[wpiutil] Add DataLog and DataLogManager Stop() (#5860)

Restarting a stopped log results in creating a new log file with fresh copies of the same start records and schema data records.

Also check to see if the file has been deleted or if the log file exceeds 1.8 GB, and start a new one.

.github/workflows/cmake.yml

@@ -19,7 +19,8 @@ jobs:
           - os: macOS-12
             name: macOS
             container: ""
-            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON"
+            env: "PATH=\"/usr/local/opt/protobuf@3/bin:$PATH\""
+            flags: "-DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DCMAKE_LIBRARY_PATH=/usr/local/opt/protobuf@3/lib -DProtobuf_INCLUDE_DIR=/usr/local/opt/protobuf@3/include -DProtobuf_PROTOC_EXECUTABLE=/usr/local/opt/protobuf@3/bin/protoc"
 
     name: "Build - ${{ matrix.name }}"
     runs-on: ${{ matrix.os }}
@@ -27,10 +28,14 @@ jobs:
     steps:
       - name: Install dependencies (Linux)
         if: runner.os == 'Linux'
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 ninja-build
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers (Linux)
+        if: runner.os == 'Linux'
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
 
       - name: Install opencv (macOS)
-        run: brew install opencv ninja
+        run: brew install opencv protobuf@3 ninja
         if: runner.os == 'macOS'
 
       - name: Set up Python 3.8 (macOS)
@@ -71,12 +76,6 @@ jobs:
       - name: Install CMake
         uses: lukka/get-cmake@v3.27.6
 
-      - name: Run vcpkg
-        uses: lukka/run-vcpkg@v11.1
-        with:
-          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
-          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
-
       - name: Run sccache-cache
         uses: mozilla-actions/sccache-action@v0.0.3
 
@@ -85,6 +84,12 @@ jobs:
 
       - uses: actions/checkout@v3
 
+      - name: Run vcpkg
+        uses: lukka/run-vcpkg@v11.1
+        with:
+          vcpkgDirectory: ${{ runner.workspace }}/vcpkg
+          vcpkgGitCommitId: 78b61582c9e093fda56a01ebb654be15a0033897 # HEAD on 2023-08-6
+
       - name: configure
         run: cmake -S . -B build -G "Ninja" -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_BUILD_TYPE=Release -DWITH_JAVA=OFF -DWITH_EXAMPLES=ON -DUSE_SYSTEM_FMTLIB=ON -DUSE_SYSTEM_LIBUV=ON -DUSE_SYSTEM_EIGEN=ON -DCMAKE_TOOLCHAIN_FILE=${{ runner.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake -DVCPKG_INSTALL_OPTIONS=--clean-after-build -DVCPKG_TARGET_TRIPLET=x64-windows-release -DVCPKG_HOST_TRIPLET=x64-windows-release
         env:

.github/workflows/comment-command.yml

@@ -9,11 +9,11 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: React Rocket
-        uses: actions/github-script@v4
+        uses: actions/github-script@v6
         with:
           script: |
             const {owner, repo} = context.issue
-            github.reactions.createForIssueComment({
+            github.rest.reactions.createForIssueComment({
               owner,
               repo,
               comment_id: context.payload.comment.id,
@@ -34,7 +34,7 @@ jobs:
           GITHUB_TOKEN: "${{ secrets.COMMENT_COMMAND_PAT_TOKEN }}"
           NUMBER: ${{ github.event.issue.number }}
       - name: Set up Python 3.8
-        uses: actions/setup-python@v2
+        uses: actions/setup-python@v4
         with:
           python-version: 3.8
       - name: Setup Java

.github/workflows/gradle.yml

@@ -193,6 +193,19 @@ jobs:
     needs: [build-docker, build-host, build-documentation]
     runs-on: ubuntu-22.04
     steps:
+      - name: Free Disk Space
+        if: |
+          github.repository_owner == 'wpilibsuite' &&
+          (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
+        uses: jlumbroso/free-disk-space@main
+        with:
+          tool-cache: false
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: false
+          docker-images: false
+          swap-storage: false
       - uses: actions/checkout@v3
         if: |
           github.repository_owner == 'wpilibsuite' &&
@@ -223,7 +236,7 @@ jobs:
           (github.ref == 'refs/heads/main' || startsWith(github.ref, 'refs/tags/v'))
         with:
           distribution: 'zulu'
-          java-version: 11
+          java-version: 17
       - name: Combine (Main)
         if: |
           github.repository_owner == 'wpilibsuite' &&

.github/workflows/sanitizers.yml

@@ -29,7 +29,11 @@ jobs:
     container: wpilib/roborio-cross-ubuntu:2024-22.04
     steps:
       - name: Install Dependencies
-        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14
+        run: sudo apt-get update && sudo apt-get install -y libopencv-dev libopencv4.5-java python-is-python3 clang-14 libprotobuf-dev protobuf-compiler ninja-build
+
+      - name: Install QuickBuffers
+        if: runner.os == 'Linux'
+        run: wget https://github.com/HebiRobotics/QuickBuffers/releases/download/1.3.2/protoc-gen-quickbuf_1.3.2_amd64.deb && sudo apt install ./protoc-gen-quickbuf_1.3.2_amd64.deb
 
       - name: Run sccache-cache
         uses: mozilla-actions/sccache-action@v0.0.3
@@ -40,7 +44,7 @@ jobs:
       - uses: actions/checkout@v3
 
       - name: configure
-        run: mkdir build && cd build && cmake -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 ${{ matrix.cmake-flags }} ..
+        run: mkdir build && cd build && cmake -G Ninja -DCMAKE_C_COMPILER_LAUNCHER=sccache -DCMAKE_CXX_COMPILER_LAUNCHER=sccache -DCMAKE_C_COMPILER:FILEPATH=/usr/bin/clang-14 -DCMAKE_CXX_COMPILER:FILEPATH=/usr/bin/clang++-14 -DWITH_JAVA=OFF ${{ matrix.cmake-flags }} ..
         env:
           SCCACHE_GHA_ENABLED: "true"
 

.github/workflows/upstream-utils.yml

@@ -41,6 +41,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_gcem.py
+      - name: Run update_json.py
+        run: |
+          cd upstream_utils
+          ./update_json.py
       - name: Run update_libuv.py
         run: |
           cd upstream_utils
@@ -61,6 +65,10 @@ jobs:
         run: |
           cd upstream_utils
           ./update_memory.py
+      - name: Run update_protobuf.py
+        run: |
+          cd upstream_utils
+          ./update_protobuf.py
       - name: Add untracked files to index so they count as changes
         run: git add -A
       - name: Check output

.styleguide

@@ -31,6 +31,7 @@ includeOtherLibs {
   ^cscore
   ^fmt/
   ^gtest/
+  ^google/
   ^hal/
   ^imgui
   ^implot

CMakeLists.txt

@@ -55,7 +55,8 @@ ENDIF("${isSystemDir}" STREQUAL "-1")
 
 # Options for building certain parts of the repo. Everything is built by default.
 option(BUILD_SHARED_LIBS "Build with shared libs (needed for JNI)" ON)
-option(WITH_JAVA "Include java and JNI in the build" ON)
+option(WITH_JAVA "Include Java and JNI in the build" ON)
+option(WITH_JAVA_SOURCE "Build Java source jars" ON)
 option(WITH_CSCORE "Build cscore (needs OpenCV)" ON)
 option(WITH_NTCORE "Build ntcore" ON)
 option(WITH_WPIMATH "Build wpimath" ON)
@@ -176,6 +177,12 @@ endif()
 
 find_package(LIBSSH 0.7.1)
 
+find_package(Protobuf REQUIRED)
+find_program(Quickbuf_EXECUTABLE
+    NAMES protoc-gen-quickbuf
+    DOC "The Quickbuf protoc plugin"
+)
+
 if (WITH_FLAT_INSTALL)
 set(WPIUTIL_DEP_REPLACE "include($\{SELF_DIR\}/wpiutil-config.cmake)")
 set(WPINET_DEP_REPLACE "include($\{SELF_DIR\}/wpinet-config.cmake)")

README-CMAKE.md

@@ -18,9 +18,13 @@ By default, all libraries except for the HAL and WPILib get built with a default
 
 ## Prerequisites
 
-The most common prerequisite is going to be OpenCV. OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
+The jinja2 pip package is needed to generate classes for NT4's pubsub.
 
-In addition, if you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
+The protobuf library and compiler are needed for protobuf generation. The QuickBuffers protoc-gen package is also required when Java is being built; this can be obtained from https://github.com/HebiRobotics/QuickBuffers/releases/.
+
+OpenCV needs to be findable by CMake. On systems like the Jetson, this is installed by default. Otherwise, you will need to build OpenCV from source and install it.
+
+If you want JNI and Java, you will need a JDK of at least version 11 installed. In addition, you need a `JAVA_HOME` environment variable set properly and set to the JDK directory.
 
 If you are building with unit tests or simulation modules, you will also need an Internet connection for the initial setup process, as CMake will clone google-test and imgui from GitHub.
 
@@ -30,6 +34,8 @@ The following build options are available:
 
 * `WITH_JAVA` (ON Default)
   * This option will enable Java and JNI builds. If this is on, `WITH_SHARED_LIBS` must be on. Otherwise CMake will error.
+* `WITH_JAVA_SOURCE` (ON Default)
+  * This option will build Java source JARs for each enabled Java library. This does not require `WITH_JAVA` to be on, allowing source JARs to be built without the compiled JARs if desired.
 * `WITH_SHARED_LIBS` (ON Default)
   * This option will cause cmake to build static libraries instead of shared libraries. If this is off, `WITH_JAVA` must be off. Otherwise CMake will error.
 * `WITH_CSCORE` (ON Default)

README.md

@@ -88,9 +88,24 @@ If opening from a fresh clone, generated java dependencies will not exist. Most
 
 `./gradlew build` builds _everything_, which includes debug and release builds for desktop and all installed cross compilers. Many developers don't need or want to build all of this. Therefore, common tasks have shortcuts to only build necessary components for common development and testing tasks.
 
-`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests.
+`./gradlew testDesktopCpp` and `./gradlew testDesktopJava` will build and run the tests for `wpilibc` and `wpilibj` respectively. They will only build the minimum components required to run the tests. `./gradlew testDesktop` will run both `testDesktopJava` and `testDesktopCpp`.
 
-`testDesktopCpp` and `testDesktopJava` tasks also exist for the projects `wpiutil`, `ntcore`, `cscore`, `hal` `wpilibNewCommands` and `cameraserver`. These can be ran with `./gradlew :projectName:task`.
+`testDesktopCpp`, `testDesktopJava`, and `testDesktop` tasks also exist for the following projects:
+
+- `apriltag`
+- `cameraserver`
+- `cscore`
+- `hal`
+- `ntcore`
+- `wpilibNewCommands`
+- `wpimath`
+- `wpinet`
+- `wpiunits`
+- `wpiutil`
+- `romiVendordep`
+- `xrpVendordep`
+
+These can be ran with `./gradlew :projectName:task`.
 
 `./gradlew buildDesktopCpp` and `./gradlew buildDesktopJava` will compile `wpilibcExamples` and `wpilibjExamples` respectively. The results can't be ran, but they can compile.
 

apriltag/CMakeLists.txt

@@ -66,6 +66,21 @@ if (WITH_JAVA)
 
 endif()
 
+if (WITH_JAVA_SOURCE)
+  find_package(Java REQUIRED)
+  include(UseJava)
+  file(GLOB APRILTAG_SOURCES src/main/java/edu/wpi/first/apriltag/*.java)
+  add_jar(apriltag_src_jar
+  RESOURCES NAMESPACE "edu/wpi/first/apriltag" ${APRILTAG_SOURCES}
+  NAMESPACE "edu/wpi/first/apriltag/jni" src/main/java/edu/wpi/first/apriltag/jni/AprilTagJNI.java
+  OUTPUT_NAME apriltag-sources)
+
+  get_property(APRILTAG_SRC_JAR_FILE TARGET apriltag_src_jar PROPERTY JAR_FILE)
+  install(FILES ${APRILTAG_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+  set_property(TARGET apriltag_src_jar PROPERTY FOLDER "java")
+endif()
+
 generate_resources(src/main/native/resources/edu/wpi/first/apriltag generated/main/cpp APRILTAG frc apriltag_resources_src)
 
 file(GLOB apriltag_native_src src/main/native/cpp/*.cpp)

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

@@ -113,6 +113,26 @@ public class AprilTagFieldLayout {
     return new ArrayList<>(m_apriltags.values());
   }
 
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return length, in meters
+   */
+  @JsonIgnore
+  public double getFieldLength() {
+    return m_fieldDimensions.fieldLength;
+  }
+
+  /**
+   * Returns the length of the field the layout is representing in meters.
+   *
+   * @return width, in meters
+   */
+  @JsonIgnore
+  public double getFieldWidth() {
+    return m_fieldDimensions.fieldWidth;
+  }
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame origins. The origins are
    * calculated from the field dimensions.
@@ -152,6 +172,16 @@ public class AprilTagFieldLayout {
     m_origin = origin;
   }
 
+  /**
+   * Returns the origin used for tag pose transformation.
+   *
+   * @return the origin
+   */
+  @JsonIgnore
+  public Pose3d getOrigin() {
+    return m_origin;
+  }
+
   /**
    * Gets an AprilTag pose by its ID.
    *

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

@@ -22,7 +22,7 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::string_view path) {
     throw std::runtime_error(fmt::format("Cannot open file: {}", path));
   }
 
-  wpi::json json = wpi::json::parse({fileBuffer->begin(), fileBuffer->end()});
+  wpi::json json = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
 
   for (const auto& tag : json.at("tags").get<std::vector<AprilTag>>()) {
     m_apriltags[tag.ID] = tag;
@@ -41,6 +41,14 @@ AprilTagFieldLayout::AprilTagFieldLayout(std::vector<AprilTag> apriltags,
   }
 }
 
+units::meter_t AprilTagFieldLayout::GetFieldLength() const {
+  return m_fieldLength;
+}
+
+units::meter_t AprilTagFieldLayout::GetFieldWidth() const {
+  return m_fieldWidth;
+}
+
 void AprilTagFieldLayout::SetOrigin(OriginPosition origin) {
   switch (origin) {
     case OriginPosition::kBlueAllianceWallRightSide:
@@ -59,6 +67,10 @@ void AprilTagFieldLayout::SetOrigin(const Pose3d& origin) {
   m_origin = origin;
 }
 
+Pose3d AprilTagFieldLayout::GetOrigin() const {
+  return m_origin;
+}
+
 std::optional<frc::Pose3d> AprilTagFieldLayout::GetTagPose(int ID) const {
   const auto& it = m_apriltags.find(ID);
   if (it == m_apriltags.end()) {

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

@@ -62,6 +62,18 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
   AprilTagFieldLayout(std::vector<AprilTag> apriltags,
                       units::meter_t fieldLength, units::meter_t fieldWidth);
 
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return length
+   */
+  units::meter_t GetFieldLength() const;
+
+  /**
+   * Returns the length of the field the layout is representing.
+   * @return width
+   */
+  units::meter_t GetFieldWidth() const;
+
   /**
    * Sets the origin based on a predefined enumeration of coordinate frame
    * origins. The origins are calculated from the field dimensions.
@@ -83,6 +95,12 @@ class WPILIB_DLLEXPORT AprilTagFieldLayout {
    */
   void SetOrigin(const Pose3d& origin);
 
+  /**
+   * Returns the origin used for tag pose transformation.
+   * @return the origin
+   */
+  Pose3d GetOrigin() const;
+
   /**
    * Gets an AprilTag pose by its ID.
    *

build.gradle

@@ -24,6 +24,7 @@ plugins {
     id 'com.github.johnrengelman.shadow' version '8.1.1' apply false
     id 'com.diffplug.spotless' version '6.20.0' apply false
     id 'com.github.spotbugs' version '5.1.3' apply false
+    id 'com.google.protobuf' version '0.9.3' apply false
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')

buildSrc/src/main/groovy/WPIJREArtifact.groovy

@@ -28,7 +28,7 @@ public class WPIJREArtifact extends MavenArtifact {
 
     private boolean checkJreVersion = true;
 
-    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2023:17.0.5u7-1"
+    private final String artifactLocation = "edu.wpi.first.jdk:roborio-2024:17.0.9u7-1"
 
     @Inject
     public WPIJREArtifact(String name, RemoteTarget target) {

cameraserver/CMakeLists.txt

@@ -28,6 +28,22 @@ if (WITH_JAVA)
 
 endif()
 
+if (WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB CAMERASERVER_SOURCES src/main/java/edu/wpi/first/cameraserver/*.java)
+    file(GLOB VISION_SOURCES src/main/java/edu/wpi/first/vision/*.java)
+    add_jar(cameraserver_src_jar
+    RESOURCES NAMESPACE "edu/wpi/first/cameraserver" ${CAMERASERVER_SOURCES}
+    NAMESPACE "edu/wpi/first/vision" ${VISION_SOURCES}
+    OUTPUT_NAME cameraserver-sources)
+
+    get_property(CAMERASERVER_SRC_JAR_FILE TARGET cameraserver_src_jar PROPERTY JAR_FILE)
+    install(FILES ${CAMERASERVER_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET cameraserver_src_jar PROPERTY FOLDER "java")
+endif()
+
 file(GLOB_RECURSE
     cameraserver_native_src src/main/native/cpp/*.cpp)
 add_library(cameraserver ${cameraserver_native_src})

cameraserver/multiCameraServer/src/main/native/cpp/main.cpp

@@ -105,7 +105,7 @@ bool ReadConfig() {
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse({fileBuffer->begin(), fileBuffer->end()});
+    j = wpi::json::parse(fileBuffer->begin(), fileBuffer->end());
   } catch (const wpi::json::parse_error& e) {
     fmt::print(stderr, "config error in '{}': byte {}: {}\n", configFile,
                e.byte, e.what());

cscore/CMakeLists.txt

@@ -133,6 +133,22 @@ if (WITH_JAVA)
 
 endif()
 
+if (WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB CSCORE_SOURCES src/main/java/edu/wpi/first/cscore/*.java)
+    file(GLOB CSCORE_RAW_SOURCES src/main/java/edu/wpi/first/cscore/raw/*.java)
+    add_jar(cscore_src_jar
+    RESOURCES NAMESPACE "edu/wpi/first/cscore" ${CSCORE_SOURCES}
+    NAMESPACE "edu/wpi/first/cscore/raw" ${CSCORE_RAW_SOURCES}
+    OUTPUT_NAME cscore-sources)
+
+    get_property(CSCORE_SRC_JAR_FILE TARGET cscore_src_jar PROPERTY JAR_FILE)
+    install(FILES ${CSCORE_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET cscore_src_jar PROPERTY FOLDER "java")
+endif()
+
 if (WITH_TESTS)
     wpilib_add_test(cscore src/test/native/cpp)
     target_link_libraries(cscore_test cscore gmock)

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

@@ -595,7 +595,7 @@ void UsbCameraImpl::DeviceConnect() {
   }
 
   if (m_connectVerbose) {
-    SINFO("Connecting to USB camera on {}", m_path);
+    SINFO("Attempting to connect to USB camera on {}", m_path);
   }
 
   // Try to open the device
@@ -606,6 +606,10 @@ void UsbCameraImpl::DeviceConnect() {
   }
   m_fd = fd;
 
+  if (m_connectVerbose) {
+    SINFO("Connected to USB camera on {}", m_path);
+  }
+
   // Get capabilities
   SDEBUG3("getting capabilities");
   struct v4l2_capability vcap;

cscore/src/main/native/objcpp/UsbCameraImplObjc.mm

@@ -554,7 +554,7 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
   }
 
   std::string pathStr = [self.path UTF8String];
-  OBJCINFO("Connecting to USB camera on {}", pathStr);
+  OBJCINFO("Attempting to connect to USB camera on {}", pathStr);
 
   self.videoDevice = [AVCaptureDevice deviceWithUniqueID:self.path];
   if (self.videoDevice == nil) {
@@ -594,6 +594,8 @@ static cs::VideoMode::PixelFormat FourCCToPixelFormat(FourCharCode fourcc) {
     goto err;
   }
 
+  OBJCINFO("Connected to USB camera on {}", pathStr);
+
   [[NSNotificationCenter defaultCenter]
       addObserver:self
          selector:@selector(sessionRuntimeError:)

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

@@ -499,7 +499,7 @@ bool UsbCameraImpl::DeviceConnect() {
   }
 
   if (m_connectVerbose) {
-    SINFO("Connecting to USB camera on {}", m_path);
+    SINFO("Attempting to connect to USB camera on {}", m_path);
   }
 
   SDEBUG3("opening device");
@@ -526,6 +526,10 @@ bool UsbCameraImpl::DeviceConnect() {
     return false;
   }
 
+  if (m_connectVerbose) {
+    SINFO("Connected to USB camera on {}", m_path);
+  }
+
   CS_Status st = 0;
   auto devices = EnumerateUsbCameras(&st);
 

cscore/src/test/java/edu/wpi/first/cscore/UsbCameraTest.java

@@ -32,7 +32,7 @@ class UsbCameraTest {
 
         assertTimeoutPreemptively(
             Duration.ofSeconds(5),
-            () -> assertTrue(result.get().contains("Connecting to USB camera on ")));
+            () -> assertTrue(result.get().contains("Attempting to connect to USB camera on ")));
       }
     }
 

docs/build.gradle

@@ -121,7 +121,13 @@ doxygen {
         exclude 'wpinet/uv/**'
 
         // json
+        exclude 'wpi/adl_serializer.h'
+        exclude 'wpi/byte_container_with_subtype.h'
+        exclude 'wpi/detail/**'
         exclude 'wpi/json.h'
+        exclude 'wpi/json_fwd.h'
+        exclude 'wpi/ordered_map.h'
+        exclude 'wpi/thirdparty/**'
 
         // memory
         exclude 'wpi/memory/**'
@@ -136,6 +142,8 @@ doxygen {
     //TODO: building memory docs causes search to break
     exclude 'wpi/memory/**'
 
+    exclude '*.pb.h'
+
     aliases 'effects=\\par <i>Effects:</i>^^',
             'notes=\\par <i>Notes:</i>^^',
             'requires=\\par <i>Requires:</i>^^',
@@ -227,6 +235,7 @@ task generateJavaDocs(type: Javadoc) {
     source project(':wpilibj').sourceSets.main.java
     source project(':wpimath').sourceSets.main.java
     source project(':wpinet').sourceSets.main.java
+    source project(':wpiunits').sourceSets.main.java
     source project(':wpiutil').sourceSets.main.java
     source configurations.javaSource.collect { zipTree(it) }
     include '**/*.java'

glass/.styleguide

@@ -24,6 +24,7 @@ includeOtherLibs {
   ^fmt/
   ^fields/
   ^frc/
+  ^google/
   ^imgui
   ^networktables/
   ^ntcore

glass/CMakeLists.txt

@@ -9,7 +9,7 @@ include(LinkMacOSGUI)
 #
 file(GLOB_RECURSE libglass_src src/lib/native/cpp/*.cpp)
 
-add_library(libglass STATIC ${libglass_src})
+add_library(libglass ${libglass_src})
 set_target_properties(libglass PROPERTIES DEBUG_POSTFIX "d" OUTPUT_NAME "glass")
 set_property(TARGET libglass PROPERTY POSITION_INDEPENDENT_CODE ON)
 
@@ -30,7 +30,7 @@ install(DIRECTORY src/lib/native/include/ DESTINATION "${include_dest}/glass")
 #
 file(GLOB_RECURSE libglassnt_src src/libnt/native/cpp/*.cpp)
 
-add_library(libglassnt STATIC ${libglassnt_src})
+add_library(libglassnt ${libglassnt_src})
 set_target_properties(libglassnt PROPERTIES DEBUG_POSTFIX "d" OUTPUT_NAME "glassnt")
 set_property(TARGET libglassnt PROPERTY POSITION_INDEPENDENT_CODE ON)
 

glass/src/lib/native/cpp/Context.cpp

@@ -16,7 +16,6 @@
 #include <wpi/StringExtras.h>
 #include <wpi/fs.h>
 #include <wpi/json.h>
-#include <wpi/json_serializer.h>
 #include <wpi/raw_ostream.h>
 #include <wpi/timestamp.h>
 #include <wpigui.h>
@@ -139,7 +138,7 @@ static bool LoadWindowStorageImpl(const std::string& filename) {
   } else {
     try {
       return JsonToWindow(
-          wpi::json::parse({fileBuffer->begin(), fileBuffer->end()}),
+          wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
           filename.c_str());
     } catch (wpi::json::parse_error& e) {
       ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());
@@ -166,7 +165,7 @@ static bool LoadStorageRootImpl(Context* ctx, const std::string& filename,
     }
     try {
       storage->FromJson(
-          wpi::json::parse({fileBuffer->begin(), fileBuffer->end()}),
+          wpi::json::parse(fileBuffer->begin(), fileBuffer->end()),
           filename.c_str());
     } catch (wpi::json::parse_error& e) {
       ImGui::LogText("Error loading %s: %s", filename.c_str(), e.what());

