).
+  // This is called only during Notify() processing.
+  using FinishEventFunc = std::function<bool(unsigned int mask, Event* event)>;
+
+  virtual ~IListenerStorage() = default;
+
+  virtual void Activate(NT_Listener listener, unsigned int mask,
+                        FinishEventFunc finishEvent = {}) = 0;
+
+  // If handles is not empty, notifies ONLY those listeners
+  virtual void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+                      std::span<ConnectionInfo const* const> infos) = 0;
+  virtual void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+                      std::span<const TopicInfo> infos) = 0;
+  virtual void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+                      NT_Topic topic, NT_Handle subentry,
+                      const Value& value) = 0;
+  virtual void Notify(unsigned int flags, unsigned int level,
+                      std::string_view filename, unsigned int line,
+                      std::string_view message) = 0;
+
+  void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+              const ConnectionInfo* info) {
+    Notify(handles, flags, {&info, 1});
+  }
+  void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+              const TopicInfo& info) {
+    Notify(handles, flags, {&info, 1});
+  }
+};
+
+}  // namespace nt

ntcore/src/main/native/cpp/InstanceImpl.cpp

@@ -13,11 +13,12 @@ wpi::mutex InstanceImpl::s_mutex;
 using namespace std::placeholders;
 
 InstanceImpl::InstanceImpl(int inst)
-    : logger_impl(inst),
-      logger(
-          std::bind(&LoggerImpl::Log, &logger_impl, _1, _2, _3, _4)),  // NOLINT
-      connectionList(inst),
-      localStorage(inst, logger),
+    : listenerStorage{inst},
+      logger_impl{listenerStorage},
+      logger{
+          std::bind(&LoggerImpl::Log, &logger_impl, _1, _2, _3, _4)},  // NOLINT
+      connectionList{inst, listenerStorage},
+      localStorage{inst, listenerStorage, logger},
       m_inst{inst} {
   logger.set_min_level(logger_impl.GetMinLevel());
 }
@@ -173,3 +174,15 @@ std::shared_ptr<INetworkClient> InstanceImpl::GetClient() {
   std::scoped_lock lock{m_mutex};
   return m_networkClient;
 }
+
+void InstanceImpl::Reset() {
+  std::scoped_lock lock{m_mutex};
+  m_networkServer.reset();
+  m_networkClient.reset();
+  m_servers.clear();
+  networkMode = NT_NET_MODE_NONE;
+
+  listenerStorage.Reset();
+  // connectionList should have been cleared by destroying networkClient/server
+  localStorage.Reset();
+}

ntcore/src/main/native/cpp/InstanceImpl.h

@@ -15,6 +15,7 @@
 
 #include "ConnectionList.h"
 #include "Handle.h"
+#include "ListenerStorage.h"
 #include "LocalStorage.h"
 #include "Log.h"
 #include "LoggerImpl.h"
@@ -55,6 +56,9 @@ class InstanceImpl {
   std::shared_ptr<NetworkServer> GetServer();
   std::shared_ptr<INetworkClient> GetClient();
 
+  void Reset();
+
+  ListenerStorage listenerStorage;
   LoggerImpl logger_impl;
   wpi::Logger logger;
   ConnectionList connectionList;