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

@@ -11,8 +11,8 @@
 
 using namespace glass;
 
-static const char* stations[] = {"Red 1",  "Red 2",  "Red 3",
-                                 "Blue 1", "Blue 2", "Blue 3"};
+static const char* stations[] = {"Invalid", "Red 1",  "Red 2", "Red 3",
+                                 "Blue 1",  "Blue 2", "Blue 3"};
 
 void glass::DisplayFMS(FMSModel* model) {
   if (!model->Exists() || model->IsReadOnly()) {
@@ -41,7 +41,7 @@ void glass::DisplayFMS(FMSModel* model) {
   if (auto data = model->GetAllianceStationIdData()) {
     int val = data->GetValue();
     ImGui::SetNextItemWidth(ImGui::GetFontSize() * 8);
-    if (ImGui::Combo("Alliance Station", &val, stations, 6)) {
+    if (ImGui::Combo("Alliance Station", &val, stations, 7)) {
       model->SetAllianceStationId(val);
     }
     data->EmitDrag();

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

@@ -448,7 +448,7 @@ bool FieldInfo::LoadJson(std::span<const char> is, std::string_view filename) {
   // parse file
   wpi::json j;
   try {
-    j = wpi::json::parse({is.data(), is.size()});
+    j = wpi::json::parse(is);
   } catch (const wpi::json::parse_error& e) {
     fmt::print(stderr, "GUI: JSON: could not parse: {}\n", e.what());
     return false;

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

@@ -14,6 +14,8 @@
 #include <vector>
 
 #include <fmt/format.h>
+#include <google/protobuf/descriptor.h>
+#include <google/protobuf/message.h>
 #include <imgui.h>
 #include <imgui_stdlib.h>
 #include <networktables/NetworkTableInstance.h>
@@ -114,36 +116,37 @@ void NetworkTablesModel::Entry::UpdateInfo(nt::TopicInfo&& info_) {
   }
 }
 
-static void UpdateMsgpackValueSource(NetworkTablesModel::ValueSource* out,
+static void UpdateMsgpackValueSource(NetworkTablesModel& model,
+                                     NetworkTablesModel::ValueSource* out,
                                      mpack_reader_t& r, std::string_view name,
                                      int64_t time) {
   mpack_tag_t tag = mpack_read_tag(&r);
   switch (mpack_tag_type(&tag)) {
     case mpack::mpack_type_bool:
-      out->UpdateFromValue(
-          nt::Value::MakeBoolean(mpack_tag_bool_value(&tag), time), name, "");
+      out->value = nt::Value::MakeBoolean(mpack_tag_bool_value(&tag), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_int:
-      out->UpdateFromValue(
-          nt::Value::MakeInteger(mpack_tag_int_value(&tag), time), name, "");
+      out->value = nt::Value::MakeInteger(mpack_tag_int_value(&tag), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_uint:
-      out->UpdateFromValue(
-          nt::Value::MakeInteger(mpack_tag_uint_value(&tag), time), name, "");
+      out->value = nt::Value::MakeInteger(mpack_tag_uint_value(&tag), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_float:
-      out->UpdateFromValue(
-          nt::Value::MakeFloat(mpack_tag_float_value(&tag), time), name, "");
+      out->value = nt::Value::MakeFloat(mpack_tag_float_value(&tag), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_double:
-      out->UpdateFromValue(
-          nt::Value::MakeDouble(mpack_tag_double_value(&tag), time), name, "");
+      out->value = nt::Value::MakeDouble(mpack_tag_double_value(&tag), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case mpack::mpack_type_str: {
       std::string str;
       mpack_read_str(&r, &tag, &str);
-      out->UpdateFromValue(nt::Value::MakeString(std::move(str), time), name,
-                           "");
+      out->value = nt::Value::MakeString(std::move(str), time);
+      out->UpdateFromValue(model, name, "");
       break;
     }
     case mpack::mpack_type_bin:
@@ -164,7 +167,8 @@ static void UpdateMsgpackValueSource(NetworkTablesModel::ValueSource* out,
           child.path = fmt::format("{}{}", name, child.name);
         }
         ++i;
-        UpdateMsgpackValueSource(&child, r, child.path, time);  // recurse
+        UpdateMsgpackValueSource(model, &child, r, child.path,
+                                 time);  // recurse
       }
       mpack_done_array(&r);
       break;
@@ -186,7 +190,7 @@ static void UpdateMsgpackValueSource(NetworkTablesModel::ValueSource* out,
           auto it = elems.find(key);
           if (it != elems.end()) {
             auto& child = out->valueChildren[it->second];
-            UpdateMsgpackValueSource(&child, r, child.path, time);
+            UpdateMsgpackValueSource(model, &child, r, child.path, time);
             elems.erase(it);
           } else {
             added = true;
@@ -194,7 +198,7 @@ static void UpdateMsgpackValueSource(NetworkTablesModel::ValueSource* out,
             auto& child = out->valueChildren.back();
             child.name = std::move(key);
             child.path = fmt::format("{}/{}", name, child.name);
-            UpdateMsgpackValueSource(&child, r, child.path, time);
+            UpdateMsgpackValueSource(model, &child, r, child.path, time);
           }
         }
       }
@@ -219,7 +223,318 @@ static void UpdateMsgpackValueSource(NetworkTablesModel::ValueSource* out,
   }
 }
 
-static void UpdateJsonValueSource(NetworkTablesModel::ValueSource* out,
+static void UpdateStructValueSource(NetworkTablesModel& model,
+                                    NetworkTablesModel::ValueSource* out,
+                                    const wpi::DynamicStruct& s,
+                                    std::string_view name, int64_t time) {
+  auto desc = s.GetDescriptor();
+  out->typeStr = "struct:" + desc->GetName();
+  auto& fields = desc->GetFields();
+  if (!out->valueChildrenMap || fields.size() != out->valueChildren.size()) {
+    out->valueChildren.clear();
+    out->valueChildrenMap = true;
+    out->valueChildren.reserve(fields.size());
+    for (auto&& field : fields) {
+      out->valueChildren.emplace_back();
+      auto& child = out->valueChildren.back();
+      child.name = field.GetName();
+      child.path = fmt::format("{}/{}", name, child.name);
+    }
+  }
+  auto outIt = out->valueChildren.begin();
+  for (auto&& field : fields) {
+    auto& child = *outIt++;
+    switch (field.GetType()) {
+      case wpi::StructFieldType::kBool:
+        if (field.IsArray()) {
+          std::vector<int> v;
+          v.reserve(field.GetArraySize());
+          for (size_t i = 0; i < field.GetArraySize(); ++i) {
+            v.emplace_back(s.GetBoolField(&field, i));
+          }
+          child.value = nt::Value::MakeBooleanArray(std::move(v), time);
+        } else {
+          child.value = nt::Value::MakeBoolean(s.GetBoolField(&field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case wpi::StructFieldType::kChar:
+        child.value = nt::Value::MakeString(s.GetStringField(&field), time);
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case wpi::StructFieldType::kInt8:
+      case wpi::StructFieldType::kInt16:
+      case wpi::StructFieldType::kInt32:
+      case wpi::StructFieldType::kInt64:
+      case wpi::StructFieldType::kUint8:
+      case wpi::StructFieldType::kUint16:
+      case wpi::StructFieldType::kUint32:
+      case wpi::StructFieldType::kUint64: {
+        bool isUint = field.IsUint();
+        if (field.IsArray()) {
+          std::vector<int64_t> v;
+          v.reserve(field.GetArraySize());
+          for (size_t i = 0; i < field.GetArraySize(); ++i) {
+            if (isUint) {
+              v.emplace_back(s.GetUintField(&field, i));
+            } else {
+              v.emplace_back(s.GetIntField(&field, i));
+            }
+          }
+          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+        } else {
+          if (isUint) {
+            child.value = nt::Value::MakeInteger(s.GetUintField(&field), time);
+          } else {
+            child.value = nt::Value::MakeInteger(s.GetIntField(&field), time);
+          }
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      }
+      case wpi::StructFieldType::kFloat:
+        if (field.IsArray()) {
+          std::vector<float> v;
+          v.reserve(field.GetArraySize());
+          for (size_t i = 0; i < field.GetArraySize(); ++i) {
+            v.emplace_back(s.GetFloatField(&field, i));
+          }
+          child.value = nt::Value::MakeFloatArray(std::move(v), time);
+        } else {
+          child.value = nt::Value::MakeFloat(s.GetFloatField(&field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case wpi::StructFieldType::kDouble:
+        if (field.IsArray()) {
+          std::vector<double> v;
+          v.reserve(field.GetArraySize());
+          for (size_t i = 0; i < field.GetArraySize(); ++i) {
+            v.emplace_back(s.GetDoubleField(&field, i));
+          }
+          child.value = nt::Value::MakeDoubleArray(std::move(v), time);
+        } else {
+          child.value = nt::Value::MakeDouble(s.GetDoubleField(&field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case wpi::StructFieldType::kStruct:
+        if (field.IsArray()) {
+          if (child.valueChildrenMap) {
+            child.valueChildren.clear();
+            child.valueChildrenMap = false;
+          }
+          child.valueChildren.resize(field.GetArraySize());
+          unsigned int i = 0;
+          for (auto&& child2 : child.valueChildren) {
+            if (child2.name.empty()) {
+              child2.name = fmt::format("[{}]", i);
+              child2.path = fmt::format("{}{}", name, child.name);
+            }
+            UpdateStructValueSource(model, &child2, s.GetStructField(&field, i),
+                                    child2.path, time);  // recurse
+            ++i;
+          }
+        } else {
+          UpdateStructValueSource(model, &child, s.GetStructField(&field),
+                                  child.path, time);  // recurse
+        }
+        break;
+    }
+  }
+}
+
+static void UpdateProtobufValueSource(NetworkTablesModel& model,
+                                      NetworkTablesModel::ValueSource* out,
+                                      const google::protobuf::Message& msg,
+                                      std::string_view name, int64_t time) {
+  auto desc = msg.GetDescriptor();
+  out->typeStr = "proto:" + desc->full_name();
+  if (!out->valueChildrenMap ||
+      desc->field_count() != static_cast<int>(out->valueChildren.size())) {
+    out->valueChildren.clear();
+    out->valueChildrenMap = true;
+    out->valueChildren.reserve(desc->field_count());
+    for (int i = 0, end = desc->field_count(); i < end; ++i) {
+      out->valueChildren.emplace_back();
+      auto& child = out->valueChildren.back();
+      child.name = desc->field(i)->name();
+      child.path = fmt::format("{}/{}", name, child.name);
+    }
+  }
+  auto refl = msg.GetReflection();
+  auto outIt = out->valueChildren.begin();
+  for (int fieldNum = 0, end = desc->field_count(); fieldNum < end;
+       ++fieldNum) {
+    auto field = desc->field(fieldNum);
+    auto& child = *outIt++;
+    switch (field->cpp_type()) {
+      case google::protobuf::FieldDescriptor::CPPTYPE_BOOL:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<int> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedBool(msg, field, i));
+          }
+          child.value = nt::Value::MakeBooleanArray(std::move(v), time);
+        } else {
+          child.value = nt::Value::MakeBoolean(refl->GetBool(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_STRING:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<std::string> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedString(msg, field, i));
+          }
+          child.value = nt::Value::MakeStringArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeString(refl->GetString(msg, field), time);
+          child.UpdateFromValue(model, child.path, "");
+        }
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_INT32:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<int64_t> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedInt32(msg, field, i));
+          }
+          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeInteger(refl->GetInt32(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_INT64:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<int64_t> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedInt64(msg, field, i));
+          }
+          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeInteger(refl->GetInt64(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_UINT32:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<int64_t> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedUInt32(msg, field, i));
+          }
+          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeInteger(refl->GetUInt32(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_UINT64:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<int64_t> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedUInt64(msg, field, i));
+          }
+          child.value = nt::Value::MakeIntegerArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeInteger(refl->GetUInt64(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_FLOAT:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<float> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedFloat(msg, field, i));
+          }
+          child.value = nt::Value::MakeFloatArray(std::move(v), time);
+        } else {
+          child.value = nt::Value::MakeFloat(refl->GetFloat(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_DOUBLE:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<double> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedDouble(msg, field, i));
+          }
+          child.value = nt::Value::MakeDoubleArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeDouble(refl->GetDouble(msg, field), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_ENUM:
+        if (field->is_repeated()) {
+          size_t size = refl->FieldSize(msg, field);
+          std::vector<std::string> v;
+          v.reserve(size);
+          for (size_t i = 0; i < size; ++i) {
+            v.emplace_back(refl->GetRepeatedEnum(msg, field, i)->name());
+          }
+          child.value = nt::Value::MakeStringArray(std::move(v), time);
+        } else {
+          child.value =
+              nt::Value::MakeString(refl->GetEnum(msg, field)->name(), time);
+        }
+        child.UpdateFromValue(model, child.path, "");
+        break;
+      case google::protobuf::FieldDescriptor::CPPTYPE_MESSAGE:
+        if (field->is_repeated()) {
+          if (child.valueChildrenMap) {
+            child.valueChildren.clear();
+            child.valueChildrenMap = false;
+          }
+          size_t size = refl->FieldSize(msg, field);
+          child.valueChildren.resize(size);
+          unsigned int i = 0;
+          for (auto&& child2 : child.valueChildren) {
+            if (child2.name.empty()) {
+              child2.name = fmt::format("[{}]", i);
+              child2.path = fmt::format("{}{}", name, child.name);
+            }
+            UpdateProtobufValueSource(model, &child2,
+                                      refl->GetRepeatedMessage(msg, field, i),
+                                      child2.path, time);  // recurse
+            ++i;
+          }
+        } else {
+          UpdateProtobufValueSource(
+              model, &child,
+              refl->GetMessage(msg, field,
+                               model.GetProtobufDatabase().GetMessageFactory()),
+              child.path, time);  // recurse
+        }
+        break;
+    }
+  }
+}
+
+static void UpdateJsonValueSource(NetworkTablesModel& model,
+                                  NetworkTablesModel::ValueSource* out,
                                   const wpi::json& j, std::string_view name,
                                   int64_t time) {
   switch (j.type()) {
@@ -237,7 +552,7 @@ static void UpdateJsonValueSource(NetworkTablesModel::ValueSource* out,
         auto it = elems.find(kv.key());
         if (it != elems.end()) {
           auto& child = out->valueChildren[it->second];
-          UpdateJsonValueSource(&child, kv.value(), child.path, time);
+          UpdateJsonValueSource(model, &child, kv.value(), child.path, time);
           elems.erase(it);
         } else {
           added = true;
@@ -245,7 +560,7 @@ static void UpdateJsonValueSource(NetworkTablesModel::ValueSource* out,
           auto& child = out->valueChildren.back();
           child.name = kv.key();
           child.path = fmt::format("{}/{}", name, child.name);
-          UpdateJsonValueSource(&child, kv.value(), child.path, time);
+          UpdateJsonValueSource(model, &child, kv.value(), child.path, time);
         }
       }
       // erase unmatched keys
@@ -273,30 +588,30 @@ static void UpdateJsonValueSource(NetworkTablesModel::ValueSource* out,
           child.name = fmt::format("[{}]", i);
           child.path = fmt::format("{}{}", name, child.name);
         }
-        UpdateJsonValueSource(&child, j[i++], child.path, time);  // recurse
+        // recurse
+        UpdateJsonValueSource(model, &child, j[i++], child.path, time);
       }
       break;
     }
     case wpi::json::value_t::string:
-      out->UpdateFromValue(
-          nt::Value::MakeString(j.get_ref<const std::string&>(), time), name,
-          "");
+      out->value = nt::Value::MakeString(j.get_ref<const std::string&>(), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case wpi::json::value_t::boolean:
-      out->UpdateFromValue(nt::Value::MakeBoolean(j.get<bool>(), time), name,
-                           "");
+      out->value = nt::Value::MakeBoolean(j.get<bool>(), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case wpi::json::value_t::number_integer:
-      out->UpdateFromValue(nt::Value::MakeInteger(j.get<int64_t>(), time), name,
-                           "");
+      out->value = nt::Value::MakeInteger(j.get<int64_t>(), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case wpi::json::value_t::number_unsigned:
-      out->UpdateFromValue(nt::Value::MakeInteger(j.get<uint64_t>(), time),
-                           name, "");
+      out->value = nt::Value::MakeInteger(j.get<uint64_t>(), time);
+      out->UpdateFromValue(model, name, "");
       break;
     case wpi::json::value_t::number_float:
-      out->UpdateFromValue(nt::Value::MakeDouble(j.get<double>(), time), name,
-                           "");
+      out->value = nt::Value::MakeDouble(j.get<double>(), time);
+      out->UpdateFromValue(model, name, "");
       break;
     default:
       out->value = {};
@@ -336,8 +651,8 @@ void NetworkTablesModel::ValueSource::UpdateDiscreteArray(
 }
 
 void NetworkTablesModel::ValueSource::UpdateFromValue(
-    nt::Value&& v, std::string_view name, std::string_view typeStr) {
-  value = v;
+    NetworkTablesModel& model, std::string_view name,
+    std::string_view typeStr) {
   switch (value.type()) {
     case NT_BOOLEAN:
       UpdateDiscreteSource(name, value.GetBoolean() ? 1 : 0, value.time(),
@@ -381,15 +696,16 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
           child.name = fmt::format("[{}]", i);
           child.path = fmt::format("{}{}", name, child.name);
         }
-        child.UpdateFromValue(nt::Value::MakeString(arr[i++], value.time()),
-                              child.path, "");
+        child.value = nt::Value::MakeString(arr[i++], value.time());
+        child.UpdateFromValue(model, child.path, "");
       }
       break;
     }
     case NT_STRING:
       if (typeStr == "json") {
         try {
-          UpdateJsonValueSource(this, wpi::json::parse(value.GetString()), name,
+          UpdateJsonValueSource(model, this,
+                                wpi::json::parse(value.GetString()), name,
                                 value.last_change());
         } catch (wpi::json::exception&) {
           // ignore
@@ -407,9 +723,57 @@ void NetworkTablesModel::ValueSource::UpdateFromValue(
       if (typeStr == "msgpack") {
         mpack_reader_t r;
         mpack_reader_init_data(&r, value.GetRaw());
-        UpdateMsgpackValueSource(this, r, name, value.last_change());
-
+        UpdateMsgpackValueSource(model, this, r, name, value.last_change());
         mpack_reader_destroy(&r);
+      } else if (wpi::starts_with(typeStr, "struct:")) {
+        auto structName = wpi::drop_front(typeStr, 7);
+        bool isArray = structName.ends_with("[]");
+        if (isArray) {
+          structName = wpi::drop_back(structName, 2);
+        }
+        auto desc = model.m_structDb.Find(structName);
+        if (desc && desc->IsValid()) {
+          if (isArray) {
+            // array of struct at top level
+            if (valueChildrenMap) {
+              valueChildren.clear();
+              valueChildrenMap = false;
+            }
+            auto raw = value.GetRaw();
+            valueChildren.resize(raw.size() / desc->GetSize());
+            unsigned int i = 0;
+            for (auto&& child : valueChildren) {
+              if (child.name.empty()) {
+                child.name = fmt::format("[{}]", i);
+                child.path = fmt::format("{}{}", name, child.name);
+              }
+              wpi::DynamicStruct s{desc, raw};
+              UpdateStructValueSource(model, &child, s, child.path,
+                                      value.last_change());
+              ++i;
+              raw = wpi::drop_front(raw, desc->GetSize());
+            }
+          } else {
+            wpi::DynamicStruct s{desc, value.GetRaw()};
+            UpdateStructValueSource(model, this, s, name, value.last_change());
+          }
+        } else {
+          valueChildren.clear();
+        }
+      } else if (wpi::starts_with(typeStr, "proto:")) {
+        auto msg = model.m_protoDb.Find(wpi::drop_front(typeStr, 6));
+        if (msg) {
+          msg->Clear();
+          auto raw = value.GetRaw();
+          if (msg->ParseFromArray(raw.data(), raw.size())) {
+            UpdateProtobufValueSource(model, this, *msg, name,
+                                      value.last_change());
+          } else {
+            valueChildren.clear();
+          }
+        } else {
+          valueChildren.clear();
+        }
       } else {
         valueChildren.clear();
       }
@@ -473,8 +837,8 @@ void NetworkTablesModel::Update() {
     } 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);
+        entry->value = std::move(valueData->value);
+        entry->UpdateFromValue(*this);
         if (wpi::starts_with(entry->info.name, '$') && entry->value.IsRaw() &&
             entry->info.type_str == "msgpack") {
           // meta topic handling
@@ -499,6 +863,50 @@ void NetworkTablesModel::Update() {
               it->second.UpdateSubscribers(entry->value.GetRaw());
             }
           }
+        } else if (entry->value.IsRaw() &&
+                   wpi::starts_with(entry->info.name, "/.schema/struct:") &&
+                   entry->info.type_str == "structschema") {
+          // struct schema handling
+          auto typeStr = wpi::drop_front(entry->info.name, 16);
+          std::string_view schema{
+              reinterpret_cast<const char*>(entry->value.GetRaw().data()),
+              entry->value.GetRaw().size()};
+          std::string err;
+          auto desc = m_structDb.Add(typeStr, schema, &err);
+          if (!desc) {
+            fmt::print("could not decode struct '{}' schema '{}': {}\n",
+                       entry->info.name, schema, err);
+          } else if (desc->IsValid()) {
+            // loop over all entries with this type and update
+            for (auto&& entryPair : m_entries) {
+              auto ts = entryPair.second->info.type_str;
+              if (!wpi::starts_with(ts, "struct:")) {
+                continue;
+              }
+              ts = wpi::drop_front(ts, 7);
+              if (ts == typeStr || (wpi::ends_with(ts, "[]") &&
+                                    wpi::drop_back(ts, 2) == typeStr)) {
+                entryPair.second->UpdateFromValue(*this);
+              }
+            }
+          }
+        } else if (entry->value.IsRaw() &&
+                   wpi::starts_with(entry->info.name, "/.schema/proto:") &&
+                   entry->info.type_str == "proto:FileDescriptorProto") {
+          // protobuf descriptor handling
+          auto filename = wpi::drop_front(entry->info.name, 15);
+          if (!m_protoDb.Add(filename, entry->value.GetRaw())) {
+            fmt::print("could not decode protobuf '{}' filename '{}'\n",
+                       entry->info.name, filename);
+          } else {
+            // loop over all protobuf entries and update (conservatively)
+            for (auto&& entryPair : m_entries) {
+              auto& ts = entryPair.second->info.type_str;
+              if (wpi::starts_with(ts, "proto:")) {
+                entryPair.second->UpdateFromValue(*this);
+              }
+            }
+          }
         }
       }
     }
@@ -663,24 +1071,89 @@ void NetworkTablesModel::UpdateClients(std::span<const uint8_t> data) {
   m_clients = std::move(newClients);
 }
 
+static bool GetHeadingTypeString(std::string_view* ts) {
+  if (wpi::starts_with(*ts, "proto:")) {
+    *ts = wpi::drop_front(*ts, 6);
+    auto lastdot = ts->rfind('.');
+    if (lastdot != std::string_view::npos) {
+      *ts = wpi::substr(*ts, lastdot + 1);
+    }
+    if (wpi::starts_with(*ts, "Protobuf")) {
+      *ts = wpi::drop_front(*ts, 8);
+    }
+    return true;
+  } else if (wpi::starts_with(*ts, "struct:")) {
+    *ts = wpi::drop_front(*ts, 7);
+    return true;
+  }
+  return false;
+}
+
+static const char* GetShortTypeString(std::string_view ts) {
+  if (wpi::starts_with(ts, "proto:")) {
+    return "protobuf";
+  } else if (wpi::starts_with(ts, "struct:")) {
+    return "struct";
+  } else {
+    return ts.data();
+  }
+}
+
+static const char* GetTypeString(NT_Type type, const char* overrideTypeStr) {
+  if (overrideTypeStr) {
+    return GetShortTypeString(overrideTypeStr);
+  }
+  switch (type) {
+    case NT_BOOLEAN:
+      return "boolean";
+    case NT_INTEGER:
+      return "int";
+    case NT_FLOAT:
+      return "float";
+    case NT_DOUBLE:
+      return "double";
+    case NT_STRING:
+      return "string";
+    case NT_BOOLEAN_ARRAY:
+      return "boolean[]";
+    case NT_INTEGER_ARRAY:
+      return "int[]";
+    case NT_FLOAT_ARRAY:
+      return "float[]";
+    case NT_DOUBLE_ARRAY:
+      return "double[]";
+    case NT_STRING_ARRAY:
+      return "string[]";
+    case NT_RAW:
+      return "raw";
+    case NT_RPC:
+      return "rpc";
+    default:
+      return "other";
+  }
+}
+
 static void EmitEntryValueReadonly(const NetworkTablesModel::ValueSource& entry,
-                                   const char* typeStr,
+                                   const char* overrideTypeStr,
                                    NetworkTablesFlags flags) {
   auto& val = entry.value;
   if (!val) {
     return;
   }
 
+  const char* typeStr = GetTypeString(val.type(), overrideTypeStr);
+  ImGui::SetNextItemWidth(
+      -1 * (ImGui::CalcTextSize(typeStr).x + ImGui::GetStyle().FramePadding.x));
+
   switch (val.type()) {
     case NT_BOOLEAN:
-      ImGui::LabelText(typeStr ? typeStr : "boolean", "%s",
-                       val.GetBoolean() ? "true" : "false");
+      ImGui::LabelText(typeStr, "%s", val.GetBoolean() ? "true" : "false");
       break;
     case NT_INTEGER:
-      ImGui::LabelText(typeStr ? typeStr : "int", "%" PRId64, val.GetInteger());
+      ImGui::LabelText(typeStr, "%" PRId64, val.GetInteger());
       break;
     case NT_FLOAT:
-      ImGui::LabelText(typeStr ? typeStr : "double", "%.6f", val.GetFloat());
+      ImGui::LabelText(typeStr, "%.6f", val.GetFloat());
       break;
     case NT_DOUBLE: {
       unsigned char precision = (flags & NetworkTablesFlags_Precision) >>
@@ -689,8 +1162,7 @@ static void EmitEntryValueReadonly(const NetworkTablesModel::ValueSource& entry,
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wformat-nonliteral"
 #endif
-      ImGui::LabelText(typeStr ? typeStr : "double",
-                       fmt::format("%.{}f", precision).c_str(),
+      ImGui::LabelText(typeStr, fmt::format("%.{}f", precision).c_str(),
                        val.GetDouble());
 #ifdef __GNUC__
 #pragma GCC diagnostic pop
@@ -698,30 +1170,30 @@ static void EmitEntryValueReadonly(const NetworkTablesModel::ValueSource& entry,
       break;
     }
     case NT_STRING: {
-      ImGui::LabelText(typeStr ? typeStr : "string", "%s",
-                       entry.valueStr.c_str());
+      ImGui::LabelText(typeStr, "%s", entry.valueStr.c_str());
       break;
     }
     case NT_BOOLEAN_ARRAY:
-      ImGui::LabelText(typeStr ? typeStr : "boolean[]", "[]");
-      break;
     case NT_INTEGER_ARRAY:
-      ImGui::LabelText(typeStr ? typeStr : "int[]", "[]");
-      break;
     case NT_FLOAT_ARRAY:
-      ImGui::LabelText(typeStr ? typeStr : "float[]", "[]");
-      break;
     case NT_DOUBLE_ARRAY:
-      ImGui::LabelText(typeStr ? typeStr : "double[]", "[]");
-      break;
     case NT_STRING_ARRAY:
-      ImGui::LabelText(typeStr ? typeStr : "string[]", "[]");
+      ImGui::LabelText(typeStr, "[]");
       break;
-    case NT_RAW:
-      ImGui::LabelText(typeStr ? typeStr : "raw", "[...]");
+    case NT_RAW: {
+      ImGui::LabelText(typeStr, val.GetRaw().empty() ? "[]" : "[...]");
+      if (ImGui::IsItemHovered()) {
+        ImGui::BeginTooltip();
+        if (overrideTypeStr) {
+          ImGui::TextUnformatted(overrideTypeStr);
+        }
+        ImGui::Text("%u bytes", static_cast<unsigned int>(val.GetRaw().size()));
+        ImGui::EndTooltip();
+      }
       break;
+    }
     default:
-      ImGui::LabelText(typeStr ? typeStr : "other", "?");
+      ImGui::LabelText(typeStr, "?");
       break;
   }
 }
@@ -883,14 +1355,18 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
     return;
   }
 
-  const char* typeStr =
-      entry.info.type_str.empty() ? nullptr : entry.info.type_str.c_str();
+  const char* typeStr = GetTypeString(
+      val.type(),
+      entry.info.type_str.empty() ? nullptr : entry.info.type_str.c_str());
+  ImGui::SetNextItemWidth(
+      -1 * (ImGui::CalcTextSize(typeStr).x + ImGui::GetStyle().FramePadding.x));
+
   ImGui::PushID(entry.info.name.c_str());
   switch (val.type()) {
     case NT_BOOLEAN: {
       static const char* boolOptions[] = {"false", "true"};
       int v = val.GetBoolean() ? 1 : 0;
-      if (ImGui::Combo(typeStr ? typeStr : "boolean", &v, boolOptions, 2)) {
+      if (ImGui::Combo(typeStr, &v, boolOptions, 2)) {
         if (entry.publisher == 0) {
           entry.publisher =
               nt::Publish(entry.info.topic, NT_BOOLEAN, "boolean");
@@ -901,9 +1377,8 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
     }
     case NT_INTEGER: {
       int64_t v = val.GetInteger();
-      if (ImGui::InputScalar(typeStr ? typeStr : "int", ImGuiDataType_S64, &v,
-                             nullptr, nullptr, nullptr,
-                             ImGuiInputTextFlags_EnterReturnsTrue)) {
+      if (ImGui::InputScalar(typeStr, ImGuiDataType_S64, &v, nullptr, nullptr,
+                             nullptr, ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (entry.publisher == 0) {
           entry.publisher = nt::Publish(entry.info.topic, NT_INTEGER, "int");
         }
@@ -913,7 +1388,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
     }
     case NT_FLOAT: {
       float v = val.GetFloat();
-      if (ImGui::InputFloat(typeStr ? typeStr : "float", &v, 0, 0, "%.6f",
+      if (ImGui::InputFloat(typeStr, &v, 0, 0, "%.6f",
                             ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (entry.publisher == 0) {
           entry.publisher = nt::Publish(entry.info.topic, NT_FLOAT, "float");
@@ -930,7 +1405,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wformat-nonliteral"
 #endif
-      if (ImGui::InputDouble(typeStr ? typeStr : "double", &v, 0, 0,
+      if (ImGui::InputDouble(typeStr, &v, 0, 0,
                              fmt::format("%.{}f", precision).c_str(),
                              ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (entry.publisher == 0) {
@@ -945,7 +1420,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
     }
     case NT_STRING: {
       char* v = GetTextBuffer(entry.valueStr);
-      if (ImGui::InputText(typeStr ? typeStr : "string", v, kTextBufferSize,
+      if (ImGui::InputText(typeStr, v, kTextBufferSize,
                            ImGuiInputTextFlags_EnterReturnsTrue)) {
         if (v[0] == '"') {
           if (entry.publisher == 0) {
@@ -960,7 +1435,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       break;
     }
     case NT_BOOLEAN_ARRAY:
-      ImGui::LabelText("boolean[]", "[]");
+      ImGui::LabelText(typeStr, "[]");
       if (ImGui::BeginPopupContextItem("boolean[]")) {
         if (ImGui::Selectable("Edit Array")) {
           gArrayEditor =
@@ -973,7 +1448,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       }
       break;
     case NT_INTEGER_ARRAY:
-      ImGui::LabelText("int[]", "[]");
+      ImGui::LabelText(typeStr, "[]");
       if (ImGui::BeginPopupContextItem("int[]")) {
         if (ImGui::Selectable("Edit Array")) {
           gArrayEditor =
@@ -986,7 +1461,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       }
       break;
     case NT_FLOAT_ARRAY:
-      ImGui::LabelText("float[]", "[]");
+      ImGui::LabelText(typeStr, "[]");
       if (ImGui::BeginPopupContextItem("float[]")) {
         if (ImGui::Selectable("Edit Array")) {
           gArrayEditor =
@@ -998,7 +1473,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       }
       break;
     case NT_DOUBLE_ARRAY:
-      ImGui::LabelText("double[]", "[]");
+      ImGui::LabelText(typeStr, "[]");
       if (ImGui::BeginPopupContextItem("double[]")) {
         if (ImGui::Selectable("Edit Array")) {
           gArrayEditor =
@@ -1010,7 +1485,7 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
       }
       break;
     case NT_STRING_ARRAY:
-      ImGui::LabelText("string[]", "[]");
+      ImGui::LabelText(typeStr, "[]");
       if (ImGui::BeginPopupContextItem("string[]")) {
         if (ImGui::Selectable("Edit Array")) {
           gArrayEditor =
@@ -1022,15 +1497,23 @@ static void EmitEntryValueEditable(NetworkTablesModel* model,
         break;
       }
       break;
-    case NT_RAW:
-      ImGui::LabelText(typeStr ? typeStr : "raw",
-                       val.GetRaw().empty() ? "[]" : "[...]");
+    case NT_RAW: {
+      ImGui::LabelText(typeStr, val.GetRaw().empty() ? "[]" : "[...]");
+      if (ImGui::IsItemHovered()) {
+        ImGui::BeginTooltip();
+        if (!entry.info.type_str.empty()) {
+          ImGui::TextUnformatted(entry.info.type_str.c_str());
+        }
+        ImGui::Text("%u bytes", static_cast<unsigned int>(val.GetRaw().size()));
+        ImGui::EndTooltip();
+      }
       break;
+    }
     case NT_RPC:
-      ImGui::LabelText(typeStr ? typeStr : "rpc", "[...]");
+      ImGui::LabelText(typeStr, "[...]");
       break;
     default:
-      ImGui::LabelText(typeStr ? typeStr : "other", "?");
+      ImGui::LabelText(typeStr, "?");
       break;
   }
   ImGui::PopID();
@@ -1164,15 +1647,25 @@ static void EmitValueTree(
 
     ImGui::TableNextColumn();
     if (!child.valueChildren.empty()) {
-      char label[64];
-      if (child.valueChildrenMap) {
-        wpi::format_to_n_c_str(label, sizeof(label), "{{...}}##v_{}",
-                               child.name);
-      } else {
-        wpi::format_to_n_c_str(label, sizeof(label), "[...]##v_{}", child.name);
+      auto pos = ImGui::GetCursorPos();
+      char label[128];
+      std::string_view ts = child.typeStr;
+      bool havePopup = GetHeadingTypeString(&ts);
+      wpi::format_to_n_c_str(label, sizeof(label), "{}##v_{}", ts.data(),
+                             child.name.c_str());
+      bool valueChildrenOpen =
+          TreeNodeEx(label, ImGuiTreeNodeFlags_SpanFullWidth);
+      if (havePopup) {
+        if (ImGui::IsItemHovered()) {
+          ImGui::BeginTooltip();
+          ImGui::TextUnformatted(child.typeStr.c_str());
+          ImGui::EndTooltip();
+        }
       }
-
-      if (TreeNodeEx(label, ImGuiTreeNodeFlags_SpanFullWidth)) {
+      // make it look like a normal label w/type
+      ImGui::SetCursorPos(pos);
+      ImGui::LabelText(child.valueChildrenMap ? "{...}" : "[...]", "%s", "");
+      if (valueChildrenOpen) {
         EmitValueTree(child.valueChildren, flags);
         TreePop();
       }
@@ -1197,22 +1690,29 @@ static void EmitEntry(NetworkTablesModel* model,
   ImGui::TableNextColumn();
   if (!entry.valueChildren.empty()) {
     auto pos = ImGui::GetCursorPos();
-
-    char label[64];
-    if (entry.valueChildrenMap) {
-      wpi::format_to_n_c_str(label, sizeof(label), "{{...}}##v_{}",
-                             entry.info.name.c_str());
-    } else {
-      wpi::format_to_n_c_str(label, sizeof(label), "[...]##v_{}",
-                             entry.info.name.c_str());
-    }
-
+    char label[128];
+    std::string_view ts = entry.info.type_str;
+    bool havePopup = GetHeadingTypeString(&ts);
+    wpi::format_to_n_c_str(label, sizeof(label), "{}##v_{}", ts.data(),
+                           entry.info.name.c_str());
     valueChildrenOpen =
         TreeNodeEx(label, ImGuiTreeNodeFlags_SpanFullWidth |
                               ImGuiTreeNodeFlags_AllowItemOverlap);
+    if (havePopup) {
+      if (ImGui::IsItemHovered()) {
+        ImGui::BeginTooltip();
+        ImGui::TextUnformatted(entry.info.type_str.c_str());
+        ImGui::EndTooltip();
+      }
+    }
     // make it look like a normal label w/type
+    const char* typeStr = GetTypeString(
+        NT_RAW,
+        entry.info.type_str.empty() ? nullptr : entry.info.type_str.c_str());
     ImGui::SetCursorPos(pos);
-    ImGui::LabelText(entry.info.type_str.c_str(), "%s", "");
+    ImGui::SetNextItemWidth(-1 * (ImGui::CalcTextSize(typeStr).x +
+                                  ImGui::GetStyle().FramePadding.x));
+    ImGui::LabelText(typeStr, "%s", "");
     if ((entry.value.IsBooleanArray() || entry.value.IsFloatArray() ||
          entry.value.IsDoubleArray() || entry.value.IsIntegerArray() ||
          entry.value.IsStringArray()) &&

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

@@ -18,6 +18,8 @@
 #include <ntcore_cpp.h>
 #include <wpi/DenseMap.h>
 #include <wpi/json.h>
+#include <wpi/protobuf/ProtobufMessageDatabase.h>
+#include <wpi/struct/DynamicStruct.h>
 
 #include "glass/Model.h"
 #include "glass/View.h"
@@ -31,7 +33,7 @@ class NetworkTablesModel : public Model {
   struct EntryValueTreeNode;
 
   struct ValueSource {
-    void UpdateFromValue(nt::Value&& v, std::string_view name,
+    void UpdateFromValue(NetworkTablesModel& model, std::string_view name,
                          std::string_view typeStr);
 
     /** The latest value. */
@@ -40,6 +42,9 @@ class NetworkTablesModel : public Model {
     /** String representation of the value (for arrays / complex values). */
     std::string valueStr;
 
+    /** Data type */
+    std::string typeStr;
+
     /** Data source (for numeric values). */
     std::unique_ptr<DataSource> source;
 
@@ -73,6 +78,10 @@ class NetworkTablesModel : public Model {
     Entry& operator=(const Entry&) = delete;
     ~Entry();
 
+    void UpdateFromValue(NetworkTablesModel& model) {
+      ValueSource::UpdateFromValue(model, info.name, info.type_str);
+    }
+
     void UpdateTopic(nt::Event&& event) {
       if (std::holds_alternative<nt::TopicInfo>(event.data)) {
         UpdateInfo(std::get<nt::TopicInfo>(std::move(event.data)));
@@ -158,6 +167,9 @@ class NetworkTablesModel : public Model {
   Entry* GetEntry(std::string_view name);
   Entry* AddEntry(NT_Topic topic);
 
+  wpi::StructDescriptorDatabase& GetStructDatabase() { return m_structDb; }
+  wpi::ProtobufMessageDatabase& GetProtobufDatabase() { return m_protoDb; }
+
  private:
   void RebuildTree();
   void RebuildTreeImpl(std::vector<TreeNode>* tree, int category);
@@ -177,6 +189,9 @@ class NetworkTablesModel : public Model {
 
   std::map<std::string, Client, std::less<>> m_clients;
   Client m_server;
+
+  wpi::StructDescriptorDatabase m_structDb;
+  wpi::ProtobufMessageDatabase m_protoDb;
 };
 
 using NetworkTablesFlags = int;

hal/CMakeLists.txt

@@ -80,12 +80,10 @@ if (WITH_JAVA)
 
     file(GLOB_RECURSE hal_shared_jni_src src/main/native/cpp/jni/*.cpp)
 
-    file(GLOB_RECURSE JAVA_SOURCES
-        ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java
-        src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
-    add_jar(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
+    add_jar(hal_jar ${JAVA_SOURCES} ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
 
     get_property(HAL_JAR_FILE TARGET hal_jar PROPERTY JAR_FILE)
     install(FILES ${HAL_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -112,6 +110,27 @@ if (WITH_JAVA)
 
 endif()
 
+if (WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB HAL_SOURCES src/main/java/edu/wpi/first/hal/*.java ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java)
+    file(GLOB HAL_CAN_SOURCES src/main/java/edu/wpi/first/hal/can/*.java)
+    file(GLOB HAL_SIMULATION_SOURCES src/main/java/edu/wpi/first/hal/simulation/*.java)
+    file(GLOB HAL_UTIL_SOURCES src/main/java/edu/wpi/first/hal/util/*.java)
+    add_jar(hal_src_jar
+    RESOURCES NAMESPACE "edu/wpi/first/hal" ${HAL_SOURCES}
+    NAMESPACE "edu/wpi/first/hal/can" ${HAL_CAN_SOURCES}
+    NAMESPACE "edu/wpi/first/hal/communication" src/main/java/edu/wpi/first/hal/communication/NIRioStatus.java
+    NAMESPACE "edu/wpi/first/hal/simulation" ${HAL_SIMULATION_SOURCES}
+    NAMESPACE "edu/wpi/first/hal/util" ${HAL_UTIL_SOURCES}
+    OUTPUT_NAME wpiHal-sources)
+
+    get_property(HAL_SRC_JAR_FILE TARGET hal_src_jar PROPERTY JAR_FILE)
+    install(FILES ${HAL_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET hal_src_jar PROPERTY FOLDER "java")
+endif()
+
 if (WITH_TESTS)
     wpilib_add_test(hal src/test/native/cpp)
     target_link_libraries(hal_test hal gtest)

hal/src/generate/ResourceType.txt

@@ -92,4 +92,11 @@ kResourceType_TrapezoidProfile = 90
 kResourceType_DutyCycle = 91
 kResourceType_AddressableLEDs = 92
 kResourceType_FusionVenom = 93
-kResourceType_PS4Controller = 94
+kResourceType_CTRE_future7 = 94
+kResourceType_CTRE_future8 = 95
+kResourceType_CTRE_future9 = 96
+kResourceType_CTRE_future10 = 97
+kResourceType_CTRE_future11 = 98
+kResourceType_CTRE_future12 = 99
+kResourceType_CTRE_future13 = 100
+kResourceType_CTRE_future14 = 101

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

@@ -102,8 +102,11 @@ void JoystickDataCache::Update() {
     HAL_GetJoystickPOVsInternal(i, &povs[i]);
     HAL_GetJoystickButtonsInternal(i, &buttons[i]);
   }
-  FRC_NetworkCommunication_getAllianceStation(
-      reinterpret_cast<AllianceStationID_t*>(&allianceStation));
+  AllianceStationID_t alliance = kAllianceStationID_red1;
+  FRC_NetworkCommunication_getAllianceStation(&alliance);
+  int allianceInt = alliance;
+  allianceInt += 1;
+  allianceStation = static_cast<HAL_AllianceStationID>(allianceInt);
   FRC_NetworkCommunication_getMatchTime(&matchTime);
   FRC_NetworkCommunication_getControlWord(
       reinterpret_cast<ControlWord_t*>(&controlWord));

hal/src/main/native/athena/mockdata/RoboRioData.cpp

@@ -29,7 +29,7 @@ DEFINE_CAPI(int32_t, UserFaults5V, 0)
 DEFINE_CAPI(int32_t, UserFaults3V3, 0)
 DEFINE_CAPI(double, BrownoutVoltage, 6.75)
 DEFINE_CAPI(double, CPUTemp, 45.0)
-DEFINE_CAPI(int32_t, TeamNumber, 0);
+DEFINE_CAPI(int32_t, TeamNumber, 0)
 
 int32_t HALSIM_RegisterRoboRioSerialNumberCallback(
     HAL_RoboRioStringCallback callback, void* param, HAL_Bool initialNotify) {

hal/src/main/native/include/hal/CANAPITypes.h

@@ -56,7 +56,9 @@ HAL_ENUM(HAL_CANManufacturer) {
   HAL_CAN_Man_kPWF = 11,
   HAL_CAN_Man_kStudica = 12,
   HAL_CAN_Man_kTheThriftyBot = 13,
-  HAL_CAN_Man_kReduxRobotics = 14
+  HAL_CAN_Man_kReduxRobotics = 14,
+  HAL_CAN_Man_kAndyMark = 15,
+  HAL_CAN_Man_kVividHosting = 16
 };
 // clang-format on
 /** @} */

hal/src/main/native/include/hal/PWM.h

@@ -205,7 +205,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
                            int32_t* status);
 
 /**
- * Sets the PWM output to be a continous high signal while enabled.
+ * Sets the PWM output to be a continuous high signal while enabled.
  *
  * @param[in] pwmPortHandle the PWM handle.
  * @param[out] status       Error status variable. 0 on success.

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

@@ -194,7 +194,7 @@ int32_t HAL_GetControlWord(HAL_ControlWord* controlWord) {
 
 HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
   if (gShutdown) {
-    return HAL_AllianceStationID_kRed1;
+    return HAL_AllianceStationID_kUnknown;
   }
   std::scoped_lock lock{driverStation->cacheMutex};
   return currentRead->allianceStation;

imgui/CMakeLists.txt

@@ -69,15 +69,19 @@ endif()
 file(GLOB imgui_sources ${imgui_SOURCE_DIR}/*.cpp ${imgui_SOURCE_DIR}/misc/cpp/*.cpp)
 file(GLOB implot_sources ${implot_SOURCE_DIR}/*.cpp)
 file(GLOB fonts_sources ${fonts_SOURCE_DIR}/src/*.cpp)
-add_library(imgui STATIC
+set(imgui_all_sources
     ${imgui_sources}
     ${implot_sources}
     ${imgui_SOURCE_DIR}/backends/imgui_impl_glfw.cpp
     ${imgui_SOURCE_DIR}/backends/imgui_impl_opengl3.cpp
     ${gl3w_BINARY_DIR}/src/gl3w.c
     ${fonts_sources}
-    src/stb_image.cpp
-)
+    src/stb_image.cpp)
+if (MSVC)
+  add_library(imgui STATIC ${imgui_all_sources})
+else()
+  add_library(imgui ${imgui_all_sources})
+endif()
 target_compile_definitions(imgui PUBLIC IMGUI_IMPL_OPENGL_LOADER_GL3W)
 if (MSVC)
     target_sources(imgui PRIVATE ${imgui_SOURCE_DIR}/backends/imgui_impl_dx11.cpp)

ntcore/CMakeLists.txt

@@ -54,6 +54,11 @@ if (WITH_JAVA)
     include(UseJava)
     set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
 
+    file(GLOB QUICKBUF_JAR
+        ${WPILIB_BINARY_DIR}/wpiutil/thirdparty/quickbuf/*.jar)
+
+    set(CMAKE_JAVA_INCLUDE_PATH wpimath.jar ${QUICKBUF_JAR})
+
     file(GLOB ntcore_jni_src
         src/main/native/cpp/jni/*.cpp
         ${WPILIB_BINARY_DIR}/ntcore/generated/main/native/cpp/jni/*.cpp)
@@ -85,6 +90,20 @@ if (WITH_JAVA)
 
 endif()
 
+if (WITH_JAVA_SOURCE)
+    find_package(Java REQUIRED)
+    include(UseJava)
+    file(GLOB NTCORE_SOURCES src/main/java/edu/wpi/first/networktables/*.java ${WPILIB_BINARY_DIR}/ntcore/generated/*.java)
+    add_jar(ntcore_src_jar
+    RESOURCES NAMESPACE "edu/wpi/first/networktables" ${NTCORE_SOURCES}
+    OUTPUT_NAME ntcore-sources)
+
+    get_property(NTCORE_SRC_JAR_FILE TARGET ntcore_src_jar PROPERTY JAR_FILE)
+    install(FILES ${NTCORE_SRC_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+    set_property(TARGET ntcore_src_jar PROPERTY FOLDER "java")
+endif()
+
 add_executable(ntcoredev src/dev/native/cpp/main.cpp)
 wpilib_target_warnings(ntcoredev)
 target_link_libraries(ntcoredev ntcore)

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

@@ -7,16 +7,22 @@ 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 edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
+import java.nio.charset.StandardCharsets;
 import java.util.EnumSet;
 import java.util.HashMap;
+import java.util.HashSet;
 import java.util.Map;
 import java.util.OptionalLong;
+import java.util.Set;
 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;
+import us.hebi.quickbuf.ProtoMessage;
 
 /**
  * NetworkTables Instance.
@@ -86,6 +92,7 @@ public final class NetworkTableInstance implements AutoCloseable {
   public synchronized void close() {
     if (m_owned && m_handle != 0) {
       m_listeners.close();
+      m_schemas.forEach((k, v) -> v.close());
       NetworkTablesJNI.destroyInstance(m_handle);
       m_handle = 0;
     }
@@ -176,15 +183,119 @@ public final class NetworkTableInstance implements AutoCloseable {
       handle = topic.getHandle();
     }
 