ntcore/src/main/native/cpp/ListenerStorage.cpp

@@ -0,0 +1,366 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "ListenerStorage.h"
+
+#include <algorithm>
+
+#include <wpi/DenseMap.h>
+#include <wpi/SmallVector.h>
+
+#include "ntcore_c.h"
+
+using namespace nt;
+
+class ListenerStorage::Thread final : public wpi::SafeThreadEvent {
+ public:
+  explicit Thread(NT_ListenerPoller poller) : m_poller{poller} {}
+
+  void Main() final;
+
+  NT_ListenerPoller m_poller;
+  wpi::DenseMap<NT_Listener, ListenerCallback> m_callbacks;
+  wpi::Event m_waitQueueWakeup;
+  wpi::Event m_waitQueueWaiter;
+};
+
+void ListenerStorage::Thread::Main() {
+  while (m_active) {
+    WPI_Handle signaledBuf[3];
+    auto signaled = wpi::WaitForObjects(
+        {m_poller, m_stopEvent.GetHandle(), m_waitQueueWakeup.GetHandle()},
+        signaledBuf);
+    if (signaled.empty() || !m_active) {
+      return;
+    }
+    // call all the way back out to the C++ API to ensure valid handle
+    auto events = nt::ReadListenerQueue(m_poller);
+    if (!events.empty()) {
+      std::unique_lock lock{m_mutex};
+      for (auto&& event : events) {
+        auto callbackIt = m_callbacks.find(event.listener);
+        if (callbackIt != m_callbacks.end()) {
+          auto callback = callbackIt->second;
+          lock.unlock();
+          callback(event);
+          lock.lock();
+        }
+      }
+    }
+    if (std::find(signaled.begin(), signaled.end(),
+                  m_waitQueueWakeup.GetHandle()) != signaled.end()) {
+      m_waitQueueWaiter.Set();
+    }
+  }
+}
+
+ListenerStorage::ListenerStorage(int inst) : m_inst{inst} {}
+
+ListenerStorage::~ListenerStorage() = default;
+
+void ListenerStorage::Activate(NT_Listener listenerHandle, unsigned int mask,
+                               FinishEventFunc finishEvent) {
+  std::scoped_lock lock{m_mutex};
+  if (auto listener = m_listeners.Get(listenerHandle)) {
+    listener->sources.emplace_back(std::move(finishEvent), mask);
+    unsigned int deltaMask = mask & (~listener->eventMask);
+    listener->eventMask |= mask;
+
+    if ((deltaMask & NT_EVENT_CONNECTION) != 0) {
+      m_connListeners.Add(listener);
+    }
+    if ((deltaMask & NT_EVENT_TOPIC) != 0) {
+      m_topicListeners.Add(listener);
+    }
+    if ((deltaMask & NT_EVENT_VALUE_ALL) != 0) {
+      m_valueListeners.Add(listener);
+    }
+    // detect the higher log bits too; see LoggerImpl
+    if ((deltaMask & NT_EVENT_LOGMESSAGE) != 0 ||
+        (deltaMask & 0x1ff0000) != 0) {
+      m_logListeners.Add(listener);
+    }
+  }
+}
+
+void ListenerStorage::Notify(std::span<const NT_Listener> handles,
+                             unsigned int flags,
+                             std::span<ConnectionInfo const* const> infos) {
+  if (flags == 0) {
+    return;
+  }
+  std::scoped_lock lock{m_mutex};
+
+  auto doSignal = [&](ListenerData& listener) {
+    if ((flags & listener.eventMask) != 0) {
+      for (auto&& [finishEvent, mask] : listener.sources) {
+        if ((flags & mask) != 0) {
+          for (auto&& info : infos) {
+            listener.poller->queue.emplace_back(listener.handle, flags, *info);
+            // finishEvent is never set (see ConnectionList)
+          }
+        }
+      }
+      listener.handle.Set();
+      listener.poller->handle.Set();
+    }
+  };
+
+  if (!handles.empty()) {
+    for (auto handle : handles) {
+      if (auto listener = m_listeners.Get(handle)) {
+        doSignal(*listener);
+      }
+    }
+  } else {
+    for (auto&& listener : m_connListeners) {
+      doSignal(*listener);
+    }
+  }
+}
+
+void ListenerStorage::Notify(std::span<const NT_Listener> handles,
+                             unsigned int flags,
+                             std::span<const TopicInfo> infos) {
+  if (flags == 0) {
+    return;
+  }
+  std::scoped_lock lock{m_mutex};
+
+  auto doSignal = [&](ListenerData& listener) {
+    if ((flags & listener.eventMask) != 0) {
+      int count = 0;
+      for (auto&& [finishEvent, mask] : listener.sources) {
+        if ((flags & mask) != 0) {
+          for (auto&& info : infos) {
+            listener.poller->queue.emplace_back(listener.handle, flags, info);
+            if (finishEvent &&
+                !finishEvent(mask, &listener.poller->queue.back())) {
+              listener.poller->queue.pop_back();
+            } else {
+              ++count;
+            }
+          }
+        }
+      }
+      if (count > 0) {
+        listener.handle.Set();
+        listener.poller->handle.Set();
+      }
+    }
+  };
+
+  if (!handles.empty()) {
+    for (auto handle : handles) {
+      if (auto listener = m_listeners.Get(handle)) {
+        doSignal(*listener);
+      }
+    }
+  } else {
+    for (auto&& listener : m_topicListeners) {
+      doSignal(*listener);
+    }
+  }
+}
+
+void ListenerStorage::Notify(std::span<const NT_Listener> handles,
+                             unsigned int flags, NT_Topic topic,
+                             NT_Handle subentry, const Value& value) {
+  if (flags == 0) {
+    return;
+  }
+  std::scoped_lock lock{m_mutex};
+
+  auto doSignal = [&](ListenerData& listener) {
+    if ((flags & listener.eventMask) != 0) {
+      int count = 0;
+      for (auto&& [finishEvent, mask] : listener.sources) {
+        if ((flags & mask) != 0) {
+          listener.poller->queue.emplace_back(listener.handle, flags, topic,