-    topic = new {{ t.TypeName }}Topic(this, handle);
-    m_topics.put(name, topic);
+    {{ t.TypeName }}Topic wrapTopic = new {{ t.TypeName }}Topic(this, handle);
+    m_topics.put(name, wrapTopic);
 
     // also cache by handle
-    m_topicsByHandle.put(handle, topic);
+    m_topicsByHandle.put(handle, wrapTopic);
 
-    return ({{ t.TypeName }}Topic) topic;
+    return wrapTopic;
   }
 {% endfor %}
+
+  /**
+   * Get protobuf-encoded value topic.
+   *
+   * @param <T> value class (inferred from proto)
+   * @param <MessageType> protobuf message type (inferred from proto)
+   * @param name topic name
+   * @param proto protobuf serialization implementation
+   * @return ProtobufTopic
+   */
+  public <T, MessageType extends ProtoMessage<?>>
+      ProtobufTopic<T> getProtobufTopic(String name, Protobuf<T, MessageType> proto) {
+    Topic topic = m_topics.get(name);
+    if (topic instanceof ProtobufTopic<?>
+        && ((ProtobufTopic<?>) topic).getProto().equals(proto)) {
+      @SuppressWarnings("unchecked")
+      ProtobufTopic<T> wrapTopic = (ProtobufTopic<T>) topic;
+      return wrapTopic;
+    }
+
+    int handle;
+    if (topic == null) {
+      handle = NetworkTablesJNI.getTopic(m_handle, name);
+    } else {
+      handle = topic.getHandle();
+    }
+
+    ProtobufTopic<T> wrapTopic = ProtobufTopic.wrap(this, handle, proto);
+    m_topics.put(name, wrapTopic);
+
+    // also cache by handle
+    m_topicsByHandle.put(handle, wrapTopic);
+
+    return wrapTopic;
+  }
+
+  /**
+   * Get struct-encoded value topic.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param name topic name
+   * @param struct struct serialization implementation
+   * @return StructTopic
+   */
+  public <T>
+      StructTopic<T> getStructTopic(String name, Struct<T> struct) {
+    Topic topic = m_topics.get(name);
+    if (topic instanceof StructTopic<?>
+        && ((StructTopic<?>) topic).getStruct().equals(struct)) {
+      @SuppressWarnings("unchecked")
+      StructTopic<T> wrapTopic = (StructTopic<T>) topic;
+      return wrapTopic;
+    }
+
+    int handle;
+    if (topic == null) {
+      handle = NetworkTablesJNI.getTopic(m_handle, name);
+    } else {
+      handle = topic.getHandle();
+    }
+
+    StructTopic<T> wrapTopic = StructTopic.wrap(this, handle, struct);
+    m_topics.put(name, wrapTopic);
+
+    // also cache by handle
+    m_topicsByHandle.put(handle, wrapTopic);
+
+    return wrapTopic;
+  }
+
+  /**
+   * Get struct-encoded value array topic.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param name topic name
+   * @param struct struct serialization implementation
+   * @return StructArrayTopic
+   */
+  public <T>
+      StructArrayTopic<T> getStructArrayTopic(String name, Struct<T> struct) {
+    Topic topic = m_topics.get(name);
+    if (topic instanceof StructArrayTopic<?>
+        && ((StructArrayTopic<?>) topic).getStruct().equals(struct)) {
+      @SuppressWarnings("unchecked")
+      StructArrayTopic<T> wrapTopic = (StructArrayTopic<T>) topic;
+      return wrapTopic;
+    }
+
+    int handle;
+    if (topic == null) {
+      handle = NetworkTablesJNI.getTopic(m_handle, name);
+    } else {
+      handle = topic.getHandle();
+    }
+
+    StructArrayTopic<T> wrapTopic = StructArrayTopic.wrap(this, handle, struct);
+    m_topics.put(name, wrapTopic);
+
+    // also cache by handle
+    m_topicsByHandle.put(handle, wrapTopic);
+
+    return wrapTopic;
+  }
+
   private Topic[] topicHandlesToTopics(int[] handles) {
     Topic[] topics = new Topic[handles.length];
     for (int i = 0; i < handles.length; i++) {
@@ -1050,6 +1161,78 @@ public final class NetworkTableInstance implements AutoCloseable {
     return m_listeners.addLogger(minLevel, maxLevel, func);
   }
 
+  /**
+   * Returns whether there is a data schema already registered with the given name that this
+   * instance has published. This does NOT perform a check as to whether the schema has already
+   * been published by another node on the network.
+   *
+   * @param name Name (the string passed as the data type for topics using this schema)
+   * @return True if schema already registered
+   */
+  public boolean hasSchema(String name) {
+    return m_schemas.containsKey("/.schema/" + name);
+  }
+
+  /**
+   * Registers a data schema. Data schemas provide information for how a certain data type string
+   * can be decoded. The type string of a data schema indicates the type of the schema itself (e.g.
+   * "protobuf" for protobuf schemas, "struct" for struct schemas, etc). In NetworkTables, schemas
+   * are published just like normal topics, with the name being generated from the provided name:
+   * "/.schema/name". Duplicate calls to this function with the same name are silently ignored.
+   *
+   * @param name Name (the string passed as the data type for topics using this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  public void addSchema(String name, String type, byte[] schema) {
+    m_schemas.computeIfAbsent("/.schema/" + name, k -> {
+      RawPublisher pub = getRawTopic(k).publishEx(type, "{\"retained\":true}");
+      pub.setDefault(schema);
+      return pub;
+    });
+  }
+
+  /**
+   * Registers a data schema. Data schemas provide information for how a certain data type string
+   * can be decoded. The type string of a data schema indicates the type of the schema itself (e.g.
+   * "protobuf" for protobuf schemas, "struct" for struct schemas, etc). In NetworkTables, schemas
+   * are published just like normal topics, with the name being generated from the provided name:
+   * "/.schema/name". Duplicate calls to this function with the same name are silently ignored.
+   *
+   * @param name Name (the string passed as the data type for topics using this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  public void addSchema(String name, String type, String schema) {
+    m_schemas.computeIfAbsent("/.schema/" + name, k -> {
+      RawPublisher pub = getRawTopic(k).publishEx(type, "{\"retained\":true}");
+      pub.setDefault(StandardCharsets.UTF_8.encode(schema));
+      return pub;
+    });
+  }
+
+  /**
+   * Registers a protobuf schema. Duplicate calls to this function with the same name are silently
+   * ignored.
+   *
+   * @param proto protobuf serialization object
+   */
+  public void addSchema(Protobuf<?, ?> proto) {
+    proto.forEachDescriptor(
+        this::hasSchema,
+        (typeString, schema) -> addSchema(typeString, "proto:FileDescriptorProto", schema));
+  }
+
+  /**
+   * Registers a struct schema. Duplicate calls to this function with the same name are silently
+   * ignored.
+   *
+   * @param struct struct serialization object
+   */
+  public void addSchema(Struct<?> struct) {
+    addSchemaImpl(struct, new HashSet<>());
+  }
+
   @Override
   public boolean equals(Object other) {
     if (other == this) {
@@ -1067,6 +1250,22 @@ public final class NetworkTableInstance implements AutoCloseable {
     return m_handle;
   }
 
+  private void addSchemaImpl(Struct<?> struct, Set<String> seen) {
+    String typeString = struct.getTypeString();
+    if (hasSchema(typeString)) {
+      return;
+    }
+    if (!seen.add(typeString)) {
+      throw new UnsupportedOperationException(typeString + ": circular reference with " + seen);
+    }
+    addSchema(typeString, "structschema", struct.getSchema());
+    for (Struct<?> inner : struct.getNested()) {
+      addSchemaImpl(inner, seen);
+    }
+    seen.remove(typeString);
+  }
+
   private boolean m_owned;
   private int m_handle;
+  private final ConcurrentMap<String, RawPublisher> m_schemas = new ConcurrentHashMap<>();
 }

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

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.networktables;
 
+import edu.wpi.first.util.protobuf.Protobuf;
+import edu.wpi.first.util.struct.Struct;
 import java.util.ArrayList;
 import java.util.EnumSet;
 import java.util.HashSet;
@@ -13,8 +15,10 @@ import java.util.Set;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ConcurrentMap;
 import java.util.function.Consumer;
+import us.hebi.quickbuf.ProtoMessage;
 
 /** A network table that knows its subtable path. */
+@SuppressWarnings("PMD.CouplingBetweenObjects")
 public final class NetworkTable {
   /** The path separator for sub-tables and keys. */
   public static final char PATH_SEPARATOR = '/';
@@ -250,6 +254,44 @@ public final class NetworkTable {
     return m_inst.getStringArrayTopic(m_pathWithSep + name);
   }
 
+  /**
+   * Get protobuf-encoded value topic.
+   *
+   * @param <T> value class (inferred from proto)
+   * @param <MessageType> protobuf message type (inferred from proto)
+   * @param name topic name
+   * @param proto protobuf serialization implementation
+   * @return ProtobufTopic
+   */
+  public <T, MessageType extends ProtoMessage<?>> ProtobufTopic<T> getProtobufTopic(
+      String name, Protobuf<T, MessageType> proto) {
+    return m_inst.getProtobufTopic(m_pathWithSep + name, proto);
+  }
+
+  /**
+   * Get struct-encoded value topic.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param name topic name
+   * @param struct struct serialization implementation
+   * @return StructTopic
+   */
+  public <T> StructTopic<T> getStructTopic(String name, Struct<T> struct) {
+    return m_inst.getStructTopic(m_pathWithSep + name, struct);
+  }
+
+  /**
+   * Get struct-encoded value array topic.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param name topic name
+   * @param struct struct serialization implementation
+   * @return StructTopic
+   */
+  public <T> StructArrayTopic<T> getStructArrayTopic(String name, Struct<T> struct) {
+    return m_inst.getStructArrayTopic(m_pathWithSep + name, struct);
+  }
+
   private final ConcurrentMap<String, NetworkTableEntry> m_entries = new ConcurrentHashMap<>();
 
   /**

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

@@ -0,0 +1,17 @@
+// 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 protobuf-encoded value entry.
+ *
+ * <p>Unlike NetworkTableEntry, the entry goes away when close() is called.
+ *
+ * @param <T> value class
+ */
+public interface ProtobufEntry<T> extends ProtobufSubscriber<T>, ProtobufPublisher<T> {
+  /** Stops publishing the entry if it's published. */
+  void unpublish();
+}

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

@@ -0,0 +1,209 @@
+// 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.protobuf.ProtobufBuffer;
+import java.io.IOException;
+import java.lang.reflect.Array;
+import java.nio.ByteBuffer;
+
+/**
+ * NetworkTables protobuf-encoded value implementation.
+ *
+ * @param <T> value class
+ */
+final class ProtobufEntryImpl<T> extends EntryBase implements ProtobufEntry<T> {
+  /**
+   * Constructor.
+   *
+   * @param topic Topic
+   * @param handle Native handle
+   * @param defaultValue Default value for get()
+   */
+  ProtobufEntryImpl(
+      ProtobufTopic<T> topic,
+      ProtobufBuffer<T, ?> buf,
+      int handle,
+      T defaultValue,
+      boolean schemaPublished) {
+    super(handle);
+    m_topic = topic;
+    m_defaultValue = defaultValue;
+    m_buf = buf;
+    m_schemaPublished = schemaPublished;
+  }
+
+  @Override
+  public ProtobufTopic<T> getTopic() {
+    return m_topic;
+  }
+
+  @Override
+  public T get() {
+    return fromRaw(NetworkTablesJNI.getRaw(m_handle, m_emptyRaw), m_defaultValue);
+  }
+
+  @Override
+  public T get(T defaultValue) {
+    return fromRaw(NetworkTablesJNI.getRaw(m_handle, m_emptyRaw), defaultValue);
+  }
+
+  @Override
+  public boolean getInto(T out) {
+    byte[] raw = NetworkTablesJNI.getRaw(m_handle, m_emptyRaw);
+    if (raw.length == 0) {
+      return false;
+    }
+    try {
+      synchronized (m_buf) {
+        m_buf.readInto(out, raw);
+        return true;
+      }
+    } catch (IOException e) {
+      // ignored
+    }
+    return false;
+  }
+
+  @Override
+  public TimestampedObject<T> getAtomic() {
+    return fromRaw(NetworkTablesJNI.getAtomicRaw(m_handle, m_emptyRaw), m_defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T> getAtomic(T defaultValue) {
+    return fromRaw(NetworkTablesJNI.getAtomicRaw(m_handle, m_emptyRaw), defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T>[] readQueue() {
+    TimestampedRaw[] raw = NetworkTablesJNI.readQueueRaw(m_handle);
+    @SuppressWarnings("unchecked")
+    TimestampedObject<T>[] arr = (TimestampedObject<T>[]) new TimestampedObject<?>[raw.length];
+    int err = 0;
+    for (int i = 0; i < raw.length; i++) {
+      arr[i] = fromRaw(raw[i], null);
+      if (arr[i].value == null) {
+        err++;
+      }
+    }
+
+    // discard bad values
+    if (err > 0) {
+      @SuppressWarnings("unchecked")
+      TimestampedObject<T>[] newArr =
+          (TimestampedObject<T>[]) new TimestampedObject<?>[raw.length - err];
+      int i = 0;
+      for (TimestampedObject<T> e : arr) {
+        if (e.value != null) {
+          arr[i] = e;
+          i++;
+        }
+      }
+      arr = newArr;
+    }
+
+    return arr;
+  }
+
+  @Override
+  public T[] readQueueValues() {
+    byte[][] raw = NetworkTablesJNI.readQueueValuesRaw(m_handle);
+    @SuppressWarnings("unchecked")
+    T[] arr = (T[]) Array.newInstance(m_topic.getProto().getTypeClass(), raw.length);
+    int err = 0;
+    for (int i = 0; i < raw.length; i++) {
+      arr[i] = fromRaw(raw[i], null);
+      if (arr[i] == null) {
+        err++;
+      }
+    }
+
+    // discard bad values
+    if (err > 0) {
+      @SuppressWarnings("unchecked")
+      T[] newArr = (T[]) Array.newInstance(m_topic.getProto().getTypeClass(), raw.length - err);
+      int i = 0;
+      for (T e : arr) {
+        if (e != null) {
+          arr[i] = e;
+          i++;
+        }
+      }
+      arr = newArr;
+    }
+
+    return arr;
+  }
+
+  @Override
+  public void set(T value, long time) {
+    try {
+      synchronized (m_buf) {
+        if (!m_schemaPublished) {
+          m_schemaPublished = true;
+          m_topic.getInstance().addSchema(m_buf.getProto());
+        }
+        ByteBuffer bb = m_buf.write(value);
+        NetworkTablesJNI.setRaw(m_handle, time, bb, 0, bb.position());
+      }
+    } catch (IOException e) {
+      // ignore
+    }
+  }
+
+  @Override
+  public void setDefault(T value) {
+    try {
+      synchronized (m_buf) {
+        if (!m_schemaPublished) {
+          m_schemaPublished = true;
+          m_topic.getInstance().addSchema(m_buf.getProto());
+        }
+        ByteBuffer bb = m_buf.write(value);
+        NetworkTablesJNI.setDefaultRaw(m_handle, 0, bb, 0, bb.position());
+      }
+    } catch (IOException e) {
+      // ignore
+    }
+  }
+
+  @Override
+  public void unpublish() {
+    NetworkTablesJNI.unpublish(m_handle);
+  }
+
+  private T fromRaw(byte[] raw, T defaultValue) {
+    if (raw.length == 0) {
+      return defaultValue;
+    }
+    try {
+      synchronized (m_buf) {
+        return m_buf.read(raw);
+      }
+    } catch (IOException e) {
+      return defaultValue;
+    }
+  }
+
+  private TimestampedObject<T> fromRaw(TimestampedRaw raw, T defaultValue) {
+    if (raw.value.length == 0) {
+      return new TimestampedObject<T>(0, 0, defaultValue);
+    }
+    try {
+      synchronized (m_buf) {
+        return new TimestampedObject<T>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
+      }
+    } catch (IOException e) {
+      return new TimestampedObject<T>(0, 0, defaultValue);
+    }
+  }
+
+  private final ProtobufTopic<T> m_topic;
+  private final T m_defaultValue;
+  private final ProtobufBuffer<T, ?> m_buf;
+  private boolean m_schemaPublished;
+  private static final byte[] m_emptyRaw = new byte[] {};
+}

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

@@ -0,0 +1,52 @@
+// 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.function.Consumer;
+
+/**
+ * NetworkTables protobuf-encoded value publisher.
+ *
+ * @param <T> value class
+ */
+public interface ProtobufPublisher<T> extends Publisher, Consumer<T> {
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  @Override
+  ProtobufTopic<T> getTopic();
+
+  /**
+   * Publish a new value using current NT time.
+   *
+   * @param value value to publish
+   */
+  default void set(T value) {
+    set(value, 0);
+  }
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  void set(T value, long time);
+
+  /**
+   * Publish a default value. On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  void setDefault(T value);
+
+  @Override
+  default void accept(T value) {
+    set(value);
+  }
+}

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

@@ -0,0 +1,94 @@
+// 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.function.Supplier;
+
+/**
+ * NetworkTables protobuf-encoded value subscriber.
+ *
+ * @param <T> value class
+ */
+@SuppressWarnings("PMD.MissingOverride")
+public interface ProtobufSubscriber<T> extends Subscriber, Supplier<T> {
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  @Override
+  ProtobufTopic<T> getTopic();
+
+  /**
+   * Get the last published value. If no value has been published or the value cannot be unpacked,
+   * returns the stored default value.
+   *
+   * @return value
+   */
+  T get();
+
+  /**
+   * Get the last published value. If no value has been published or the value cannot be unpacked,
+   * returns the passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  T get(T defaultValue);
+
+  /**
+   * Get the last published value, replacing the contents in place of an existing object. If no
+   * value has been published or the value cannot be unpacked, does not replace the contents and
+   * returns false. This function will not work (will throw UnsupportedOperationException) unless T
+   * is mutable (and the implementation of Struct implements unpackInto).
+   *
+   * <p>Note: due to Java language limitations, it's not possible to validate at compile time that
+   * the out parameter is mutable.
+   *
+   * @param out object to replace contents of; must be mutable
+   * @return true if successful
+   * @throws UnsupportedOperationException if T is immutable
+   */
+  boolean getInto(T out);
+
+  /**
+   * Get the last published value along with its timestamp. If no value has been published or the
+   * value cannot be unpacked, returns the stored default value and a timestamp of 0.
+   *
+   * @return timestamped value
+   */
+  TimestampedObject<T> getAtomic();
+
+  /**
+   * Get the last published value along with its timestamp. If no value has been published or the
+   * value cannot be unpacked, returns the passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  TimestampedObject<T> getAtomic(T defaultValue);
+
+  /**
+   * Get an array of all valid value changes since the last call to readQueue. Also provides a
+   * timestamp for each value. Values that cannot be unpacked are dropped.
+   *
+   * <p>The "poll storage" subscribe option can be used to set the queue depth.
+   *
+   * @return Array of timestamped values; empty array if no valid new changes have been published
+   *     since the previous call.
+   */
+  TimestampedObject<T>[] readQueue();
+
+  /**
+   * Get an array of all valid value changes since the last call to readQueue. Values that cannot be
+   * unpacked are dropped.
+   *
+   * <p>The "poll storage" subscribe option can be used to set the queue depth.
+   *
+   * @return Array of values; empty array if no valid new changes have been published since the
+   *     previous call.
+   */
+  T[] readQueueValues();
+}

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

@@ -0,0 +1,178 @@
+// 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.protobuf.Protobuf;
+import edu.wpi.first.util.protobuf.ProtobufBuffer;
+
+/**
+ * NetworkTables protobuf-encoded value topic.
+ *
+ * @param <T> value class
+ */
+public final class ProtobufTopic<T> extends Topic {
+  private ProtobufTopic(Topic topic, Protobuf<T, ?> proto) {
+    super(topic.m_inst, topic.m_handle);
+    m_proto = proto;
+  }
+
+  private ProtobufTopic(NetworkTableInstance inst, int handle, Protobuf<T, ?> proto) {
+    super(inst, handle);
+    m_proto = proto;
+  }
+
+  /**
+   * Create a ProtobufTopic from a generic topic.
+   *
+   * @param <T> value class (inferred from proto)
+   * @param topic generic topic
+   * @param proto protobuf serialization implementation
+   * @return ProtobufTopic for value class
+   */
+  public static <T> ProtobufTopic<T> wrap(Topic topic, Protobuf<T, ?> proto) {
+    return new ProtobufTopic<T>(topic, proto);
+  }
+
+  /**
+   * Create a ProtobufTopic from a native handle; generally NetworkTableInstance.getProtobufTopic()
+   * should be used instead.
+   *
+   * @param <T> value class (inferred from proto)
+   * @param inst Instance
+   * @param handle Native handle
+   * @param proto protobuf serialization implementation
+   * @return ProtobufTopic for value class
+   */
+  public static <T> ProtobufTopic<T> wrap(
+      NetworkTableInstance inst, int handle, Protobuf<T, ?> proto) {
+    return new ProtobufTopic<T>(inst, handle, proto);
+  }
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object is not closed.
+   *
+   * <p>Subscribers that do not match the published data type do not return any values. To determine
+   * if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  public ProtobufSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
+    return new ProtobufEntryImpl<T>(
+        this,
+        ProtobufBuffer.create(m_proto),
+        NetworkTablesJNI.subscribe(
+            m_handle, NetworkTableType.kRaw.getValue(), m_proto.getTypeString(), options),
+        defaultValue,
+        false);
+  }
+
+  /**
+   * Create a new publisher to the topic.
+   *
+   * <p>The publisher is only active as long as the returned object is not closed.
+   *
+   * <p>It is not possible to publish two different data types to the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored). To determine if
+   * the data type matches, use the appropriate Topic functions.
+   *
+   * @param options publish options
+   * @return publisher
+   */
+  public ProtobufPublisher<T> publish(PubSubOption... options) {
+    m_inst.addSchema(m_proto);
+    return new ProtobufEntryImpl<T>(
+        this,
+        ProtobufBuffer.create(m_proto),
+        NetworkTablesJNI.publish(
+            m_handle, NetworkTableType.kRaw.getValue(), m_proto.getTypeString(), options),
+        null,
+        true);
+  }
+
+  /**
+   * Create a new publisher to the topic, with type string and initial properties.
+   *
+   * <p>The publisher is only active as long as the returned object is not closed.
+   *
+   * <p>It is not possible to publish two different data types to the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored). To determine if
+   * the data type matches, use the appropriate Topic functions.
+   *
+   * @param properties JSON properties
+   * @param options publish options
+   * @return publisher
+   * @throws IllegalArgumentException if properties is not a JSON object
+   */
+  public ProtobufPublisher<T> publishEx(String properties, PubSubOption... options) {
+    m_inst.addSchema(m_proto);
+    return new ProtobufEntryImpl<T>(
+        this,
+        ProtobufBuffer.create(m_proto),
+        NetworkTablesJNI.publishEx(
+            m_handle,
+            NetworkTableType.kRaw.getValue(),
+            m_proto.getTypeString(),
+            properties,
+            options),
+        null,
+        true);
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * <p>Entries act as a combination of a subscriber and a weak publisher. The subscriber is active
+   * as long as the entry is not closed. The publisher is created when the entry is first written
+   * to, and remains active until either unpublish() is called or the entry is closed.
+   *
+   * <p>It is not possible to use two different data types with the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored), and the entry
+   * will show no new values if the data type does not match. To determine if the data type matches,
+   * use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  public ProtobufEntry<T> getEntry(T defaultValue, PubSubOption... options) {
+    return new ProtobufEntryImpl<T>(
+        this,
+        ProtobufBuffer.create(m_proto),
+        NetworkTablesJNI.getEntry(
+            m_handle, NetworkTableType.kRaw.getValue(), m_proto.getTypeString(), options),
+        defaultValue,
+        false);
+  }
+
+  public Protobuf<T, ?> getProto() {
+    return m_proto;
+  }
+
+  @Override
+  public boolean equals(Object other) {
+    if (other == this) {
+      return true;
+    }
+    if (!(other instanceof ProtobufTopic)) {
+      return false;
+    }
+
+    return super.equals(other) && m_proto == ((ProtobufTopic<?>) other).m_proto;
+  }
+
+  @Override
+  public int hashCode() {
+    return super.hashCode() ^ m_proto.hashCode();
+  }
+
+  private final Protobuf<T, ?> m_proto;
+}

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

@@ -0,0 +1,17 @@
+// 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 struct-encoded array value entry.
+ *
+ * <p>Unlike NetworkTableEntry, the entry goes away when close() is called.
+ *
+ * @param <T> value class
+ */
+public interface StructArrayEntry<T> extends StructArraySubscriber<T>, StructArrayPublisher<T> {
+  /** Stops publishing the entry if it's published. */
+  void unpublish();
+}

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

@@ -0,0 +1,197 @@
+// 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.struct.StructBuffer;
+import java.lang.reflect.Array;
+import java.nio.ByteBuffer;
+
+/**
+ * NetworkTables struct-encoded value implementation.
+ *
+ * @param <T> value class
+ */
+@SuppressWarnings("PMD.ArrayIsStoredDirectly")
+final class StructArrayEntryImpl<T> extends EntryBase implements StructArrayEntry<T> {
+  /**
+   * Constructor.
+   *
+   * @param topic Topic
+   * @param handle Native handle
+   * @param defaultValue Default value for get()
+   */
+  StructArrayEntryImpl(
+      StructArrayTopic<T> topic,
+      StructBuffer<T> buf,
+      int handle,
+      T[] defaultValue,
+      boolean schemaPublished) {
+    super(handle);
+    m_topic = topic;
+    m_defaultValue = defaultValue;
+    m_buf = buf;
+    m_schemaPublished = schemaPublished;
+  }
+
+  @Override
+  public StructArrayTopic<T> getTopic() {
+    return m_topic;
+  }
+
+  @Override
+  public T[] get() {
+    return fromRaw(NetworkTablesJNI.getRaw(m_handle, m_emptyRaw), m_defaultValue);
+  }
+
+  @Override
+  public T[] get(T[] defaultValue) {
+    return fromRaw(NetworkTablesJNI.getRaw(m_handle, m_emptyRaw), defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T[]> getAtomic() {
+    return fromRaw(NetworkTablesJNI.getAtomicRaw(m_handle, m_emptyRaw), m_defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T[]> getAtomic(T[] defaultValue) {
+    return fromRaw(NetworkTablesJNI.getAtomicRaw(m_handle, m_emptyRaw), defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T[]>[] readQueue() {
+    TimestampedRaw[] raw = NetworkTablesJNI.readQueueRaw(m_handle);
+    @SuppressWarnings("unchecked")
+    TimestampedObject<T[]>[] arr = (TimestampedObject<T[]>[]) new TimestampedObject<?>[raw.length];
+    int err = 0;
+    for (int i = 0; i < raw.length; i++) {
+      arr[i] = fromRaw(raw[i], null);
+      if (arr[i].value == null) {
+        err++;
+      }
+    }
+
+    // discard bad values
+    if (err > 0) {
+      @SuppressWarnings("unchecked")
+      TimestampedObject<T[]>[] newArr =
+          (TimestampedObject<T[]>[]) new TimestampedObject<?>[raw.length - err];
+      int i = 0;
+      for (TimestampedObject<T[]> e : arr) {
+        if (e.value != null) {
+          arr[i] = e;
+          i++;
+        }
+      }
+      arr = newArr;
+    }
+
+    return arr;
+  }
+
+  @Override
+  public T[][] readQueueValues() {
+    byte[][] raw = NetworkTablesJNI.readQueueValuesRaw(m_handle);
+    @SuppressWarnings("unchecked")
+    T[][] arr = (T[][]) Array.newInstance(Array.class, raw.length);
+    int err = 0;
+    for (int i = 0; i < raw.length; i++) {
+      arr[i] = fromRaw(raw[i], null);
+      if (arr[i] == null) {
+        err++;
+      }
+    }
+
+    // discard bad values
+    if (err > 0) {
+      @SuppressWarnings("unchecked")
+      T[][] newArr = (T[][]) Array.newInstance(Array.class, raw.length - err);
+      int i = 0;
+      for (T[] e : arr) {
+        if (e != null) {
+          arr[i] = e;
+          i++;
+        }
+      }
+      arr = newArr;
+    }
+
+    return arr;
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  @Override
+  public void set(T[] value, long time) {
+    try {
+      synchronized (m_buf) {
+        if (!m_schemaPublished) {
+          m_schemaPublished = true;
+          m_topic.getInstance().addSchema(m_buf.getStruct());
+        }
+        ByteBuffer bb = m_buf.writeArray(value);
+        NetworkTablesJNI.setRaw(m_handle, time, bb, 0, bb.position());
+      }
+    } catch (RuntimeException e) {
+      // ignore
+    }
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  @Override
+  public void setDefault(T[] value) {
+    try {
+      synchronized (m_buf) {
+        if (!m_schemaPublished) {
+          m_schemaPublished = true;
+          m_topic.getInstance().addSchema(m_buf.getStruct());
+        }
+        ByteBuffer bb = m_buf.writeArray(value);
+        NetworkTablesJNI.setDefaultRaw(m_handle, 0, bb, 0, bb.position());
+      }
+    } catch (RuntimeException e) {
+      // ignore
+    }
+  }
+
+  @Override
+  public void unpublish() {
+    NetworkTablesJNI.unpublish(m_handle);
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  private T[] fromRaw(byte[] raw, T[] defaultValue) {
+    if (raw.length == 0) {
+      return defaultValue;
+    }
+    try {
+      synchronized (m_buf) {
+        return m_buf.readArray(raw);
+      }
+    } catch (RuntimeException e) {
+      return defaultValue;
+    }
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  private TimestampedObject<T[]> fromRaw(TimestampedRaw raw, T[] defaultValue) {
+    if (raw.value.length == 0) {
+      return new TimestampedObject<T[]>(0, 0, defaultValue);
+    }
+    try {
+      synchronized (m_buf) {
+        return new TimestampedObject<T[]>(
+            raw.timestamp, raw.serverTime, m_buf.readArray(raw.value));
+      }
+    } catch (RuntimeException e) {
+      return new TimestampedObject<T[]>(0, 0, defaultValue);
+    }
+  }
+
+  private final StructArrayTopic<T> m_topic;
+  private final T[] m_defaultValue;
+  private final StructBuffer<T> m_buf;
+  private boolean m_schemaPublished;
+  private static final byte[] m_emptyRaw = new byte[] {};
+}

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

@@ -0,0 +1,52 @@
+// 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.function.Consumer;
+
+/**
+ * NetworkTables struct-encoded array value publisher.
+ *
+ * @param <T> value class
+ */
+public interface StructArrayPublisher<T> extends Publisher, Consumer<T[]> {
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  @Override
+  StructArrayTopic<T> getTopic();
+
+  /**
+   * Publish a new value using current NT time.
+   *
+   * @param value value to publish
+   */
+  default void set(T[] value) {
+    set(value, 0);
+  }
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  void set(T[] value, long time);
+
+  /**
+   * Publish a default value. On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  void setDefault(T[] value);
+
+  @Override
+  default void accept(T[] value) {
+    set(value);
+  }
+}

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

@@ -0,0 +1,79 @@
+// 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.function.Supplier;
+
+/**
+ * NetworkTables struct-encoded array value subscriber.
+ *
+ * @param <T> value class
+ */
+@SuppressWarnings("PMD.MissingOverride")
+public interface StructArraySubscriber<T> extends Subscriber, Supplier<T[]> {
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  @Override
+  StructArrayTopic<T> getTopic();
+
+  /**
+   * Get the last published value. If no value has been published or the value cannot be unpacked,
+   * returns the stored default value.
+   *
+   * @return value
+   */
+  T[] get();
+
+  /**
+   * Get the last published value. If no value has been published or the value cannot be unpacked,
+   * returns the passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  T[] get(T[] defaultValue);
+
+  /**
+   * Get the last published value along with its timestamp. If no value has been published or the
+   * value cannot be unpacked, returns the stored default value and a timestamp of 0.
+   *
+   * @return timestamped value
+   */
+  TimestampedObject<T[]> getAtomic();
+
+  /**
+   * Get the last published value along with its timestamp. If no value has been published or the
+   * value cannot be unpacked, returns the passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  TimestampedObject<T[]> getAtomic(T[] defaultValue);
+
+  /**
+   * Get an array of all valid value changes since the last call to readQueue. Also provides a
+   * timestamp for each value. Values that cannot be unpacked are dropped.
+   *
+   * <p>The "poll storage" subscribe option can be used to set the queue depth.
+   *
+   * @return Array of timestamped values; empty array if no valid new changes have been published
+   *     since the previous call.
+   */
+  TimestampedObject<T[]>[] readQueue();
+
+  /**
+   * Get an array of all valid value changes since the last call to readQueue. Values that cannot be
+   * unpacked are dropped.
+   *
+   * <p>The "poll storage" subscribe option can be used to set the queue depth.
+   *
+   * @return Array of values; empty array if no valid new changes have been published since the
+   *     previous call.
+   */
+  T[][] readQueueValues();
+}

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

@@ -0,0 +1,178 @@
+// 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.struct.Struct;
+import edu.wpi.first.util.struct.StructBuffer;
+
+/**
+ * NetworkTables struct-encoded array value topic.
+ *
+ * @param <T> value class
+ */
+public final class StructArrayTopic<T> extends Topic {
+  private StructArrayTopic(Topic topic, Struct<T> struct) {
+    super(topic.m_inst, topic.m_handle);
+    m_struct = struct;
+  }
+
+  private StructArrayTopic(NetworkTableInstance inst, int handle, Struct<T> struct) {
+    super(inst, handle);
+    m_struct = struct;
+  }
+
+  /**
+   * Create a StructArrayTopic from a generic topic.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param topic generic topic
+   * @param struct struct serialization implementation
+   * @return StructArrayTopic for value class
+   */
+  public static <T> StructArrayTopic<T> wrap(Topic topic, Struct<T> struct) {
+    return new StructArrayTopic<T>(topic, struct);
+  }
+
+  /**
+   * Create a StructArrayTopic from a native handle; generally
+   * NetworkTableInstance.getStructArrayTopic() should be used instead.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param inst Instance
+   * @param handle Native handle
+   * @param struct struct serialization implementation
+   * @return StructArrayTopic for value class
+   */
+  public static <T> StructArrayTopic<T> wrap(
+      NetworkTableInstance inst, int handle, Struct<T> struct) {
+    return new StructArrayTopic<T>(inst, handle, struct);
+  }
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object is not closed.
+   *
+   * <p>Subscribers that do not match the published data type do not return any values. To determine
+   * if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  public StructArraySubscriber<T> subscribe(T[] defaultValue, PubSubOption... options) {
+    return new StructArrayEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.subscribe(
+            m_handle, NetworkTableType.kRaw.getValue(), m_struct.getTypeString() + "[]", options),
+        defaultValue,
+        false);
+  }
+
+  /**
+   * Create a new publisher to the topic.
+   *
+   * <p>The publisher is only active as long as the returned object is not closed.
+   *
+   * <p>It is not possible to publish two different data types to the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored). To determine if
+   * the data type matches, use the appropriate Topic functions.
+   *
+   * @param options publish options
+   * @return publisher
+   */
+  public StructArrayPublisher<T> publish(PubSubOption... options) {
+    m_inst.addSchema(m_struct);
+    return new StructArrayEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.publish(
+            m_handle, NetworkTableType.kRaw.getValue(), m_struct.getTypeString() + "[]", options),
+        null,
+        true);
+  }
+
+  /**
+   * Create a new publisher to the topic, with type string and initial properties.
+   *
+   * <p>The publisher is only active as long as the returned object is not closed.
+   *
+   * <p>It is not possible to publish two different data types to the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored). To determine if
+   * the data type matches, use the appropriate Topic functions.
+   *
+   * @param properties JSON properties
+   * @param options publish options
+   * @return publisher
+   * @throws IllegalArgumentException if properties is not a JSON object
+   */
+  public StructArrayPublisher<T> publishEx(String properties, PubSubOption... options) {
+    m_inst.addSchema(m_struct);
+    return new StructArrayEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.publishEx(
+            m_handle,
+            NetworkTableType.kRaw.getValue(),
+            m_struct.getTypeString() + "[]",
+            properties,
+            options),
+        null,
+        true);
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * <p>Entries act as a combination of a subscriber and a weak publisher. The subscriber is active
+   * as long as the entry is not closed. The publisher is created when the entry is first written
+   * to, and remains active until either unpublish() is called or the entry is closed.
+   *
+   * <p>It is not possible to use two different data types with the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored), and the entry
+   * will show no new values if the data type does not match. To determine if the data type matches,
+   * use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  public StructArrayEntry<T> getEntry(T[] defaultValue, PubSubOption... options) {
+    return new StructArrayEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.getEntry(
+            m_handle, NetworkTableType.kRaw.getValue(), m_struct.getTypeString() + "[]", options),
+        defaultValue,
+        false);
+  }
+
+  public Struct<T> getStruct() {
+    return m_struct;
+  }
+
+  @Override
+  public boolean equals(Object other) {
+    if (other == this) {
+      return true;
+    }
+    if (!(other instanceof StructArrayTopic)) {
+      return false;
+    }
+
+    return super.equals(other) && m_struct == ((StructArrayTopic<?>) other).m_struct;
+  }
+
+  @Override
+  public int hashCode() {
+    return super.hashCode() ^ m_struct.hashCode();
+  }
+
+  private final Struct<T> m_struct;
+}

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

@@ -0,0 +1,17 @@
+// 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 struct-encoded value entry.
+ *
+ * <p>Unlike NetworkTableEntry, the entry goes away when close() is called.
+ *
+ * @param <T> value class
+ */
+public interface StructEntry<T> extends StructSubscriber<T>, StructPublisher<T> {
+  /** Stops publishing the entry if it's published. */
+  void unpublish();
+}

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

@@ -0,0 +1,207 @@
+// 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.struct.StructBuffer;
+import java.lang.reflect.Array;
+import java.nio.ByteBuffer;
+
+/**
+ * NetworkTables struct-encoded value implementation.
+ *
+ * @param <T> value class
+ */
+final class StructEntryImpl<T> extends EntryBase implements StructEntry<T> {
+  /**
+   * Constructor.
+   *
+   * @param topic Topic
+   * @param handle Native handle
+   * @param defaultValue Default value for get()
+   */
+  StructEntryImpl(
+      StructTopic<T> topic,
+      StructBuffer<T> buf,
+      int handle,
+      T defaultValue,
+      boolean schemaPublished) {
+    super(handle);
+    m_topic = topic;
+    m_defaultValue = defaultValue;
+    m_buf = buf;
+    m_schemaPublished = schemaPublished;
+  }
+
+  @Override
+  public StructTopic<T> getTopic() {
+    return m_topic;
+  }
+
+  @Override
+  public T get() {
+    return fromRaw(NetworkTablesJNI.getRaw(m_handle, m_emptyRaw), m_defaultValue);
+  }
+
+  @Override
+  public T get(T defaultValue) {
+    return fromRaw(NetworkTablesJNI.getRaw(m_handle, m_emptyRaw), defaultValue);
+  }
+
+  @Override
+  public boolean getInto(T out) {
+    byte[] raw = NetworkTablesJNI.getRaw(m_handle, m_emptyRaw);
+    if (raw.length == 0) {
+      return false;
+    }
+    synchronized (m_buf) {
+      m_buf.readInto(out, raw);
+      return true;
+    }
+  }
+
+  @Override
+  public TimestampedObject<T> getAtomic() {
+    return fromRaw(NetworkTablesJNI.getAtomicRaw(m_handle, m_emptyRaw), m_defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T> getAtomic(T defaultValue) {
+    return fromRaw(NetworkTablesJNI.getAtomicRaw(m_handle, m_emptyRaw), defaultValue);
+  }
+
+  @Override
+  public TimestampedObject<T>[] readQueue() {
+    TimestampedRaw[] raw = NetworkTablesJNI.readQueueRaw(m_handle);
+    @SuppressWarnings("unchecked")
+    TimestampedObject<T>[] arr = (TimestampedObject<T>[]) new TimestampedObject<?>[raw.length];
+    int err = 0;
+    for (int i = 0; i < raw.length; i++) {
+      arr[i] = fromRaw(raw[i], null);
+      if (arr[i].value == null) {
+        err++;
+      }
+    }
+
+    // discard bad values
+    if (err > 0) {
+      @SuppressWarnings("unchecked")
+      TimestampedObject<T>[] newArr =
+          (TimestampedObject<T>[]) new TimestampedObject<?>[raw.length - err];
+      int i = 0;
+      for (TimestampedObject<T> e : arr) {
+        if (e.value != null) {
+          arr[i] = e;
+          i++;
+        }
+      }
+      arr = newArr;
+    }
+
+    return arr;
+  }
+
+  @Override
+  public T[] readQueueValues() {
+    byte[][] raw = NetworkTablesJNI.readQueueValuesRaw(m_handle);
+    @SuppressWarnings("unchecked")
+    T[] arr = (T[]) Array.newInstance(m_topic.getStruct().getTypeClass(), raw.length);
+    int err = 0;
+    for (int i = 0; i < raw.length; i++) {
+      arr[i] = fromRaw(raw[i], null);
+      if (arr[i] == null) {
+        err++;
+      }
+    }
+
+    // discard bad values
+    if (err > 0) {
+      @SuppressWarnings("unchecked")
+      T[] newArr = (T[]) Array.newInstance(m_topic.getStruct().getTypeClass(), raw.length - err);
+      int i = 0;
+      for (T e : arr) {
+        if (e != null) {
+          arr[i] = e;
+          i++;
+        }
+      }
+      arr = newArr;
+    }
+
+    return arr;
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  @Override
+  public void set(T value, long time) {
+    try {
+      synchronized (m_buf) {
+        if (!m_schemaPublished) {
+          m_schemaPublished = true;
+          m_topic.getInstance().addSchema(m_buf.getStruct());
+        }
+        ByteBuffer bb = m_buf.write(value);
+        NetworkTablesJNI.setRaw(m_handle, time, bb, 0, bb.position());
+      }
+    } catch (RuntimeException e) {
+      // ignore
+    }
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  @Override
+  public void setDefault(T value) {
+    try {
+      synchronized (m_buf) {
+        if (!m_schemaPublished) {
+          m_schemaPublished = true;
+          m_topic.getInstance().addSchema(m_buf.getStruct());
+        }
+        ByteBuffer bb = m_buf.write(value);
+        NetworkTablesJNI.setDefaultRaw(m_handle, 0, bb, 0, bb.position());
+      }
+    } catch (RuntimeException e) {
+      // ignore
+    }
+  }
+
+  @Override
+  public void unpublish() {
+    NetworkTablesJNI.unpublish(m_handle);
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  private T fromRaw(byte[] raw, T defaultValue) {
+    if (raw.length == 0) {
+      return defaultValue;
+    }
+    try {
+      synchronized (m_buf) {
+        return m_buf.read(raw);
+      }
+    } catch (RuntimeException e) {
+      return defaultValue;
+    }
+  }
+
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
+  private TimestampedObject<T> fromRaw(TimestampedRaw raw, T defaultValue) {
+    if (raw.value.length == 0) {
+      return new TimestampedObject<T>(0, 0, defaultValue);
+    }
+    try {
+      synchronized (m_buf) {
+        return new TimestampedObject<T>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
+      }
+    } catch (RuntimeException e) {
+      return new TimestampedObject<T>(0, 0, defaultValue);
+    }
+  }
+
+  private final StructTopic<T> m_topic;
+  private final T m_defaultValue;
+  private final StructBuffer<T> m_buf;
+  private boolean m_schemaPublished;
+  private static final byte[] m_emptyRaw = new byte[] {};
+}

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

@@ -0,0 +1,52 @@
+// 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.function.Consumer;
+
+/**
+ * NetworkTables struct-encoded value publisher.
+ *
+ * @param <T> value class
+ */
+public interface StructPublisher<T> extends Publisher, Consumer<T> {
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  @Override
+  StructTopic<T> getTopic();
+
+  /**
+   * Publish a new value using current NT time.
+   *
+   * @param value value to publish
+   */
+  default void set(T value) {
+    set(value, 0);
+  }
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  void set(T value, long time);
+
+  /**
+   * Publish a default value. On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  void setDefault(T value);
+
+  @Override
+  default void accept(T value) {
+    set(value);
+  }
+}

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

@@ -0,0 +1,94 @@
+// 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.function.Supplier;
+
+/**
+ * NetworkTables struct-encoded value subscriber.
+ *
+ * @param <T> value class
+ */
+@SuppressWarnings("PMD.MissingOverride")
+public interface StructSubscriber<T> extends Subscriber, Supplier<T> {
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  @Override
+  StructTopic<T> getTopic();
+
+  /**
+   * Get the last published value. If no value has been published or the value cannot be unpacked,
+   * returns the stored default value.
+   *
+   * @return value
+   */
+  T get();
+
+  /**
+   * Get the last published value. If no value has been published or the value cannot be unpacked,
+   * returns the passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  T get(T defaultValue);
+
+  /**
+   * Get the last published value, replacing the contents in place of an existing object. If no
+   * value has been published or the value cannot be unpacked, does not replace the contents and
+   * returns false. This function will not work (will throw UnsupportedOperationException) unless T
+   * is mutable (and the implementation of Struct implements unpackInto).
+   *
+   * <p>Note: due to Java language limitations, it's not possible to validate at compile time that
+   * the out parameter is mutable.
+   *
+   * @param out object to replace contents of; must be mutable
+   * @return true if successful, false if no value has been published
+   * @throws UnsupportedOperationException if T is immutable
+   */
+  boolean getInto(T out);
+
+  /**
+   * Get the last published value along with its timestamp. If no value has been published or the
+   * value cannot be unpacked, returns the stored default value and a timestamp of 0.
+   *
+   * @return timestamped value
+   */
+  TimestampedObject<T> getAtomic();
+
+  /**
+   * Get the last published value along with its timestamp If no value has been published or the
+   * value cannot be unpacked, returns the passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  TimestampedObject<T> getAtomic(T defaultValue);
+
+  /**
+   * Get an array of all valid value changes since the last call to readQueue. Also provides a
+   * timestamp for each value. Values that cannot be unpacked are dropped.
+   *
+   * <p>The "poll storage" subscribe option can be used to set the queue depth.
+   *
+   * @return Array of timestamped values; empty array if no valid new changes have been published
+   *     since the previous call.
+   */
+  TimestampedObject<T>[] readQueue();
+
+  /**
+   * Get an array of all value changes since the last call to readQueue. Values that cannot be
+   * unpacked are dropped.
+   *
+   * <p>The "poll storage" subscribe option can be used to set the queue depth.
+   *
+   * @return Array of values; empty array if no valid new changes have been published since the
+   *     previous call.
+   */
+  T[] readQueueValues();
+}

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

@@ -0,0 +1,177 @@
+// 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.struct.Struct;
+import edu.wpi.first.util.struct.StructBuffer;
+
+/**
+ * NetworkTables struct-encoded value topic.
+ *
+ * @param <T> value class
+ */
+public final class StructTopic<T> extends Topic {
+  private StructTopic(Topic topic, Struct<T> struct) {
+    super(topic.m_inst, topic.m_handle);
+    m_struct = struct;
+  }
+
+  private StructTopic(NetworkTableInstance inst, int handle, Struct<T> struct) {
+    super(inst, handle);
+    m_struct = struct;
+  }
+
+  /**
+   * Create a StructTopic from a generic topic.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param topic generic topic
+   * @param struct struct serialization implementation
+   * @return StructTopic for value class
+   */
+  public static <T> StructTopic<T> wrap(Topic topic, Struct<T> struct) {
+    return new StructTopic<T>(topic, struct);
+  }
+
+  /**
+   * Create a StructTopic from a native handle; generally NetworkTableInstance.getStructTopic()
+   * should be used instead.
+   *
+   * @param <T> value class (inferred from struct)
+   * @param inst Instance
+   * @param handle Native handle
+   * @param struct struct serialization implementation
+   * @return StructTopic for value class
+   */
+  public static <T> StructTopic<T> wrap(NetworkTableInstance inst, int handle, Struct<T> struct) {
+    return new StructTopic<T>(inst, handle, struct);
+  }
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object is not closed.
+   *
+   * <p>Subscribers that do not match the published data type do not return any values. To determine
+   * if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  public StructSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
+    return new StructEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.subscribe(
+            m_handle, NetworkTableType.kRaw.getValue(), m_struct.getTypeString(), options),
+        defaultValue,
+        false);
+  }
+
+  /**
+   * Create a new publisher to the topic.
+   *
+   * <p>The publisher is only active as long as the returned object is not closed.
+   *
+   * <p>It is not possible to publish two different data types to the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored). To determine if
+   * the data type matches, use the appropriate Topic functions.
+   *
+   * @param options publish options
+   * @return publisher
+   */
+  public StructPublisher<T> publish(PubSubOption... options) {
+    m_inst.addSchema(m_struct);
+    return new StructEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.publish(
+            m_handle, NetworkTableType.kRaw.getValue(), m_struct.getTypeString(), options),
+        null,
+        true);
+  }
+
+  /**
+   * Create a new publisher to the topic, with type string and initial properties.
+   *
+   * <p>The publisher is only active as long as the returned object is not closed.
+   *
+   * <p>It is not possible to publish two different data types to the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored). To determine if
+   * the data type matches, use the appropriate Topic functions.
+   *
+   * @param properties JSON properties
+   * @param options publish options
+   * @return publisher
+   * @throws IllegalArgumentException if properties is not a JSON object
+   */
+  public StructPublisher<T> publishEx(String properties, PubSubOption... options) {
+    m_inst.addSchema(m_struct);
+    return new StructEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.publishEx(
+            m_handle,
+            NetworkTableType.kRaw.getValue(),
+            m_struct.getTypeString(),
+            properties,
+            options),
+        null,
+        true);
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * <p>Entries act as a combination of a subscriber and a weak publisher. The subscriber is active
+   * as long as the entry is not closed. The publisher is created when the entry is first written
+   * to, and remains active until either unpublish() is called or the entry is closed.
+   *
+   * <p>It is not possible to use two different data types with the same topic. Conflicts between
+   * publishers are typically resolved by the server on a first-come, first-served basis. Any
+   * published values that do not match the topic's data type are dropped (ignored), and the entry
+   * will show no new values if the data type does not match. To determine if the data type matches,
+   * use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  public StructEntry<T> getEntry(T defaultValue, PubSubOption... options) {
+    return new StructEntryImpl<T>(
+        this,
+        StructBuffer.create(m_struct),
+        NetworkTablesJNI.getEntry(
+            m_handle, NetworkTableType.kRaw.getValue(), m_struct.getTypeString(), options),
+        defaultValue,
+        false);
+  }
+
+  public Struct<T> getStruct() {
+    return m_struct;
+  }
+
+  @Override
+  public boolean equals(Object other) {
+    if (other == this) {
+      return true;
+    }
+    if (!(other instanceof StructTopic)) {
+      return false;
+    }
+
+    return super.equals(other) && m_struct == ((StructTopic<?>) other).m_struct;
+  }
+
+  @Override
+  public int hashCode() {
+    return super.hashCode() ^ m_struct.hashCode();
+  }
+
+  private final Struct<T> m_struct;
+}