+                                              subentry, value);
+          if (finishEvent &&
+              !finishEvent(mask, &listener.poller->queue.back())) {
+            listener.poller->queue.pop_back();
+          } else {
+            ++count;
+          }
+        }
+      }
+      if (count > 0) {
+        listener.handle.Set();
+        listener.poller->handle.Set();
+      }
+    }
+  };
+
+  if (!handles.empty()) {
+    for (auto handle : handles) {
+      if (auto listener = m_listeners.Get(handle)) {
+        doSignal(*listener);
+      }
+    }
+  } else {
+    for (auto&& listener : m_valueListeners) {
+      doSignal(*listener);
+    }
+  }
+}
+
+void ListenerStorage::Notify(unsigned int flags, unsigned int level,
+                             std::string_view filename, unsigned int line,
+                             std::string_view message) {
+  if (flags == 0) {
+    return;
+  }
+  std::scoped_lock lock{m_mutex};
+  for (auto&& listener : m_logListeners) {
+    if ((flags & listener->eventMask) != 0) {
+      int count = 0;
+      for (auto&& [finishEvent, mask] : listener->sources) {
+        if ((flags & mask) != 0) {
+          listener->poller->queue.emplace_back(listener->handle, flags, level,
+                                               filename, line, message);
+          if (finishEvent &&
+              !finishEvent(mask, &listener->poller->queue.back())) {
+            listener->poller->queue.pop_back();
+          } else {
+            ++count;
+          }
+        }
+      }
+      if (count > 0) {
+        listener->handle.Set();
+        listener->poller->handle.Set();
+      }
+    }
+  }
+}
+
+NT_Listener ListenerStorage::AddListener(ListenerCallback callback) {
+  std::scoped_lock lock{m_mutex};
+  if (!m_thread) {
+    m_thread.Start(m_pollers.Add(m_inst)->handle);
+  }
+  if (auto thr = m_thread.GetThread()) {
+    auto listener = DoAddListener(thr->m_poller);
+    if (listener) {
+      thr->m_callbacks.try_emplace(listener, std::move(callback));
+    }
+    return listener;
+  } else {
+    return {};
+  }
+}
+
+NT_Listener ListenerStorage::AddListener(NT_ListenerPoller pollerHandle) {
+  std::scoped_lock lock{m_mutex};
+  return DoAddListener(pollerHandle);
+}
+
+NT_Listener ListenerStorage::DoAddListener(NT_ListenerPoller pollerHandle) {
+  if (auto poller = m_pollers.Get(pollerHandle)) {
+    return m_listeners.Add(m_inst, poller)->handle;
+  } else {
+    return {};
+  }
+}
+
+NT_ListenerPoller ListenerStorage::CreateListenerPoller() {
+  std::scoped_lock lock{m_mutex};
+  return m_pollers.Add(m_inst)->handle;
+}
+
+std::vector<std::pair<NT_Listener, unsigned int>>
+ListenerStorage::DestroyListenerPoller(NT_ListenerPoller pollerHandle) {
+  std::scoped_lock lock{m_mutex};
+  if (auto poller = m_pollers.Remove(pollerHandle)) {
+    // ensure all listeners that use this poller are removed
+    wpi::SmallVector<NT_Listener, 16> toRemove;
+    for (auto&& listener : m_listeners) {
+      if (listener->poller == poller.get()) {
+        toRemove.emplace_back(listener->handle);
+      }
+    }
+    return DoRemoveListeners(toRemove);
+  } else {
+    return {};
+  }
+}
+
+std::vector<Event> ListenerStorage::ReadListenerQueue(
+    NT_ListenerPoller pollerHandle) {
+  std::scoped_lock lock{m_mutex};
+  if (auto poller = m_pollers.Get(pollerHandle)) {
+    std::vector<Event> rv;
+    rv.swap(poller->queue);
+    return rv;
+  } else {
+    return {};
+  }
+}
+
+std::vector<std::pair<NT_Listener, unsigned int>>
+ListenerStorage::RemoveListener(NT_Listener listenerHandle) {
+  std::scoped_lock lock{m_mutex};
+  return DoRemoveListeners({&listenerHandle, 1});
+}
+
+bool ListenerStorage::WaitForListenerQueue(double timeout) {
+  WPI_EventHandle h;
+  {
+    std::scoped_lock lock{m_mutex};
+    if (auto thr = m_thread.GetThread()) {
+      h = thr->m_waitQueueWaiter.GetHandle();
+      thr->m_waitQueueWakeup.Set();
+    } else {
+      return false;
+    }
+  }
+  bool timedOut;
+  wpi::WaitForObject(h, timeout, &timedOut);
+  return !timedOut;
+}
+
+void ListenerStorage::Reset() {
+  std::scoped_lock lock{m_mutex};
+  m_pollers.clear();
+  m_listeners.clear();
+  m_connListeners.clear();
+  m_topicListeners.clear();
+  m_valueListeners.clear();
+  m_logListeners.clear();
+  if (m_thread) {
+    m_thread.Stop();
+  }
+}
+
+std::vector<std::pair<NT_Listener, unsigned int>>
+ListenerStorage::DoRemoveListeners(std::span<const NT_Listener> handles) {
+  std::vector<std::pair<NT_Listener, unsigned int>> rv;
+  auto thr = m_thread.GetThread();
+  for (auto handle : handles) {
+    if (auto listener = m_listeners.Remove(handle)) {
+      rv.emplace_back(handle, listener->eventMask);
+      if (thr) {
+        if (thr->m_poller == listener->poller->handle) {
+          thr->m_callbacks.erase(handle);
+        }
+      }
+      if ((listener->eventMask & NT_EVENT_CONNECTION) != 0) {
+        m_connListeners.Remove(listener.get());
+      }
+      if ((listener->eventMask & NT_EVENT_TOPIC) != 0) {
+        m_topicListeners.Remove(listener.get());
+      }
+      if ((listener->eventMask & NT_EVENT_VALUE_ALL) != 0) {
+        m_valueListeners.Remove(listener.get());
+      }
+      if ((listener->eventMask & NT_EVENT_LOGMESSAGE) != 0 ||
+          (listener->eventMask & 0x1ff0000) != 0) {
+        m_logListeners.Remove(listener.get());
+      }
+    }
+  }
+  return rv;
+}