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

@@ -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.
+
+package edu.wpi.first.networktables;
+
+/** NetworkTables timestamped object. */
+public final class TimestampedObject<T> {
+  /**
+   * Create a timestamped value.
+   *
+   * @param timestamp timestamp in local time base
+   * @param serverTime timestamp in server time base
+   * @param value value
+   */
+  public TimestampedObject(long timestamp, long serverTime, T value) {
+    this.timestamp = timestamp;
+    this.serverTime = serverTime;
+    this.value = value;
+  }
+
+  /** Timestamp in local time base. */
+  @SuppressWarnings("MemberName")
+  public final long timestamp;
+
+  /** Timestamp in server time base. May be 0 or 1 for locally set values. */
+  @SuppressWarnings("MemberName")
+  public final long serverTime;
+
+  /** Value. */
+  @SuppressWarnings("MemberName")
+  public final T value;
+}

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

@@ -5,7 +5,7 @@
 #include "ConnectionList.h"
 
 #include <wpi/SmallVector.h>
-#include <wpi/json_serializer.h>
+#include <wpi/json.h>
 #include <wpi/raw_ostream.h>
 
 #include "IListenerStorage.h"

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

@@ -7,6 +7,7 @@
 #include <algorithm>
 
 #include <wpi/DataLog.h>
+#include <wpi/SmallString.h>
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
 
@@ -857,14 +858,14 @@ LocalStorage::PublisherData* LocalStorage::Impl::PublishEntry(EntryData* entry,
   if (entry->publisher) {
     return entry->publisher;
   }
-  auto typeStr = TypeToString(type);
   if (entry->subscriber->config.type == NT_UNASSIGNED) {
+    auto typeStr = TypeToString(type);
     entry->subscriber->config.type = type;
     entry->subscriber->config.typeStr = typeStr;
-  } else if (entry->subscriber->config.type != type ||
-             entry->subscriber->config.typeStr != typeStr) {
+  } else if (entry->subscriber->config.type != type) {
     if (!IsNumericCompatible(type, entry->subscriber->config.type)) {
       // don't allow dynamically changing the type of an entry
+      auto typeStr = TypeToString(type);
       ERR("cannot publish entry {} as type {}, previously subscribed as {}",
           entry->topic->name, typeStr, entry->subscriber->config.typeStr);
       return nullptr;
@@ -1481,6 +1482,41 @@ void LocalStorage::StopDataLog(NT_DataLogger logger) {
   }
 }
 
+bool LocalStorage::HasSchema(std::string_view name) {
+  std::scoped_lock lock{m_mutex};
+  wpi::SmallString<128> fullName{"/.schema/"};
+  fullName += name;
+  auto it = m_impl.m_schemas.find(fullName);
+  return it != m_impl.m_schemas.end();
+}
+
+void LocalStorage::AddSchema(std::string_view name, std::string_view type,
+                             std::span<const uint8_t> schema) {
+  std::scoped_lock lock{m_mutex};
+  wpi::SmallString<128> fullName{"/.schema/"};
+  fullName += name;
+  auto& pubHandle = m_impl.m_schemas[fullName];
+  if (pubHandle != 0) {
+    return;
+  }
+
+  auto topic = m_impl.GetOrCreateTopic(fullName);
+
+  if (topic->localPublishers.size() >= kMaxPublishers) {
+    WPI_ERROR(m_impl.m_logger,
+              "reached maximum number of publishers to '{}', not publishing",
+              topic->name);
+    return;
+  }
+
+  pubHandle = m_impl
+                  .AddLocalPublisher(topic, {{"retained", true}},
+                                     PubSubConfig{NT_RAW, type, {}})
+                  ->handle;
+
+  m_impl.SetDefaultEntryValue(pubHandle, Value::MakeRaw(schema));
+}
+
 void LocalStorage::Reset() {
   std::scoped_lock lock{m_mutex};
   m_impl.m_network = nullptr;

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

@@ -321,6 +321,13 @@ class LocalStorage final : public net::ILocalStorage {
                              std::string_view logPrefix);
   void StopDataLog(NT_DataLogger logger);
 
+  //
+  // Schema functions
+  //
+  bool HasSchema(std::string_view name);
+  void AddSchema(std::string_view name, std::string_view type,
+                 std::span<const uint8_t> schema);
+
   void Reset();
 
  private:
@@ -549,6 +556,9 @@ class LocalStorage final : public net::ILocalStorage {
     // string-based listeners
     VectorSet<ListenerData*> m_topicPrefixListeners;
 
+    // schema publishers
+    wpi::StringMap<NT_Publisher> m_schemas;
+
     // topic functions
     void NotifyTopic(TopicData* topic, unsigned int eventFlags);
 

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

@@ -242,7 +242,11 @@ void NetworkClient3::TcpConnected(uv::Tcp& tcp) {
         tcp.error.connect([this, &tcp](uv::Error err) {
           DEBUG3("NT3 TCP error {}", err.str());
           if (!tcp.IsLoopClosing()) {
-            DoDisconnect(err.str());
+            // we could be in the middle of sending data, so defer disconnect
+            uv::Timer::SingleShot(m_loop, uv::Timer::Time{0},
+                                  [this, reason = std::string{err.str()}] {
+                                    DoDisconnect(reason);
+                                  });
           }
         });
         tcp.end.connect([this, &tcp] {
@@ -397,6 +401,7 @@ void NetworkClient::WsConnected(wpi::WebSocket& ws, uv::Tcp& tcp,
 
   m_wire =
       std::make_shared<net::WebSocketConnection>(ws, connInfo.protocol_version);
+  m_wire->Start();
   m_clientImpl = std::make_unique<net::ClientImpl>(
       m_loop.Now().count(), m_inst, *m_wire, m_logger, m_timeSyncUpdated,
       [this](uint32_t repeatMs) {
@@ -412,7 +417,14 @@ void NetworkClient::WsConnected(wpi::WebSocket& ws, uv::Tcp& tcp,
   m_clientImpl->SendInitial();
   ws.closed.connect([this, &ws](uint16_t, std::string_view reason) {
     if (!ws.GetStream().IsLoopClosing()) {
-      DoDisconnect(reason);
+      // we could be in the middle of sending data, so defer disconnect
+      // capture a shared_ptr copy of ws to make sure it doesn't get destroyed
+      // until after DoDisconnect returns
+      uv::Timer::SingleShot(
+          m_loop, uv::Timer::Time{0},
+          [this, reason = std::string{reason}, keepws = ws.shared_from_this()] {
+            DoDisconnect(reason);
+          });
     }
   });
   ws.text.connect([this](std::string_view data, bool) {

ntcore/src/main/native/cpp/NetworkServer.cpp

@@ -280,6 +280,7 @@ void NetworkServer::ServerConnection4::ProcessWsUpgrade() {
     INFO("CONNECTED NT4 client '{}' (from {})", dedupName, m_connInfo);
     m_info.remote_id = dedupName;
     m_server.AddConnection(this, m_info);
+    m_wire->Start();
     m_websocket->closed.connect([this](uint16_t, std::string_view reason) {
       auto realReason = m_wire->GetDisconnectReason();
       INFO("DISCONNECTED NT4 client '{}' (from {}): {}", m_info.remote_id,

ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp

@@ -719,7 +719,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setTopicProperty
 {
   wpi::json j;
   try {
-    j = wpi::json::parse(JStringRef{env, value});
+    j = wpi::json::parse(std::string_view{JStringRef{env, value}});
   } catch (wpi::json::parse_error& err) {
     illegalArgEx.Throw(
         env, fmt::format("could not parse value JSON: {}", err.what()));
@@ -763,7 +763,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setTopicProperties
 {
   wpi::json j;
   try {
-    j = wpi::json::parse(JStringRef{env, properties});
+    j = wpi::json::parse(std::string_view{JStringRef{env, properties}});
   } catch (wpi::json::parse_error& err) {
     illegalArgEx.Throw(
         env, fmt::format("could not parse properties JSON: {}", err.what()));
@@ -828,7 +828,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_publishEx
 {
   wpi::json j;
   try {
-    j = wpi::json::parse(JStringRef{env, properties});
+    j = wpi::json::parse(std::string_view{JStringRef{env, properties}});
   } catch (wpi::json::parse_error& err) {
     illegalArgEx.Throw(
         env, fmt::format("could not parse properties JSON: {}", err.what()));

ntcore/src/main/native/cpp/net/NetworkOutgoingQueue.h

@@ -280,9 +280,15 @@ void NetworkOutgoingQueue<MessageType>::SendOutgoing(uint64_t curTimeMs,
         });
       }
     }
+    if (unsent < 0) {
+      return;  // error
+    }
     if (unsent == 0) {
       // finish writing any partial buffers
       unsent = m_wire.Flush();
+      if (unsent < 0) {
+        return;  // error
+      }
     }
     int delta = it - msgs.begin() - unsent;
     for (auto&& msg : std::span{msgs}.subspan(0, delta)) {

ntcore/src/main/native/cpp/net/ServerImpl.cpp

@@ -17,7 +17,7 @@
 #include <wpi/MessagePack.h>
 #include <wpi/SmallVector.h>
 #include <wpi/StringExtras.h>
-#include <wpi/json_serializer.h>
+#include <wpi/json.h>
 #include <wpi/raw_ostream.h>
 #include <wpi/timestamp.h>
 
@@ -524,6 +524,9 @@ void ServerImpl::ClientData4::SendAnnounce(TopicData* topic,
       WireEncodeAnnounce(os, topic->name, topic->id, topic->typeStr,
                          topic->properties, pubuid);
     });
+    if (unsent < 0) {
+      return;  // error
+    }
     if (unsent == 0 && m_wire.Flush() == 0) {
       return;
     }
@@ -544,6 +547,9 @@ void ServerImpl::ClientData4::SendUnannounce(TopicData* topic) {
   if (m_local) {
     int unsent = m_wire.WriteText(
         [&](auto& os) { WireEncodeUnannounce(os, topic->name, topic->id); });
+    if (unsent < 0) {
+      return;  // error
+    }
     if (unsent == 0 && m_wire.Flush() == 0) {
       return;
     }
@@ -565,6 +571,9 @@ void ServerImpl::ClientData4::SendPropertiesUpdate(TopicData* topic,
     int unsent = m_wire.WriteText([&](auto& os) {
       WireEncodePropertiesUpdate(os, topic->name, update, ack);
     });
+    if (unsent < 0) {
+      return;  // error
+    }
     if (unsent == 0 && m_wire.Flush() == 0) {
       return;
     }
@@ -1878,12 +1887,16 @@ void ServerImpl::SetLocal(LocalInterface* local) {
 }
 
 void ServerImpl::ProcessIncomingText(int clientId, std::string_view data) {
-  m_clients[clientId]->ProcessIncomingText(data);
+  if (auto client = m_clients[clientId].get()) {
+    client->ProcessIncomingText(data);
+  }
 }
 
 void ServerImpl::ProcessIncomingBinary(int clientId,
                                        std::span<const uint8_t> data) {
-  m_clients[clientId]->ProcessIncomingBinary(data);
+  if (auto client = m_clients[clientId].get()) {
+    client->ProcessIncomingBinary(data);
+  }
 }
 
 void ServerImpl::ConnectionsChanged(const std::vector<ConnectionInfo>& conns) {

ntcore/src/main/native/cpp/net/WebSocketConnection.cpp

@@ -4,6 +4,7 @@
 
 #include "WebSocketConnection.h"
 
+#include <algorithm>
 #include <span>
 
 #include <wpi/Endian.h>
@@ -30,7 +31,8 @@ class WebSocketConnection::Stream final : public wpi::raw_ostream {
  public:
   explicit Stream(WebSocketConnection& conn) : m_conn{conn} {
     auto& buf = conn.m_bufs.back();
-    SetBuffer(buf.base + buf.len, kAllocSize - buf.len);
+    SetBuffer(buf.base, kAllocSize);
+    SetNumBytesInBuffer(buf.len);
   }
 
   ~Stream() final {
@@ -48,51 +50,47 @@ class WebSocketConnection::Stream final : public wpi::raw_ostream {
 };
 
 void WebSocketConnection::Stream::write_impl(const char* data, size_t len) {
-  if (len > kAllocSize) {
-    // only called by raw_ostream::write() when the buffer is empty and a large
-    // thing is being written; called with a length that's a multiple of the
-    // alloc size
-    assert((len % kAllocSize) == 0);
-    assert(m_conn.m_bufs.back().len == 0);
-    while (len > 0) {
-      auto& buf = m_conn.m_bufs.back();
-      std::memcpy(buf.base, data, kAllocSize);
-      buf.len = kAllocSize;
-      m_conn.m_framePos += kAllocSize;
-      m_conn.m_written += kAllocSize;
-      data += kAllocSize;
-      len -= kAllocSize;
+  if (data == m_conn.m_bufs.back().base) {
+    // flush_nonempty() case
+    m_conn.m_bufs.back().len = len;
+    if (!m_disableAlloc) {
+      m_conn.m_frames.back().opcode &= ~wpi::WebSocket::kFlagFin;
+      m_conn.StartFrame(wpi::WebSocket::Frame::kFragment);
+      SetBuffer(m_conn.m_bufs.back().base, kAllocSize);
+    }
+    return;
+  }
+
+  bool updateBuffer = false;
+  while (len > 0) {
+    auto& buf = m_conn.m_bufs.back();
+    assert(buf.len <= kAllocSize);
+    size_t amt = (std::min)(static_cast<int>(kAllocSize - buf.len),
+                            static_cast<int>(len));
+    if (amt > 0) {
+      std::memcpy(buf.base + buf.len, data, amt);
+      buf.len += amt;
+      m_conn.m_framePos += amt;
+      m_conn.m_written += amt;
+      data += amt;
+      len -= amt;
+    }
+    if (buf.len >= kAllocSize && (len > 0 || !m_disableAlloc)) {
       // fragment the current frame and start a new one
       m_conn.m_frames.back().opcode &= ~wpi::WebSocket::kFlagFin;
       m_conn.StartFrame(wpi::WebSocket::Frame::kFragment);
+      updateBuffer = true;
     }
-    SetBuffer(m_conn.m_bufs.back().base, kAllocSize);
-    [[unlikely]] return;
   }
 
-  auto& buf = m_conn.m_bufs.back();
-  buf.len += len;
-  m_conn.m_framePos += len;
-  m_conn.m_written += len;
-  if (!m_disableAlloc && buf.len >= kAllocSize) {
-    // fragment the current frame and start a new one
-    [[unlikely]] m_conn.m_frames.back().opcode &= ~wpi::WebSocket::kFlagFin;
-    m_conn.StartFrame(wpi::WebSocket::Frame::kFragment);
+  if (updateBuffer) {
     SetBuffer(m_conn.m_bufs.back().base, kAllocSize);
   }
 }
 
 WebSocketConnection::WebSocketConnection(wpi::WebSocket& ws,
                                          unsigned int version)
-    : m_ws{ws}, m_version{version} {
-  m_ws.pong.connect([this](auto data) {
-    if (data.size() != 8) {
-      return;
-    }
-    m_lastPingResponse =
-        wpi::support::endian::read64<wpi::support::native>(data.data());
-  });
-}
+    : m_ws{ws}, m_version{version} {}
 
 WebSocketConnection::~WebSocketConnection() {
   for (auto&& buf : m_bufs) {
@@ -103,6 +101,18 @@ WebSocketConnection::~WebSocketConnection() {
   }
 }
 
+void WebSocketConnection::Start() {
+  m_ws.pong.connect([selfweak = weak_from_this()](auto data) {
+    if (data.size() != 8) {
+      return;
+    }
+    if (auto self = selfweak.lock()) {
+      self->m_lastPingResponse =
+          wpi::support::endian::read64<wpi::support::native>(data.data());
+    }
+  });
+}
+
 void WebSocketConnection::SendPing(uint64_t time) {
   auto buf = AllocBuf();
   buf.len = 8;
@@ -128,7 +138,7 @@ void WebSocketConnection::StartFrame(uint8_t opcode) {
 void WebSocketConnection::FinishText() {
   assert(!m_bufs.empty());
   auto& buf = m_bufs.back();
-  assert(buf.len < kAllocSize + 1);  // safe because we alloc one more byte
+  assert(buf.len < (kAllocSize + 1));  // safe because we alloc one more byte
   buf.base[buf.len++] = ']';
 }
 
@@ -186,7 +196,8 @@ int WebSocketConnection::Flush() {
   m_ws_frames.reserve(m_frames.size());
   for (auto&& frame : m_frames) {
     m_ws_frames.emplace_back(
-        frame.opcode, std::span{&m_bufs[frame.start], &m_bufs[frame.end]});
+        frame.opcode,
+        std::span{m_bufs}.subspan(frame.start, frame.end - frame.start));
   }
 
   auto unsentFrames = m_ws.TrySendFrames(
@@ -255,8 +266,12 @@ wpi::uv::Buffer WebSocketConnection::AllocBuf() {
 }
 
 void WebSocketConnection::ReleaseBufs(std::span<wpi::uv::Buffer> bufs) {
+#ifdef __SANITIZE_ADDRESS__
+  size_t numToPool = 0;
+#else
   size_t numToPool = (std::min)(bufs.size(), kMaxPoolSize - m_buf_pool.size());
   m_buf_pool.insert(m_buf_pool.end(), bufs.begin(), bufs.begin() + numToPool);
+#endif
   for (auto&& buf : bufs.subspan(numToPool)) {
     buf.Deallocate();
   }

ntcore/src/main/native/cpp/net/WebSocketConnection.h

@@ -26,6 +26,8 @@ class WebSocketConnection final
   WebSocketConnection(const WebSocketConnection&) = delete;
   WebSocketConnection& operator=(const WebSocketConnection&) = delete;
 
+  void Start();
+
   unsigned int GetVersion() const final { return m_version; }
 
   void SendPing(uint64_t time) final;

ntcore/src/main/native/cpp/net/WireEncoder.cpp

@@ -6,7 +6,7 @@
 
 #include <optional>
 
-#include <wpi/json_serializer.h>
+#include <wpi/json.h>
 #include <wpi/mpack.h>
 #include <wpi/raw_ostream.h>
 

ntcore/src/main/native/cpp/net3/UvStreamConnection3.cpp

@@ -28,10 +28,14 @@ void UvStreamConnection3::Flush() {
   ++m_sendsActive;
   m_stream.Write(m_buffers, [selfweak = weak_from_this()](auto bufs, auto) {
     if (auto self = selfweak.lock()) {
+#ifdef __SANITIZE_ADDRESS__
+      size_t numToPool = 0;
+#else
       size_t numToPool =
           (std::min)(bufs.size(), kMaxPoolSize - self->m_buf_pool.size());
       self->m_buf_pool.insert(self->m_buf_pool.end(), bufs.begin(),
                               bufs.begin() + numToPool);
+#endif
       for (auto&& buf : bufs.subspan(numToPool)) {
         buf.Deallocate();
       }

ntcore/src/main/native/cpp/networktables/Topic.cpp

@@ -7,9 +7,14 @@
 #include <wpi/json.h>
 
 #include "networktables/GenericEntry.h"
+#include "networktables/NetworkTableInstance.h"
 
 using namespace nt;
 
+NetworkTableInstance Topic::GetInstance() const {
+  return NetworkTableInstance{GetInstanceFromHandle(m_handle)};
+}
+
 wpi::json Topic::GetProperty(std::string_view name) const {
   return ::nt::GetTopicProperty(m_handle, name);
 }

ntcore/src/main/native/cpp/ntcore_c.cpp

@@ -625,6 +625,15 @@ NT_Listener NT_AddPolledLogger(NT_ListenerPoller poller, unsigned int min_level,
   return nt::AddPolledLogger(poller, min_level, max_level);
 }
 
+NT_Bool NT_HasSchema(NT_Inst inst, const char* name) {
+  return nt::HasSchema(inst, name);
+}
+
+void NT_AddSchema(NT_Inst inst, const char* name, const char* type,
+                  const uint8_t* schema, size_t schemaSize) {
+  nt::AddSchema(inst, name, type, {schema, schemaSize});
+}
+
 void NT_DisposeValue(NT_Value* value) {
   switch (value->type) {
     case NT_UNASSIGNED:

ntcore/src/main/native/cpp/ntcore_cpp.cpp

@@ -782,4 +782,19 @@ NT_Listener AddPolledLogger(NT_ListenerPoller poller, unsigned int minLevel,
   }
 }
 
+bool HasSchema(NT_Inst inst, std::string_view name) {
+  if (auto ii = InstanceImpl::GetTyped(inst, Handle::kInstance)) {
+    return ii->localStorage.HasSchema(name);
+  } else {
+    return false;
+  }
+}
+
+void AddSchema(NT_Inst inst, std::string_view name, std::string_view type,
+               std::span<const uint8_t> schema) {
+  if (auto ii = InstanceImpl::GetTyped(inst, Handle::kInstance)) {
+    ii->localStorage.AddSchema(name, type, schema);
+  }
+}
+
 }  // namespace nt

ntcore/src/main/native/include/networktables/NetworkTable.h

@@ -14,8 +14,11 @@
 
 #include <wpi/StringMap.h>
 #include <wpi/mutex.h>
+#include <wpi/protobuf/Protobuf.h>
+#include <wpi/struct/Struct.h>
 
 #include "networktables/NetworkTableEntry.h"
+#include "networktables/Topic.h"
 #include "ntcore_c.h"
 
 namespace nt {
@@ -29,9 +32,15 @@ class FloatTopic;
 class IntegerArrayTopic;
 class IntegerTopic;
 class NetworkTableInstance;
+template <wpi::ProtobufSerializable T>
+class ProtobufTopic;
 class RawTopic;
 class StringArrayTopic;
 class StringTopic;
+template <wpi::StructSerializable T>
+class StructArrayTopic;
+template <wpi::StructSerializable T>
+class StructTopic;
 class Topic;
 
 /**
@@ -220,6 +229,39 @@ class NetworkTable final {
    */
   StringArrayTopic GetStringArrayTopic(std::string_view name) const;
 
+  /**
+   * Gets a protobuf serialized value topic.
+   *
+   * @param name topic name
+   * @return Topic
+   */
+  template <wpi::ProtobufSerializable T>
+  ProtobufTopic<T> GetProtobufTopic(std::string_view name) const {
+    return ProtobufTopic<T>{GetTopic(name)};
+  }
+
+  /**
+   * Gets a raw struct serialized value topic.
+   *
+   * @param name topic name
+   * @return Topic
+   */
+  template <wpi::StructSerializable T>
+  StructTopic<T> GetStructTopic(std::string_view name) const {
+    return StructTopic<T>{GetTopic(name)};
+  }
+
+  /**
+   * Gets a raw struct serialized array topic.
+   *
+   * @param name topic name
+   * @return Topic
+   */
+  template <wpi::StructSerializable T>
+  StructArrayTopic<T> GetStructArrayTopic(std::string_view name) const {
+    return StructArrayTopic<T>{GetTopic(name)};
+  }
+
   /**
    * Returns the table at the specified key. If there is no table at the
    * specified key, it will create a new table

ntcore/src/main/native/include/networktables/NetworkTableInstance.h

@@ -13,6 +13,9 @@
 #include <utility>
 #include <vector>
 
+#include <wpi/protobuf/Protobuf.h>
+#include <wpi/struct/Struct.h>
+
 #include "networktables/NetworkTable.h"
 #include "networktables/NetworkTableEntry.h"
 #include "ntcore_c.h"
@@ -29,9 +32,15 @@ class FloatTopic;
 class IntegerArrayTopic;
 class IntegerTopic;
 class MultiSubscriber;
+template <wpi::ProtobufSerializable T>
+class ProtobufTopic;
 class RawTopic;
 class StringArrayTopic;
 class StringTopic;
+template <wpi::StructSerializable T>
+class StructArrayTopic;
+template <wpi::StructSerializable T>
+class StructTopic;
 class Subscriber;
 class Topic;
 
@@ -238,6 +247,33 @@ class NetworkTableInstance final {
    */
   StringArrayTopic GetStringArrayTopic(std::string_view name) const;
 
+  /**
+   * Gets a protobuf serialized value topic.
+   *
+   * @param name topic name
+   * @return Topic
+   */
+  template <wpi::ProtobufSerializable T>
+  ProtobufTopic<T> GetProtobufTopic(std::string_view name) const;
+
+  /**
+   * Gets a raw struct serialized value topic.
+   *
+   * @param name topic name
+   * @return Topic
+   */
+  template <wpi::StructSerializable T>
+  StructTopic<T> GetStructTopic(std::string_view name) const;
+
+  /**
+   * Gets a raw struct serialized array topic.
+   *
+   * @param name topic name
+   * @return Topic
+   */
+  template <wpi::StructSerializable T>
+  StructArrayTopic<T> GetStructArrayTopic(std::string_view name) const;
+
   /**
    * Get Published Topics.
    *
@@ -718,6 +754,75 @@ class NetworkTableInstance final {
 
   /** @} */
 
+  /**
+   * @{
+   * @name Schema Functions
+   */
+
+  /**
+   * Returns whether there is a data schema already registered with the given
+   * name. This does NOT perform a check as to whether the schema has already
+   * been published by another node on the network.
+   *
+   * @param name Name (the string passed as the data type for topics using this
+   *             schema)
+   * @return True if schema already registered
+   */
+  bool HasSchema(std::string_view name) const;
+
+  /**
+   * Registers a data schema.  Data schemas provide information for how a
+   * certain data type string can be decoded.  The type string of a data schema
+   * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+   * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+   * published just like normal topics, with the name being generated from the
+   * provided name: "/.schema/<name>".  Duplicate calls to this function with
+   * the same name are silently ignored.
+   *
+   * @param name Name (the string passed as the data type for topics using this
+   *             schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view name, std::string_view type,
+                 std::span<const uint8_t> schema);
+
+  /**
+   * Registers a data schema.  Data schemas provide information for how a
+   * certain data type string can be decoded.  The type string of a data schema
+   * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+   * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+   * published just like normal topics, with the name being generated from the
+   * provided name: "/.schema/<name>".  Duplicate calls to this function with
+   * the same name are silently ignored.
+   *
+   * @param name Name (the string passed as the data type for topics using this
+   *             schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view name, std::string_view type,
+                 std::string_view schema);
+
+  /**
+   * Registers a protobuf schema. Duplicate calls to this function with the same
+   * name are silently ignored.
+   *
+   * @tparam T protobuf serializable type
+   * @param msg protobuf message
+   */
+  template <wpi::ProtobufSerializable T>
+  void AddProtobufSchema(wpi::ProtobufMessage<T>& msg);
+
+  /**
+   * Registers a struct schema. Duplicate calls to this function with the same
+   * name are silently ignored.
+   *
+   * @param T struct serializable type
+   */
+  template <wpi::StructSerializable T>
+  void AddStructSchema();
+
   /**
    * Equality operator.  Returns true if both instances refer to the same
    * native handle.

ntcore/src/main/native/include/networktables/NetworkTableInstance.inc

@@ -38,6 +38,24 @@ inline NT_Inst NetworkTableInstance::GetHandle() const {
   return m_handle;
 }
 
+template <wpi::ProtobufSerializable T>
+inline ProtobufTopic<T> NetworkTableInstance::GetProtobufTopic(
+    std::string_view name) const {
+  return ProtobufTopic<T>{GetTopic(name)};
+}
+
+template <wpi::StructSerializable T>
+inline StructTopic<T> NetworkTableInstance::GetStructTopic(
+    std::string_view name) const {
+  return StructTopic<T>{GetTopic(name)};
+}
+
+template <wpi::StructSerializable T>
+inline StructArrayTopic<T> NetworkTableInstance::GetStructArrayTopic(
+    std::string_view name) const {
+  return StructArrayTopic<T>{GetTopic(name)};
+}
+
 inline std::vector<Topic> NetworkTableInstance::GetTopics() {
   auto handles = ::nt::GetTopics(m_handle, "", 0);
   return {handles.begin(), handles.end()};
@@ -223,4 +241,36 @@ inline NT_Listener NetworkTableInstance::AddLogger(unsigned int min_level,
   return ::nt::AddLogger(m_handle, min_level, max_level, std::move(func));
 }
 
+inline bool NetworkTableInstance::HasSchema(std::string_view name) const {
+  return ::nt::HasSchema(m_handle, name);
+}
+
+inline void NetworkTableInstance::AddSchema(std::string_view name,
+                                            std::string_view type,
+                                            std::span<const uint8_t> schema) {
+  ::nt::AddSchema(m_handle, name, type, schema);
+}
+
+inline void NetworkTableInstance::AddSchema(std::string_view name,
+                                            std::string_view type,
+                                            std::string_view schema) {
+  ::nt::AddSchema(m_handle, name, type, schema);
+}
+
+template <wpi::ProtobufSerializable T>
+void NetworkTableInstance::AddProtobufSchema(wpi::ProtobufMessage<T>& msg) {
+  msg.ForEachProtobufDescriptor(
+      [this](auto typeString) { return HasSchema(typeString); },
+      [this](auto typeString, auto schema) {
+        AddSchema(typeString, "proto:FileDescriptorProto", schema);
+      });
+}
+
+template <wpi::StructSerializable T>
+void NetworkTableInstance::AddStructSchema() {
+  wpi::ForEachStructSchema<T>([this](auto typeString, auto schema) {
+    AddSchema(typeString, "structschema", schema);
+  });
+}
+
 }  // namespace nt

ntcore/src/main/native/include/networktables/ProtobufTopic.h

@@ -0,0 +1,474 @@
+// 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 <stdint.h>
+
+#include <atomic>
+#include <concepts>
+#include <span>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include <wpi/SmallVector.h>
+#include <wpi/mutex.h>
+#include <wpi/protobuf/Protobuf.h>
+
+#include "networktables/NetworkTableInstance.h"
+#include "networktables/Topic.h"
+#include "ntcore_cpp.h"
+
+namespace wpi {
+class json;
+}  // namespace wpi
+
+namespace nt {
+
+template <wpi::ProtobufSerializable T>
+class ProtobufTopic;
+
+/**
+ * NetworkTables protobuf-encoded value subscriber.
+ */
+template <wpi::ProtobufSerializable T>
+class ProtobufSubscriber : public Subscriber {
+ public:
+  using TopicType = ProtobufTopic<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+  using TimestampedValueType = Timestamped<T>;
+
+  ProtobufSubscriber() = default;
+
+  /**
+   * Construct from a subscriber handle; recommended to use
+   * ProtobufTopic::Subscribe() instead.
+   *
+   * @param handle Native handle
+   * @param msg Protobuf message
+   * @param defaultValue Default value
+   */
+  ProtobufSubscriber(NT_Subscriber handle, wpi::ProtobufMessage<T> msg,
+                     T defaultValue)
+      : Subscriber{handle},
+        m_msg{std::move(msg)},
+        m_defaultValue{std::move(defaultValue)} {}
+
+  ProtobufSubscriber(const ProtobufSubscriber&) = delete;
+  ProtobufSubscriber& operator=(const ProtobufSubscriber&) = delete;
+
+  ProtobufSubscriber(ProtobufSubscriber&& rhs)
+      : Subscriber{std::move(rhs)},
+        m_msg{std::move(rhs.m_msg)},
+        m_defaultValue{std::move(rhs.defaultValue)} {}
+
+  ProtobufSubscriber& operator=(ProtobufSubscriber&& rhs) {
+    Subscriber::operator=(std::move(rhs));
+    m_msg = std::move(rhs.m_msg);
+    m_defaultValue = std::move(rhs.defaultValue);
+    return *this;
+  }
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * stored default value.
+   *
+   * @return value
+   */
+  ValueType Get() const { return Get(m_defaultValue); }
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  ValueType Get(const T& defaultValue) const {
+    return GetAtomic(defaultValue).value;
+  }
+
+  /**
+   * Get the last published value, replacing the contents in place of an
+   * existing object. If no value has been published or the value cannot be
+   * unpacked, does not replace the contents and returns false.
+   *
+   * @param[out] out object to replace contents of
+   * @return true if successful
+   */
+  bool GetInto(T* out) {
+    wpi::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    if (view.value.empty()) {
+      return false;
+    } else {
+      std::scoped_lock lock{m_mutex};
+      return m_msg.UnpackInto(out, view.value);
+    }
+  }
+
+  /**
+   * Get the last published value along with its timestamp
+   * If no value has been published or the value cannot be unpacked, returns the
+   * stored default value and a timestamp of 0.
+   *
+   * @return timestamped value
+   */
+  TimestampedValueType GetAtomic() const { return GetAtomic(m_defaultValue); }
+
+  /**
+   * Get the last published value along with its timestamp.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  TimestampedValueType GetAtomic(const T& defaultValue) const {
+    wpi::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    if (!view.value.empty()) {
+      std::scoped_lock lock{m_mutex};
+      if (auto optval = m_msg.Unpack(view.value)) {
+        return {view.time, view.serverTime, *optval};
+      }
+    }
+    return {0, 0, defaultValue};
+  }
+
+  /**
+   * Get an array of all valid value changes since the last call to ReadQueue.
+   * Also provides a timestamp for each value. Values that cannot be unpacked
+   * are dropped.
+   *
+   * @note The "poll storage" subscribe option can be used to set the queue
+   *     depth.
+   *
+   * @return Array of timestamped values; empty array if no valid new changes
+   *     have been published since the previous call.
+   */
+  std::vector<TimestampedValueType> ReadQueue() {
+    auto raw = ::nt::ReadQueueRaw(m_subHandle);
+    std::vector<TimestampedValueType> rv;
+    rv.reserve(raw.size());
+    std::scoped_lock lock{m_mutex};
+    for (auto&& r : raw) {
+      if (auto optval = m_msg.Unpack(r.value)) {
+        rv.emplace_back(r.time, r.serverTime, *optval);
+      }
+    }
+    return rv;
+  }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return ProtobufTopic<T>{::nt::GetTopicFromHandle(m_subHandle)};
+  }
+
+ private:
+  wpi::mutex m_mutex;
+  wpi::ProtobufMessage<T> m_msg;
+  ValueType m_defaultValue;
+};
+
+/**
+ * NetworkTables protobuf-encoded value publisher.
+ */
+template <wpi::ProtobufSerializable T>
+class ProtobufPublisher : public Publisher {
+ public:
+  using TopicType = ProtobufTopic<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+
+  using TimestampedValueType = Timestamped<T>;
+
+  ProtobufPublisher() = default;
+
+  /**
+   * Construct from a publisher handle; recommended to use
+   * ProtobufTopic::Publish() instead.
+   *
+   * @param handle Native handle
+   * @param msg Protobuf message
+   */
+  explicit ProtobufPublisher(NT_Publisher handle, wpi::ProtobufMessage<T> msg)
+      : Publisher{handle}, m_msg{std::move(msg)} {}
+
+  ProtobufPublisher(const ProtobufPublisher&) = delete;
+  ProtobufPublisher& operator=(const ProtobufPublisher&) = delete;
+
+  ProtobufPublisher(ProtobufPublisher&& rhs)
+      : Publisher{std::move(rhs)},
+        m_msg{std::move(rhs.m_msg)},
+        m_schemaPublished{rhs.m_schemaPublished} {}
+
+  ProtobufPublisher& operator=(ProtobufPublisher&& rhs) {
+    Publisher::operator=(std::move(rhs));
+    m_msg = std::move(rhs.m_msg);
+    m_schemaPublished.clear();
+    if (rhs.m_schemaPublished.test()) {
+      m_schemaPublished.test_and_set();
+    }
+    return *this;
+  }
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  void Set(const T& value, int64_t time = 0) {
+    wpi::SmallVector<uint8_t, 128> buf;
+    {
+      std::scoped_lock lock{m_mutex};
+      if (!m_schemaPublished.test_and_set()) {
+        GetTopic().GetInstance().template AddProtobufSchema<T>(m_msg);
+      }
+      m_msg.Pack(buf, value);
+    }
+    ::nt::SetRaw(m_pubHandle, buf, time);
+  }
+
+  /**
+   * Publish a default value.
+   * On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  void SetDefault(const T& value) {
+    wpi::SmallVector<uint8_t, 128> buf;
+    {
+      std::scoped_lock lock{m_mutex};
+      if (!m_schemaPublished.test_and_set()) {
+        GetTopic().GetInstance().template AddProtobufSchema<T>(m_msg);
+      }
+      m_msg.Pack(buf, value);
+    }
+    ::nt::SetDefaultRaw(m_pubHandle, buf);
+  }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return ProtobufTopic<T>{::nt::GetTopicFromHandle(m_pubHandle)};
+  }
+
+ private:
+  wpi::mutex m_mutex;
+  wpi::ProtobufMessage<T> m_msg;
+  std::atomic_flag m_schemaPublished = ATOMIC_FLAG_INIT;
+};
+
+/**
+ * NetworkTables protobuf-encoded value entry.
+ *
+ * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
+ */
+template <wpi::ProtobufSerializable T>
+class ProtobufEntry final : public ProtobufSubscriber<T>,
+                            public ProtobufPublisher<T> {
+ public:
+  using SubscriberType = ProtobufSubscriber<T>;
+  using PublisherType = ProtobufPublisher<T>;
+  using TopicType = ProtobufTopic<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+
+  using TimestampedValueType = Timestamped<T>;
+
+  ProtobufEntry() = default;
+
+  /**
+   * Construct from an entry handle; recommended to use
+   * ProtobufTopic::GetEntry() instead.
+   *
+   * @param handle Native handle
+   * @param msg Protobuf message
+   * @param defaultValue Default value
+   */
+  ProtobufEntry(NT_Entry handle, wpi::ProtobufMessage<T> msg, T defaultValue)
+      : ProtobufSubscriber<T>{handle, std::move(msg), std::move(defaultValue)},
+        ProtobufPublisher<T>{handle, {}} {}
+
+  /**
+   * Determines if the native handle is valid.
+   *
+   * @return True if the native handle is valid, false otherwise.
+   */
+  explicit operator bool() const { return this->m_subHandle != 0; }
+
+  /**
+   * Gets the native handle for the entry.
+   *
+   * @return Native handle
+   */
+  NT_Entry GetHandle() const { return this->m_subHandle; }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return ProtobufTopic<T>{::nt::GetTopicFromHandle(this->m_subHandle)};
+  }
+
+  /**
+   * Stops publishing the entry if it's published.
+   */
+  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+};
+
+/**
+ * NetworkTables protobuf-encoded value topic.
+ */
+template <wpi::ProtobufSerializable T>
+class ProtobufTopic final : public Topic {
+ public:
+  using SubscriberType = ProtobufSubscriber<T>;
+  using PublisherType = ProtobufPublisher<T>;
+  using EntryType = ProtobufEntry<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+  using TimestampedValueType = Timestamped<T>;
+
+  ProtobufTopic() = default;
+
+  /**
+   * Construct from a topic handle; recommended to use
+   * NetworkTableInstance::GetProtobufTopic() instead.
+   *
+   * @param handle Native handle
+   */
+  explicit ProtobufTopic(NT_Topic handle) : Topic{handle} {}
+
+  /**
+   * Construct from a generic topic.
+   *
+   * @param topic Topic
+   */
+  explicit ProtobufTopic(Topic topic) : Topic{topic} {}
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note Subscribers that do not match the published data type do not return
+   *     any values. To determine if the data type matches, use the appropriate
+   *     Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  [[nodiscard]]
+  SubscriberType Subscribe(
+      T defaultValue, const PubSubOptions& options = kDefaultPubSubOptions) {
+    wpi::ProtobufMessage<T> msg;
+    auto typeString = msg.GetTypeString();
+    return ProtobufSubscriber<T>{
+        ::nt::Subscribe(m_handle, NT_RAW, typeString, options), std::move(msg),
+        std::move(defaultValue)};
+  }
+
+  /**
+   * Create a new publisher to the topic.
+   *
+   * The publisher is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note It is not possible to publish two different data types to the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored). To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param options publish options
+   * @return publisher
+   */
+  [[nodiscard]]
+  PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
+    wpi::ProtobufMessage<T> msg;
+    auto typeString = msg.GetTypeString();
+    return ProtobufPublisher<T>{
+        ::nt::Publish(m_handle, NT_RAW, typeString, options), std::move(msg)};
+  }
+
+  /**
+   * Create a new publisher to the topic, with type string and initial
+   * properties.
+   *
+   * The publisher is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note It is not possible to publish two different data types to the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored). To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param properties JSON properties
+   * @param options publish options
+   * @return publisher
+   */
+  [[nodiscard]]
+  PublisherType PublishEx(
+      const wpi::json& properties,
+      const PubSubOptions& options = kDefaultPubSubOptions) {
+    wpi::ProtobufMessage<T> msg;
+    auto typeString = msg.GetTypeString();
+    return ProtobufPublisher<T>{
+        ::nt::PublishEx(m_handle, NT_RAW, typeString, properties, options),
+        std::move(msg)};
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * Entries act as a combination of a subscriber and a weak publisher. The
+   * subscriber is active as long as the entry is not destroyed. The publisher
+   * is created when the entry is first written to, and remains active until
+   * either Unpublish() is called or the entry is destroyed.
+   *
+   * @note It is not possible to use two different data types with the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored), and the entry
+   *     will show no new values if the data type does not match. To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  [[nodiscard]]
+  EntryType GetEntry(T defaultValue,
+                     const PubSubOptions& options = kDefaultPubSubOptions) {
+    wpi::ProtobufMessage<T> msg;
+    auto typeString = msg.GetTypeString();
+    return ProtobufEntry<T>{
+        ::nt::GetEntry(m_handle, NT_RAW, typeString, options), std::move(msg),
+        std::move(defaultValue)};
+  }
+};
+
+}  // namespace nt