ntcore/src/main/native/cpp/ListenerStorage.h

@@ -0,0 +1,113 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <functional>
+#include <memory>
+#include <span>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include <wpi/SafeThread.h>
+#include <wpi/SmallVector.h>
+#include <wpi/Synchronization.h>
+#include <wpi/mutex.h>
+
+#include "Handle.h"
+#include "HandleMap.h"
+#include "IListenerStorage.h"
+#include "ntcore_cpp.h"
+
+namespace nt {
+
+class ListenerStorage final : public IListenerStorage {
+ public:
+  explicit ListenerStorage(int inst);
+  ListenerStorage(const ListenerStorage&) = delete;
+  ListenerStorage& operator=(const ListenerStorage&) = delete;
+  ~ListenerStorage() final;
+
+  // IListenerStorage interface
+  void Activate(NT_Listener listenerHandle, unsigned int mask,
+                FinishEventFunc finishEvent = {}) final;
+  void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+              std::span<ConnectionInfo const* const> infos) final;
+  void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+              std::span<const TopicInfo> infos) final;
+  void Notify(std::span<const NT_Listener> handles, unsigned int flags,
+              NT_Topic topic, NT_Handle subentry, const Value& value) final;
+  void Notify(unsigned int flags, unsigned int level, std::string_view filename,
+              unsigned int line, std::string_view message) final;
+
+  // user-facing functions
+  NT_Listener AddListener(ListenerCallback callback);
+  NT_Listener AddListener(NT_ListenerPoller pollerHandle);
+  NT_ListenerPoller CreateListenerPoller();
+
+  // returns listener handle and mask for each listener that was destroyed
+  [[nodiscard]] std::vector<std::pair<NT_Listener, unsigned int>>
+  DestroyListenerPoller(NT_ListenerPoller pollerHandle);
+
+  std::vector<Event> ReadListenerQueue(NT_ListenerPoller pollerHandle);
+
+  // returns listener handle and mask for each listener that was destroyed
+  [[nodiscard]] std::vector<std::pair<NT_Listener, unsigned int>>
+  RemoveListener(NT_Listener listenerHandle);
+
+  bool WaitForListenerQueue(double timeout);
+
+  void Reset();
+
+ private:
+  // these assume the mutex is already held
+  NT_Listener DoAddListener(NT_ListenerPoller pollerHandle);
+  std::vector<std::pair<NT_Listener, unsigned int>> DoRemoveListeners(
+      std::span<const NT_Listener> handles);
+
+  int m_inst;
+  mutable wpi::mutex m_mutex;
+
+  struct PollerData {
+    static constexpr auto kType = Handle::kListenerPoller;
+
+    explicit PollerData(NT_ListenerPoller handle) : handle{handle} {}
+
+    wpi::SignalObject<NT_ListenerPoller> handle;
+    std::vector<Event> queue;
+  };
+  HandleMap<PollerData, 8> m_pollers;
+
+  struct ListenerData {
+    static constexpr auto kType = Handle::kListener;
+
+    ListenerData(NT_Listener handle, PollerData* poller)
+        : handle{handle}, poller{poller} {}
+
+    wpi::SignalObject<NT_Listener> handle;
+    PollerData* poller;
+    wpi::SmallVector<std::pair<FinishEventFunc, unsigned int>, 2> sources;
+    unsigned int eventMask{0};
+  };
+  HandleMap<ListenerData, 8> m_listeners;
+
+  // Utility wrapper for making a set-like vector
+  template <typename T>
+  class VectorSet : public std::vector<T> {
+   public:
+    void Add(T value) { this->push_back(value); }
+    void Remove(T value) { std::erase(*this, value); }
+  };
+
+  VectorSet<ListenerData*> m_connListeners;
+  VectorSet<ListenerData*> m_topicListeners;
+  VectorSet<ListenerData*> m_valueListeners;
+  VectorSet<ListenerData*> m_logListeners;
+
+  class Thread;
+  wpi::SafeThreadOwner<Thread> m_thread;
+};
+
+}  // namespace nt

ntcore/src/main/native/cpp/LocalStorage.h

@@ -25,9 +25,12 @@ class Logger;
 
 namespace nt {
 
+class IListenerStorage;
+
 class LocalStorage final : public net::ILocalStorage {
  public:
-  LocalStorage(int inst, wpi::Logger& logger);
+  LocalStorage(int inst, IListenerStorage& listenerStorage,
+               wpi::Logger& logger);
   LocalStorage(const LocalStorage&) = delete;
   LocalStorage& operator=(const LocalStorage&) = delete;
   ~LocalStorage() final;
@@ -189,49 +192,15 @@ class LocalStorage final : public net::ILocalStorage {
   int64_t GetEntryLastChange(NT_Entry entry);
 
   //
-  // Topic listener functions
+  // Listener functions
   //
 
-  NT_TopicListener AddTopicListener(
-      std::span<const std::string_view> prefixes, unsigned int mask,
-      std::function<void(const TopicNotification&)> callback);
-  NT_TopicListener AddTopicListener(
-      NT_Handle handle, unsigned int mask,
-      std::function<void(const TopicNotification&)> callback);
+  void AddListener(NT_Listener listener,
+                   std::span<const std::string_view> prefixes,
+                   unsigned int mask);
+  void AddListener(NT_Listener listener, NT_Handle handle, unsigned int mask);
 
-  NT_TopicListenerPoller CreateTopicListenerPoller();
-  void DestroyTopicListenerPoller(NT_TopicListenerPoller poller);
-
-  NT_TopicListener AddPolledTopicListener(
-      NT_TopicListenerPoller poller, std::span<const std::string_view> prefixes,
-      unsigned int mask);
-  NT_TopicListener AddPolledTopicListener(NT_TopicListenerPoller poller,
-                                          NT_Handle handle, unsigned int mask);
-
-  std::vector<TopicNotification> ReadTopicListenerQueue(
-      NT_TopicListenerPoller poller);
-
-  void RemoveTopicListener(NT_TopicListener listener);
-
-  //
-  // Value listener functions
-  //
-
-  NT_ValueListener AddValueListener(
-      NT_Handle subentry, unsigned int mask,
-      std::function<void(const ValueNotification&)> callback);
-
-  NT_ValueListenerPoller CreateValueListenerPoller();
-  void DestroyValueListenerPoller(NT_ValueListenerPoller poller);
-
-  NT_ValueListener AddPolledValueListener(NT_ValueListenerPoller poller,
-                                          NT_Handle subentry,
-                                          unsigned int mask);
-
-  std::vector<ValueNotification> ReadValueListenerQueue(
-      NT_ValueListenerPoller poller);
-
-  void RemoveValueListener(NT_ValueListener listener);
+  void RemoveListener(NT_Listener listener, unsigned int mask);
 
   //
   // Data log functions
@@ -240,6 +209,8 @@ class LocalStorage final : public net::ILocalStorage {
                              std::string_view logPrefix);
   void StopDataLog(NT_DataLogger logger);
 
+  void Reset();
+
  private:
   class Impl;
   std::unique_ptr<Impl> m_impl;

ntcore/src/main/native/cpp/LoggerImpl.cpp

@@ -5,24 +5,27 @@
 #include "LoggerImpl.h"
 
 #include <fmt/format.h>
-#include <wpi/DenseMap.h>
+#include <wpi/Logger.h>
+#include <wpi/SmallVector.h>
 #include <wpi/fs.h>
 
+#include "IListenerStorage.h"
+
 using namespace nt;
 
 static void DefaultLogger(unsigned int level, const char* file,
                           unsigned int line, const char* msg) {
-  if (level == 20) {
+  if (level == wpi::WPI_LOG_INFO) {
     fmt::print(stderr, "NT: {}\n", msg);
     return;
   }
 
   std::string_view levelmsg;
-  if (level >= 50) {
+  if (level >= wpi::WPI_LOG_CRITICAL) {
     levelmsg = "CRITICAL";
-  } else if (level >= 40) {
+  } else if (level >= wpi::WPI_LOG_ERROR) {
     levelmsg = "ERROR";
-  } else if (level >= 30) {
+  } else if (level >= wpi::WPI_LOG_WARNING) {
     levelmsg = "WARNING";
   } else {
     return;
@@ -30,108 +33,107 @@ static void DefaultLogger(unsigned int level, const char* file,
   fmt::print(stderr, "NT: {}: {} ({}:{})\n", levelmsg, msg, file, line);
 }
 
-class LoggerImpl::Thread final : public wpi::SafeThreadEvent {
- public:
-  explicit Thread(NT_LoggerPoller poller) : m_poller{poller} {}
+static constexpr unsigned int kFlagCritical = 1u << 16;
+static constexpr unsigned int kFlagError = 1u << 17;
+static constexpr unsigned int kFlagWarning = 1u << 18;
+static constexpr unsigned int kFlagInfo = 1u << 19;
+static constexpr unsigned int kFlagDebug = 1u << 20;
+static constexpr unsigned int kFlagDebug1 = 1u << 21;
+static constexpr unsigned int kFlagDebug2 = 1u << 22;
+static constexpr unsigned int kFlagDebug3 = 1u << 23;
+static constexpr unsigned int kFlagDebug4 = 1u << 24;
 
-  void Main() final;
-
-  NT_LoggerPoller m_poller;
-  wpi::DenseMap<NT_Logger, std::function<void(const LogMessage& msg)>>
-      m_callbacks;
-};
-
-void LoggerImpl::Thread::Main() {
-  while (m_active) {
-    WPI_Handle signaledBuf[2];
-    auto signaled =
-        wpi::WaitForObjects({m_poller, m_stopEvent.GetHandle()}, signaledBuf);
-    if (signaled.empty() || !m_active) {
-      return;
-    }
-    // call all the way back out to the C++ API to ensure valid handle
-    auto events = nt::ReadLoggerQueue(m_poller);
-    if (events.empty()) {
-      continue;
-    }
-    std::unique_lock lock{m_mutex};
-    for (auto&& event : events) {
-      auto callbackIt = m_callbacks.find(event.logger);
-      if (callbackIt != m_callbacks.end()) {
-        auto callback = callbackIt->second;
-        lock.unlock();
-        callback(event);
-        lock.lock();
-      }
-    }
+static unsigned int LevelToFlag(unsigned int level) {
+  if (level >= wpi::WPI_LOG_CRITICAL) {
+    return EventFlags::kLogMessage | kFlagCritical;
+  } else if (level >= wpi::WPI_LOG_ERROR) {
+    return EventFlags::kLogMessage | kFlagError;
+  } else if (level >= wpi::WPI_LOG_WARNING) {
+    return EventFlags::kLogMessage | kFlagWarning;
+  } else if (level >= wpi::WPI_LOG_INFO) {
+    return EventFlags::kLogMessage | kFlagInfo;
+  } else if (level >= wpi::WPI_LOG_DEBUG) {
+    return EventFlags::kLogMessage | kFlagDebug;
+  } else if (level >= wpi::WPI_LOG_DEBUG1) {
+    return EventFlags::kLogMessage | kFlagDebug1;
+  } else if (level >= wpi::WPI_LOG_DEBUG2) {
+    return EventFlags::kLogMessage | kFlagDebug2;
+  } else if (level >= wpi::WPI_LOG_DEBUG3) {
+    return EventFlags::kLogMessage | kFlagDebug3;
+  } else if (level >= wpi::WPI_LOG_DEBUG4) {
+    return EventFlags::kLogMessage | kFlagDebug4;
+  } else {
+    return EventFlags::kLogMessage;
   }
 }
 
-LoggerImpl::LoggerImpl(int inst) : m_inst{inst} {}
+static unsigned int LevelsToEventMask(unsigned int minLevel,
+                                      unsigned int maxLevel) {
+  unsigned int mask = 0;
+  if (minLevel <= wpi::WPI_LOG_CRITICAL && maxLevel >= wpi::WPI_LOG_CRITICAL) {
+    mask |= kFlagCritical;
+  }
+  if (minLevel <= wpi::WPI_LOG_ERROR && maxLevel >= wpi::WPI_LOG_ERROR) {
+    mask |= kFlagError;
+  }
+  if (minLevel <= wpi::WPI_LOG_WARNING && maxLevel >= wpi::WPI_LOG_WARNING) {
+    mask |= kFlagWarning;
+  }
+  if (minLevel <= wpi::WPI_LOG_INFO && maxLevel >= wpi::WPI_LOG_INFO) {
+    mask |= kFlagInfo;
+  }
+  if (minLevel <= wpi::WPI_LOG_DEBUG && maxLevel >= wpi::WPI_LOG_DEBUG) {
+    mask |= kFlagDebug;
+  }
+  if (minLevel <= wpi::WPI_LOG_DEBUG1 && maxLevel >= wpi::WPI_LOG_DEBUG1) {
+    mask |= kFlagDebug1;
+  }
+  if (minLevel <= wpi::WPI_LOG_DEBUG2 && maxLevel >= wpi::WPI_LOG_DEBUG2) {
+    mask |= kFlagDebug2;
+  }
+  if (minLevel <= wpi::WPI_LOG_DEBUG3 && maxLevel >= wpi::WPI_LOG_DEBUG3) {
+    mask |= kFlagDebug3;
+  }
+  if (minLevel <= wpi::WPI_LOG_DEBUG4 && maxLevel >= wpi::WPI_LOG_DEBUG4) {
+    mask |= kFlagDebug4;
+  }
+  if (mask == 0) {
+    mask = EventFlags::kLogMessage;
+  }
+  return mask;
+}
+
+LoggerImpl::LoggerImpl(IListenerStorage& listenerStorage)
+    : m_listenerStorage{listenerStorage} {}
 
 LoggerImpl::~LoggerImpl() = default;
 
-NT_Logger LoggerImpl::Add(std::function<void(const LogMessage& msg)> callback,
-                          unsigned int minLevel, unsigned int maxLevel) {
-  if (!m_thread) {
-    m_thread.Start(CreatePoller());
-  }
-  if (auto thr = m_thread.GetThread()) {
-    auto listener = AddPolled(thr->m_poller, minLevel, maxLevel);
-    if (listener) {
-      thr->m_callbacks.try_emplace(listener, std::move(callback));
-    }
-    return listener;
-  } else {
-    return {};
-  }
+void LoggerImpl::AddListener(NT_Listener listener, unsigned int minLevel,
+                             unsigned int maxLevel) {
+  ++m_listenerCount;
+  std::scoped_lock lock{m_mutex};
+  m_listenerLevels.emplace_back(listener, minLevel, maxLevel);
+  m_listenerStorage.Activate(listener, LevelsToEventMask(minLevel, maxLevel),
+                             [](unsigned int mask, Event* event) {
+                               event->flags = NT_EVENT_LOGMESSAGE;
+                               return true;
+                             });
 }
 
-NT_LoggerPoller LoggerImpl::CreatePoller() {
+void LoggerImpl::RemoveListener(NT_Listener listener) {
+  --m_listenerCount;
   std::scoped_lock lock{m_mutex};
-  return m_pollers.Add(m_inst)->handle;
-}
-
-void LoggerImpl::DestroyPoller(NT_LoggerPoller pollerHandle) {
-  std::scoped_lock lock{m_mutex};
-  m_pollers.Remove(pollerHandle);
-}
-
-NT_Logger LoggerImpl::AddPolled(NT_LoggerPoller pollerHandle,
-                                unsigned int minLevel, unsigned int maxLevel) {
-  std::scoped_lock lock{m_mutex};
-  if (auto poller = m_pollers.Get(pollerHandle)) {
-    return m_listeners.Add(m_inst, poller, minLevel, maxLevel)->handle;
-  } else {
-    return {};
-  }
-}
-
-std::vector<LogMessage> LoggerImpl::ReadQueue(NT_LoggerPoller pollerHandle) {
-  std::scoped_lock lock{m_mutex};
-  if (auto poller = m_pollers.Get(pollerHandle)) {
-    std::vector<LogMessage> rv;
-    rv.swap(poller->queue);
-    return rv;
-  } else {
-    return {};
-  }
-}
-
-void LoggerImpl::Remove(NT_Logger listenerHandle) {
-  std::scoped_lock lock{m_mutex};
-  m_listeners.Remove(listenerHandle);
-  if (auto thr = m_thread.GetThread()) {
-    thr->m_callbacks.erase(listenerHandle);
-  }
+  std::erase_if(m_listenerLevels,
+                [&](auto& v) { return v.listener == listener; });
 }
 
 unsigned int LoggerImpl::GetMinLevel() {
   // return 0;
+  std::scoped_lock lock{m_mutex};
   unsigned int level = NT_LOG_INFO;
-  for (auto&& listener : m_listeners) {
-    if (listener && listener->minLevel < level) {
-      level = listener->minLevel;
+  for (auto&& listenerLevel : m_listenerLevels) {
+    if (listenerLevel.minLevel < level) {
+      level = listenerLevel.minLevel;
     }
   }
   return level;
@@ -140,19 +142,10 @@ unsigned int LoggerImpl::GetMinLevel() {
 void LoggerImpl::Log(unsigned int level, const char* file, unsigned int line,
                      const char* msg) {
   auto filename = fs::path{file}.filename();
-  {
-    std::scoped_lock lock{m_mutex};
-    if (m_listeners.empty()) {
-      DefaultLogger(level, filename.string().c_str(), line, msg);
-    } else {
-      for (auto&& listener : m_listeners) {
-        if (level >= listener->minLevel && level <= listener->maxLevel) {
-          listener->poller->queue.emplace_back(listener->handle.GetHandle(),
-                                               level, file, line, msg);
-          listener->poller->handle.Set();
-          listener->handle.Set();
-        }
-      }
-    }
+  if (m_listenerCount == 0) {
+    DefaultLogger(level, filename.string().c_str(), line, msg);
+  } else {
+    m_listenerStorage.Notify(LevelToFlag(level), level, filename.string(), line,
+                             msg);
   }
 }

ntcore/src/main/native/cpp/LoggerImpl.h

@@ -4,34 +4,29 @@
 
 #pragma once
 
-#include <utility>
+#include <atomic>
 #include <vector>
 
-#include <wpi/SafeThread.h>
-#include <wpi/Synchronization.h>
 #include <wpi/mutex.h>
 
-#include "Handle.h"
-#include "HandleMap.h"
+#include "IListenerStorage.h"
 #include "ntcore_c.h"
 #include "ntcore_cpp.h"
 
 namespace nt {
 
+class IListenerStorage;
+
 class LoggerImpl {
  public:
-  explicit LoggerImpl(int inst);
+  explicit LoggerImpl(IListenerStorage& listenerStorage);
+  LoggerImpl(const LoggerImpl&) = delete;
+  LoggerImpl& operator=(const LoggerImpl&) = delete;
   ~LoggerImpl();
 
-  NT_Logger Add(std::function<void(const LogMessage& msg)> callback,
-                unsigned int minLevel, unsigned int maxLevel);
-
-  NT_LoggerPoller CreatePoller();
-  void DestroyPoller(NT_LoggerPoller pollerHandle);
-  NT_Logger AddPolled(NT_LoggerPoller pollerHandle, unsigned int minLevel,
-                      unsigned int maxLevel);
-  std::vector<LogMessage> ReadQueue(NT_LoggerPoller pollerHandle);
-  void Remove(NT_Logger listenerHandle);
+  void AddListener(NT_Listener listener, unsigned int minLevel,
+                   unsigned int maxLevel);
+  void RemoveListener(NT_Listener listener);
 
   unsigned int GetMinLevel();
 
@@ -39,38 +34,20 @@ class LoggerImpl {
            const char* msg);
 
  private:
-  int m_inst;
-  mutable wpi::mutex m_mutex;
+  IListenerStorage& m_listenerStorage;
+  std::atomic_int m_listenerCount{0};
+  wpi::mutex m_mutex;
 
-  struct PollerData {
-    static constexpr auto kType = Handle::kLoggerPoller;
+  struct ListenerLevels {
+    ListenerLevels(NT_Listener listener, unsigned int minLevel,
+                   unsigned int maxLevel)
+        : listener{listener}, minLevel{minLevel}, maxLevel{maxLevel} {}
 
-    explicit PollerData(NT_LoggerPoller handle) : handle{handle} {}
-
-    wpi::SignalObject<NT_LoggerPoller> handle;
-    std::vector<LogMessage> queue;
-  };
-  HandleMap<PollerData, 8> m_pollers;
-
-  struct ListenerData {
-    static constexpr auto kType = Handle::kLogger;
-
-    ListenerData(NT_Logger handle, PollerData* poller, unsigned int minLevel,
-                 unsigned int maxLevel)
-        : handle{handle},
-          poller{poller},
-          minLevel{minLevel},
-          maxLevel{maxLevel} {}
-
-    wpi::SignalObject<NT_Logger> handle;
-    PollerData* poller;
+    NT_Listener listener;
     unsigned int minLevel;
     unsigned int maxLevel;
   };
-  HandleMap<ListenerData, 8> m_listeners;
-
-  class Thread;
-  wpi::SafeThreadOwner<Thread> m_thread;
+  std::vector<ListenerLevels> m_listenerLevels;
 };
 
 }  // namespace nt

ntcore/src/main/native/cpp/NetworkClient.cpp

@@ -242,7 +242,9 @@ NCImpl3::~NCImpl3() {
 
 void NCImpl3::HandleLocal() {
   m_localQueue.ReadQueue(&m_localMsgs);
-  m_clientImpl->HandleLocal(m_localMsgs);
+  if (m_clientImpl) {
+    m_clientImpl->HandleLocal(m_localMsgs);
+  }
 }
 
 void NCImpl3::TcpConnected(uv::Tcp& tcp) {
@@ -354,8 +356,10 @@ NCImpl4::NCImpl4(int inst, std::string_view id,
     // set up flush async
     m_flush = uv::Async<>::Create(m_loop);
     m_flush->wakeup.connect([this] {
-      HandleLocal();
-      m_clientImpl->SendValues(m_loop.Now().count());
+      if (m_clientImpl) {
+        HandleLocal();
+        m_clientImpl->SendValues(m_loop.Now().count());
+      }
     });
     m_flushAtomic = m_flush.get();