ntcore/src/main/native/include/networktables/StructArrayTopic.h

@@ -0,0 +1,593 @@
+// 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 <stdint.h>
+
+#include <atomic>
+#include <ranges>
+#include <span>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include <wpi/SmallVector.h>
+#include <wpi/mutex.h>
+#include <wpi/struct/Struct.h>
+
+#include "networktables/NetworkTableInstance.h"
+#include "networktables/Topic.h"
+#include "ntcore_cpp.h"
+
+namespace wpi {
+class json;
+}  // namespace wpi
+
+namespace nt {
+
+template <wpi::StructSerializable T>
+class StructArrayTopic;
+
+/**
+ * NetworkTables struct-encoded value array subscriber.
+ */
+template <wpi::StructSerializable T>
+class StructArraySubscriber : public Subscriber {
+  using S = wpi::Struct<T>;
+
+ public:
+  using TopicType = StructArrayTopic<T>;
+  using ValueType = std::vector<T>;
+  using ParamType = std::span<const T>;
+  using TimestampedValueType = Timestamped<ValueType>;
+
+  StructArraySubscriber() = default;
+
+  /**
+   * Construct from a subscriber handle; recommended to use
+   * StructTopic::Subscribe() instead.
+   *
+   * @param handle Native handle
+   * @param defaultValue Default value
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+                 std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  StructArraySubscriber(NT_Subscriber handle, U&& defaultValue)
+      : Subscriber{handle},
+        m_defaultValue{defaultValue.begin(), defaultValue.end()} {
+  }
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * stored default value.
+   *
+   * @return value
+   */
+  ValueType Get() const { return Get(m_defaultValue); }
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+             std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  ValueType Get(U&& defaultValue) const {
+    return GetAtomic(std::forward<U>(defaultValue)).value;
+  }
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  ValueType Get(std::span<const T> defaultValue) const {
+    return GetAtomic(defaultValue).value;
+  }
+
+  /**
+   * Get the last published value along with its timestamp
+   * If no value has been published or the value cannot be unpacked, returns the
+   * stored default value and a timestamp of 0.
+   *
+   * @return timestamped value
+   */
+  TimestampedValueType GetAtomic() const { return GetAtomic(m_defaultValue); }
+
+  /**
+   * Get the last published value along with its timestamp.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+             std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  TimestampedValueType GetAtomic(U&& defaultValue) const {
+    wpi::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    if (view.value.size() == 0 || (view.value.size() % S::kSize) != 0) {
+      return {0, 0, std::forward<U>(defaultValue)};
+    }
+    TimestampedValueType rv{view.time, view.serverTime, {}};
+    rv.value.reserve(view.value.size() / S::kSize);
+    for (auto in = view.value.begin(), end = view.value.end(); in != end;
+         in += S::kSize) {
+      rv.value.emplace_back(
+          S::Unpack(std::span<const uint8_t, S::kSize>{in, in + S::kSize}));
+    }
+    return rv;
+  }
+
+  /**
+   * Get the last published value along with its timestamp.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  TimestampedValueType GetAtomic(std::span<const T> defaultValue) const {
+    wpi::SmallVector<uint8_t, 128> buf;
+    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    if (view.value.size() == 0 || (view.value.size() % S::kSize) != 0) {
+      return {0, 0, {defaultValue.begin(), defaultValue.end()}};
+    }
+    TimestampedValueType rv{view.time, view.serverTime, {}};
+    rv.value.reserve(view.value.size() / S::kSize);
+    for (auto in = view.value.begin(), end = view.value.end(); in != end;
+         in += S::kSize) {
+      rv.value.emplace_back(
+          S::Unpack(std::span<const uint8_t, S::kSize>{in, in + S::kSize}));
+    }
+    return rv;
+  }
+
+  /**
+   * Get an array of all valid value changes since the last call to ReadQueue.
+   * Also provides a timestamp for each value. Values that cannot be unpacked
+   * are dropped.
+   *
+   * @note The "poll storage" subscribe option can be used to set the queue
+   *     depth.
+   *
+   * @return Array of timestamped values; empty array if no valid new changes
+   *     have been published since the previous call.
+   */
+  std::vector<TimestampedValueType> ReadQueue() {
+    auto raw = ::nt::ReadQueueRaw(m_subHandle);
+    std::vector<TimestampedValueType> rv;
+    rv.reserve(raw.size());
+    for (auto&& r : raw) {
+      if (r.value.size() == 0 || (r.value.size() % S::kSize) != 0) {
+        continue;
+      }
+      std::vector<T> values;
+      values.reserve(r.value.size() / S::kSize);
+      for (auto in = r.value.begin(), end = r.value.end(); in != end;
+           in += S::kSize) {
+        values.emplace_back(
+            S::Unpack(std::span<const uint8_t, S::kSize>{in, in + S::kSize}));
+      }
+      rv.emplace_back(r.time, r.serverTime, std::move(values));
+    }
+    return rv;
+  }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return StructArrayTopic<T>{::nt::GetTopicFromHandle(m_subHandle)};
+  }
+
+ private:
+  ValueType m_defaultValue;
+};
+
+/**
+ * NetworkTables struct-encoded value array publisher.
+ */
+template <wpi::StructSerializable T>
+class StructArrayPublisher : public Publisher {
+  using S = wpi::Struct<T>;
+
+ public:
+  using TopicType = StructArrayTopic<T>;
+  using ValueType = std::vector<T>;
+  using ParamType = std::span<const T>;
+
+  using TimestampedValueType = Timestamped<ValueType>;
+
+  StructArrayPublisher() = default;
+
+  /**
+   * Construct from a publisher handle; recommended to use
+   * StructTopic::Publish() instead.
+   *
+   * @param handle Native handle
+   */
+  explicit StructArrayPublisher(NT_Publisher handle) : Publisher{handle} {}
+
+  StructArrayPublisher(const StructArrayPublisher&) = delete;
+  StructArrayPublisher& operator=(const StructArrayPublisher&) = delete;
+
+  StructArrayPublisher(StructArrayPublisher&& rhs)
+      : Publisher{std::move(rhs)},
+        m_buf{std::move(rhs.m_buf)},
+        m_schemaPublished{rhs.m_schemaPublished} {}
+
+  StructArrayPublisher& operator=(StructArrayPublisher&& rhs) {
+    Publisher::operator=(std::move(rhs));
+    m_buf = std::move(rhs.m_buf);
+    m_schemaPublished.clear();
+    if (rhs.m_schemaPublished.test()) {
+      m_schemaPublished.test_and_set();
+    }
+    return *this;
+  }
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+             std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  void Set(U&& value, int64_t time = 0) {
+    if (!m_schemaPublished.test_and_set()) {
+      GetTopic().GetInstance().template AddStructSchema<T>();
+    }
+    m_buf.Write(std::forward<U>(value),
+                [&](auto bytes) { ::nt::SetRaw(m_pubHandle, bytes, time); });
+  }
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  void Set(std::span<const T> value, int64_t time = 0) {
+    m_buf.Write(value,
+                [&](auto bytes) { ::nt::SetRaw(m_pubHandle, bytes, time); });
+  }
+
+  /**
+   * Publish a default value.
+   * On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+             std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  void SetDefault(U&& value) {
+    if (!m_schemaPublished.test_and_set()) {
+      GetTopic().GetInstance().template AddStructSchema<T>();
+    }
+    m_buf.Write(std::forward<U>(value),
+                [&](auto bytes) { ::nt::SetDefaultRaw(m_pubHandle, bytes); });
+  }
+
+  /**
+   * Publish a default value.
+   * On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  void SetDefault(std::span<const T> value) {
+    m_buf.Write(value,
+                [&](auto bytes) { ::nt::SetDefaultRaw(m_pubHandle, bytes); });
+  }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return StructArrayTopic<T>{::nt::GetTopicFromHandle(m_pubHandle)};
+  }
+
+ private:
+  wpi::StructArrayBuffer<T> m_buf;
+  std::atomic_flag m_schemaPublished = ATOMIC_FLAG_INIT;
+};
+
+/**
+ * NetworkTables struct-encoded value array entry.
+ *
+ * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
+ */
+template <wpi::StructSerializable T>
+class StructArrayEntry final : public StructArraySubscriber<T>,
+                               public StructArrayPublisher<T> {
+ public:
+  using SubscriberType = StructArraySubscriber<T>;
+  using PublisherType = StructArrayPublisher<T>;
+  using TopicType = StructArrayTopic<T>;
+  using ValueType = std::vector<T>;
+  using ParamType = std::span<const T>;
+
+  using TimestampedValueType = Timestamped<ValueType>;
+
+  StructArrayEntry() = default;
+
+  /**
+   * Construct from an entry handle; recommended to use
+   * StructTopic::GetEntry() instead.
+   *
+   * @param handle Native handle
+   * @param defaultValue Default value
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+                 std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  StructArrayEntry(NT_Entry handle, U&& defaultValue)
+      : StructArraySubscriber<T>{handle, defaultValue},
+        StructArrayPublisher<T>{handle} {
+  }
+
+  /**
+   * Determines if the native handle is valid.
+   *
+   * @return True if the native handle is valid, false otherwise.
+   */
+  explicit operator bool() const { return this->m_subHandle != 0; }
+
+  /**
+   * Gets the native handle for the entry.
+   *
+   * @return Native handle
+   */
+  NT_Entry GetHandle() const { return this->m_subHandle; }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return StructArrayTopic<T>{::nt::GetTopicFromHandle(this->m_subHandle)};
+  }
+
+  /**
+   * Stops publishing the entry if it's published.
+   */
+  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+};
+
+/**
+ * NetworkTables struct-encoded value array topic.
+ */
+template <wpi::StructSerializable T>
+class StructArrayTopic final : public Topic {
+ public:
+  using SubscriberType = StructArraySubscriber<T>;
+  using PublisherType = StructArrayPublisher<T>;
+  using EntryType = StructArrayEntry<T>;
+  using ValueType = std::vector<T>;
+  using ParamType = std::span<const T>;
+  using TimestampedValueType = Timestamped<ValueType>;
+
+  StructArrayTopic() = default;
+
+  /**
+   * Construct from a topic handle; recommended to use
+   * NetworkTableInstance::GetStructTopic() instead.
+   *
+   * @param handle Native handle
+   */
+  explicit StructArrayTopic(NT_Topic handle) : Topic{handle} {}
+
+  /**
+   * Construct from a generic topic.
+   *
+   * @param topic Topic
+   */
+  explicit StructArrayTopic(Topic topic) : Topic{topic} {}
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note Subscribers that do not match the published data type do not return
+   *     any values. To determine if the data type matches, use the appropriate
+   *     Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+             std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  [[nodiscard]]
+  SubscriberType Subscribe(
+      U&& defaultValue, const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructArraySubscriber<T>{
+        ::nt::Subscribe(
+            m_handle, NT_RAW,
+            wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(), options),
+        defaultValue};
+  }
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note Subscribers that do not match the published data type do not return
+   *     any values. To determine if the data type matches, use the appropriate
+   *     Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  [[nodiscard]]
+  SubscriberType Subscribe(
+      std::span<const T> defaultValue,
+      const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructArraySubscriber<T>{
+        ::nt::Subscribe(
+            m_handle, NT_RAW,
+            wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(), options),
+        defaultValue};
+  }
+
+  /**
+   * Create a new publisher to the topic.
+   *
+   * The publisher is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note It is not possible to publish two different data types to the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored). To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param options publish options
+   * @return publisher
+   */
+  [[nodiscard]]
+  PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructArrayPublisher<T>{::nt::Publish(
+        m_handle, NT_RAW,
+        wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(), options)};
+  }
+
+  /**
+   * Create a new publisher to the topic, with type string and initial
+   * properties.
+   *
+   * The publisher is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note It is not possible to publish two different data types to the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored). To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param properties JSON properties
+   * @param options publish options
+   * @return publisher
+   */
+  [[nodiscard]]
+  PublisherType PublishEx(
+      const wpi::json& properties,
+      const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructArrayPublisher<T>{::nt::PublishEx(
+        m_handle, NT_RAW,
+        wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(), properties,
+        options)};
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * Entries act as a combination of a subscriber and a weak publisher. The
+   * subscriber is active as long as the entry is not destroyed. The publisher
+   * is created when the entry is first written to, and remains active until
+   * either Unpublish() is called or the entry is destroyed.
+   *
+   * @note It is not possible to use two different data types with the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored), and the entry
+   *     will show no new values if the data type does not match. To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  template <typename U>
+#if __cpp_lib_ranges >= 201911L
+    requires std::ranges::range<U> &&
+             std::convertible_to<std::ranges::range_value_t<U>, T>
+#endif
+  [[nodiscard]]
+  EntryType GetEntry(U&& defaultValue,
+                     const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructArrayEntry<T>{
+        ::nt::GetEntry(m_handle, NT_RAW,
+                       wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(),
+                       options),
+        defaultValue};
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * Entries act as a combination of a subscriber and a weak publisher. The
+   * subscriber is active as long as the entry is not destroyed. The publisher
+   * is created when the entry is first written to, and remains active until
+   * either Unpublish() is called or the entry is destroyed.
+   *
+   * @note It is not possible to use two different data types with the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored), and the entry
+   *     will show no new values if the data type does not match. To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  [[nodiscard]]
+  EntryType GetEntry(std::span<const T> defaultValue,
+                     const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructArrayEntry<T>{
+        ::nt::GetEntry(m_handle, NT_RAW,
+                       wpi::MakeStructArrayTypeString<T, std::dynamic_extent>(),
+                       options),
+        defaultValue};
+  }
+};
+
+}  // namespace nt

ntcore/src/main/native/include/networktables/StructTopic.h

@@ -0,0 +1,438 @@
+// 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 <stdint.h>
+
+#include <atomic>
+#include <concepts>
+#include <span>
+#include <string_view>
+#include <utility>
+#include <vector>
+
+#include <wpi/SmallVector.h>
+#include <wpi/struct/Struct.h>
+
+#include "networktables/NetworkTableInstance.h"
+#include "networktables/Topic.h"
+#include "ntcore_cpp.h"
+
+namespace wpi {
+class json;
+}  // namespace wpi
+
+namespace nt {
+
+template <wpi::StructSerializable T>
+class StructTopic;
+
+/**
+ * NetworkTables struct-encoded value subscriber.
+ */
+template <wpi::StructSerializable T>
+class StructSubscriber : public Subscriber {
+  using S = wpi::Struct<T>;
+
+ public:
+  using TopicType = StructTopic<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+  using TimestampedValueType = Timestamped<T>;
+
+  StructSubscriber() = default;
+
+  /**
+   * Construct from a subscriber handle; recommended to use
+   * StructTopic::Subscribe() instead.
+   *
+   * @param handle Native handle
+   * @param defaultValue Default value
+   */
+  StructSubscriber(NT_Subscriber handle, T defaultValue)
+      : Subscriber{handle}, m_defaultValue{std::move(defaultValue)} {}
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * stored default value.
+   *
+   * @return value
+   */
+  ValueType Get() const { return Get(m_defaultValue); }
+
+  /**
+   * Get the last published value.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return value
+   */
+  ValueType Get(const T& defaultValue) const {
+    return GetAtomic(defaultValue).value;
+  }
+
+  /**
+   * Get the last published value, replacing the contents in place of an
+   * existing object. If no value has been published or the value cannot be
+   * unpacked, does not replace the contents and returns false.
+   *
+   * @param[out] out object to replace contents of
+   * @return true if successful
+   */
+  bool GetInto(T* out) {
+    wpi::SmallVector<uint8_t, S::kSize> buf;
+    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    if (view.value.size() < S::kSize) {
+      return false;
+    } else {
+      wpi::UnpackStructInto(out, view.value.subspan<0, S::kSize>());
+      return true;
+    }
+  }
+
+  /**
+   * Get the last published value along with its timestamp
+   * If no value has been published or the value cannot be unpacked, returns the
+   * stored default value and a timestamp of 0.
+   *
+   * @return timestamped value
+   */
+  TimestampedValueType GetAtomic() const { return GetAtomic(m_defaultValue); }
+
+  /**
+   * Get the last published value along with its timestamp.
+   * If no value has been published or the value cannot be unpacked, returns the
+   * passed defaultValue and a timestamp of 0.
+   *
+   * @param defaultValue default value to return if no value has been published
+   * @return timestamped value
+   */
+  TimestampedValueType GetAtomic(const T& defaultValue) const {
+    wpi::SmallVector<uint8_t, S::kSize> buf;
+    TimestampedRawView view = ::nt::GetAtomicRaw(m_subHandle, buf, {});
+    if (view.value.size() < S::kSize) {
+      return {0, 0, defaultValue};
+    } else {
+      return {view.time, view.serverTime,
+              S::Unpack(view.value.subspan<0, S::kSize>())};
+    }
+  }
+
+  /**
+   * Get an array of all valid value changes since the last call to ReadQueue.
+   * Also provides a timestamp for each value. Values that cannot be unpacked
+   * are dropped.
+   *
+   * @note The "poll storage" subscribe option can be used to set the queue
+   *     depth.
+   *
+   * @return Array of timestamped values; empty array if no valid new changes
+   *     have been published since the previous call.
+   */
+  std::vector<TimestampedValueType> ReadQueue() {
+    auto raw = ::nt::ReadQueueRaw(m_subHandle);
+    std::vector<TimestampedValueType> rv;
+    rv.reserve(raw.size());
+    for (auto&& r : raw) {
+      if (r.value.size() < S::kSize) {
+        continue;
+      } else {
+        rv.emplace_back(
+            r.time, r.serverTime,
+            S::Unpack(
+                std::span<const uint8_t>(r.value).subspan<0, S::kSize>()));
+      }
+    }
+    return rv;
+  }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return StructTopic<T>{::nt::GetTopicFromHandle(m_subHandle)};
+  }
+
+ private:
+  ValueType m_defaultValue;
+};
+
+/**
+ * NetworkTables struct-encoded value publisher.
+ */
+template <wpi::StructSerializable T>
+class StructPublisher : public Publisher {
+  using S = wpi::Struct<T>;
+
+ public:
+  using TopicType = StructTopic<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+
+  using TimestampedValueType = Timestamped<T>;
+
+  StructPublisher() = default;
+
+  StructPublisher(const StructPublisher&) = delete;
+  StructPublisher& operator=(const StructPublisher&) = delete;
+
+  StructPublisher(StructPublisher&& rhs)
+      : Publisher{std::move(rhs)}, m_schemaPublished{rhs.m_schemaPublished} {}
+
+  StructPublisher& operator=(StructPublisher&& rhs) {
+    Publisher::operator=(std::move(rhs));
+    m_schemaPublished.clear();
+    if (rhs.m_schemaPublished.test()) {
+      m_schemaPublished.test_and_set();
+    }
+    return *this;
+  }
+
+  /**
+   * Construct from a publisher handle; recommended to use
+   * StructTopic::Publish() instead.
+   *
+   * @param handle Native handle
+   */
+  explicit StructPublisher(NT_Publisher handle) : Publisher{handle} {}
+
+  /**
+   * Publish a new value.
+   *
+   * @param value value to publish
+   * @param time timestamp; 0 indicates current NT time should be used
+   */
+  void Set(const T& value, int64_t time = 0) {
+    if (!m_schemaPublished.test_and_set()) {
+      GetTopic().GetInstance().template AddStructSchema<T>();
+    }
+    uint8_t buf[S::kSize];
+    S::Pack(buf, value);
+    ::nt::SetRaw(m_pubHandle, buf, time);
+  }
+
+  /**
+   * Publish a default value.
+   * On reconnect, a default value will never be used in preference to a
+   * published value.
+   *
+   * @param value value
+   */
+  void SetDefault(const T& value) {
+    if (!m_schemaPublished.test_and_set()) {
+      GetTopic().GetInstance().template AddStructSchema<T>();
+    }
+    uint8_t buf[S::kSize];
+    S::Pack(buf, value);
+    ::nt::SetDefaultRaw(m_pubHandle, buf);
+  }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return StructTopic<T>{::nt::GetTopicFromHandle(m_pubHandle)};
+  }
+
+ private:
+  std::atomic_flag m_schemaPublished = ATOMIC_FLAG_INIT;
+};
+
+/**
+ * NetworkTables struct-encoded value entry.
+ *
+ * @note Unlike NetworkTableEntry, the entry goes away when this is destroyed.
+ */
+template <wpi::StructSerializable T>
+class StructEntry final : public StructSubscriber<T>,
+                          public StructPublisher<T> {
+ public:
+  using SubscriberType = StructSubscriber<T>;
+  using PublisherType = StructPublisher<T>;
+  using TopicType = StructTopic<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+
+  using TimestampedValueType = Timestamped<T>;
+
+  StructEntry() = default;
+
+  /**
+   * Construct from an entry handle; recommended to use
+   * StructTopic::GetEntry() instead.
+   *
+   * @param handle Native handle
+   * @param defaultValue Default value
+   */
+  StructEntry(NT_Entry handle, T defaultValue)
+      : StructSubscriber<T>{handle, std::move(defaultValue)},
+        StructPublisher<T>{handle} {}
+
+  /**
+   * Determines if the native handle is valid.
+   *
+   * @return True if the native handle is valid, false otherwise.
+   */
+  explicit operator bool() const { return this->m_subHandle != 0; }
+
+  /**
+   * Gets the native handle for the entry.
+   *
+   * @return Native handle
+   */
+  NT_Entry GetHandle() const { return this->m_subHandle; }
+
+  /**
+   * Get the corresponding topic.
+   *
+   * @return Topic
+   */
+  TopicType GetTopic() const {
+    return StructTopic<T>{::nt::GetTopicFromHandle(this->m_subHandle)};
+  }
+
+  /**
+   * Stops publishing the entry if it's published.
+   */
+  void Unpublish() { ::nt::Unpublish(this->m_pubHandle); }
+};
+
+/**
+ * NetworkTables struct-encoded value topic.
+ */
+template <wpi::StructSerializable T>
+class StructTopic final : public Topic {
+ public:
+  using SubscriberType = StructSubscriber<T>;
+  using PublisherType = StructPublisher<T>;
+  using EntryType = StructEntry<T>;
+  using ValueType = T;
+  using ParamType = const T&;
+  using TimestampedValueType = Timestamped<T>;
+
+  StructTopic() = default;
+
+  /**
+   * Construct from a topic handle; recommended to use
+   * NetworkTableInstance::GetStructTopic() instead.
+   *
+   * @param handle Native handle
+   */
+  explicit StructTopic(NT_Topic handle) : Topic{handle} {}
+
+  /**
+   * Construct from a generic topic.
+   *
+   * @param topic Topic
+   */
+  explicit StructTopic(Topic topic) : Topic{topic} {}
+
+  /**
+   * Create a new subscriber to the topic.
+   *
+   * <p>The subscriber is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note Subscribers that do not match the published data type do not return
+   *     any values. To determine if the data type matches, use the appropriate
+   *     Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options subscribe options
+   * @return subscriber
+   */
+  [[nodiscard]]
+  SubscriberType Subscribe(
+      T defaultValue, const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructSubscriber<T>{
+        ::nt::Subscribe(m_handle, NT_RAW, wpi::GetStructTypeString<T>(),
+                        options),
+        std::move(defaultValue)};
+  }
+
+  /**
+   * Create a new publisher to the topic.
+   *
+   * The publisher is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note It is not possible to publish two different data types to the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored). To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param options publish options
+   * @return publisher
+   */
+  [[nodiscard]]
+  PublisherType Publish(const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructPublisher<T>{::nt::Publish(
+        m_handle, NT_RAW, wpi::GetStructTypeString<T>(), options)};
+  }
+
+  /**
+   * Create a new publisher to the topic, with type string and initial
+   * properties.
+   *
+   * The publisher is only active as long as the returned object
+   * is not destroyed.
+   *
+   * @note It is not possible to publish two different data types to the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored). To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param properties JSON properties
+   * @param options publish options
+   * @return publisher
+   */
+  [[nodiscard]]
+  PublisherType PublishEx(
+      const wpi::json& properties,
+      const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructPublisher<T>{::nt::PublishEx(
+        m_handle, NT_RAW, wpi::GetStructTypeString<T>(), properties, options)};
+  }
+
+  /**
+   * Create a new entry for the topic.
+   *
+   * Entries act as a combination of a subscriber and a weak publisher. The
+   * subscriber is active as long as the entry is not destroyed. The publisher
+   * is created when the entry is first written to, and remains active until
+   * either Unpublish() is called or the entry is destroyed.
+   *
+   * @note It is not possible to use two different data types with the same
+   *     topic. Conflicts between publishers are typically resolved by the
+   *     server on a first-come, first-served basis. Any published values that
+   *     do not match the topic's data type are dropped (ignored), and the entry
+   *     will show no new values if the data type does not match. To determine
+   *     if the data type matches, use the appropriate Topic functions.
+   *
+   * @param defaultValue default value used when a default is not provided to a
+   *        getter function
+   * @param options publish and/or subscribe options
+   * @return entry
+   */
+  [[nodiscard]]
+  EntryType GetEntry(T defaultValue,
+                     const PubSubOptions& options = kDefaultPubSubOptions) {
+    return StructEntry<T>{
+        ::nt::GetEntry(m_handle, NT_RAW, wpi::GetStructTypeString<T>(),
+                       options),
+        std::move(defaultValue)};
+  }
+};
+
+}  // namespace nt

ntcore/src/main/native/include/networktables/Topic.inc

@@ -6,7 +6,6 @@
 
 #include <string>
 
-#include "networktables/NetworkTableInstance.h"
 #include "networktables/NetworkTableType.h"
 #include "networktables/Topic.h"
 #include "ntcore_c.h"
@@ -14,10 +13,6 @@
 
 namespace nt {
 
-inline NetworkTableInstance Topic::GetInstance() const {
-  return NetworkTableInstance{GetInstanceFromHandle(m_handle)};
-}
-
 inline std::string Topic::GetName() const {
   return ::nt::GetTopicName(m_handle);
 }

ntcore/src/main/native/include/ntcore_c.h

@@ -1435,6 +1435,44 @@ NT_Listener NT_AddPolledLogger(NT_ListenerPoller poller, unsigned int min_level,
 
 /** @} */
 
+/**
+ * @defgroup ntcore_schema_cfunc Schema Functions
+ * @{
+ */
+
+/**
+ * Returns whether there is a data schema already registered with the given
+ * name. This does NOT perform a check as to whether the schema has already
+ * been published by another node on the network.
+ *
+ * @param inst instance
+ * @param name Name (the string passed as the data type for topics using this
+ *             schema)
+ * @return True if schema already registered
+ */
+NT_Bool NT_HasSchema(NT_Inst inst, const char* name);
+
+/**
+ * Registers a data schema.  Data schemas provide information for how a
+ * certain data type string can be decoded.  The type string of a data schema
+ * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+ * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+ * published just like normal topics, with the name being generated from the
+ * provided name: "/.schema/<name>".  Duplicate calls to this function with
+ * the same name are silently ignored.
+ *
+ * @param inst instance
+ * @param name Name (the string passed as the data type for topics using this
+ *             schema)
+ * @param type Type of schema (e.g. "protobuf", "struct", etc)
+ * @param schema Schema data
+ * @param schemaSize Size of schema data
+ */
+void NT_AddSchema(NT_Inst inst, const char* name, const char* type,
+                  const uint8_t* schema, size_t schemaSize);
+
+/** @} */
+
 /**
  * @defgroup ntcore_interop_cfunc Interop Utility Functions
  * @{

ntcore/src/main/native/include/ntcore_cpp.h

@@ -1300,6 +1300,66 @@ NT_Listener AddLogger(NT_Inst inst, unsigned int min_level,
 NT_Listener AddPolledLogger(NT_ListenerPoller poller, unsigned int min_level,
                             unsigned int max_level);
 
+/** @} */
+
+/**
+ * @defgroup ntcore_schema_func Schema Functions
+ * @{
+ */
+
+/**
+ * Returns whether there is a data schema already registered with the given
+ * name. This does NOT perform a check as to whether the schema has already
+ * been published by another node on the network.
+ *
+ * @param inst instance
+ * @param name Name (the string passed as the data type for topics using this
+ *             schema)
+ * @return True if schema already registered
+ */
+bool HasSchema(NT_Inst inst, std::string_view name);
+
+/**
+ * Registers a data schema.  Data schemas provide information for how a
+ * certain data type string can be decoded.  The type string of a data schema
+ * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+ * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+ * published just like normal topics, with the name being generated from the
+ * provided name: "/.schema/<name>".  Duplicate calls to this function with
+ * the same name are silently ignored.
+ *
+ * @param inst instance
+ * @param name Name (the string passed as the data type for topics using this
+ *             schema)
+ * @param type Type of schema (e.g. "protobuf", "struct", etc)
+ * @param schema Schema data
+ */
+void AddSchema(NT_Inst inst, std::string_view name, std::string_view type,
+               std::span<const uint8_t> schema);
+
+/**
+ * Registers a data schema.  Data schemas provide information for how a
+ * certain data type string can be decoded.  The type string of a data schema
+ * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+ * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+ * published just like normal topics, with the name being generated from the
+ * provided name: "/.schema/<name>".  Duplicate calls to this function with
+ * the same name are silently ignored.
+ *
+ * @param inst instance
+ * @param name Name (the string passed as the data type for topics using this
+ *             schema)
+ * @param type Type of schema (e.g. "protobuf", "struct", etc)
+ * @param schema Schema data
+ */
+inline void AddSchema(NT_Inst inst, std::string_view name,
+                      std::string_view type, std::string_view schema) {
+  AddSchema(
+      inst, name, type,
+      std::span<const uint8_t>{reinterpret_cast<const uint8_t*>(schema.data()),
+                               schema.size()});
+}
+
 /** @} */
 /** @} */
 

ntcore/src/test/native/cpp/net/WireDecoderTest.cpp

@@ -67,8 +67,8 @@ TEST_F(WireDecodeTextClientTest, ErrorEmpty) {
       logger,
       Call(_, _, _,
            "could not decode JSON message: [json.exception.parse_error.101] "
-           "parse error at 1: syntax error - "
-           "unexpected end of input; expected '[', '{', or a literal"sv));
+           "parse error at line 1, column 1: syntax error while parsing value "
+           "- unexpected end of input; expected '[', '{', or a literal"sv));
   net::WireDecodeText("", handler, logger);
 }
 
@@ -77,8 +77,8 @@ TEST_F(WireDecodeTextClientTest, ErrorBadJson1) {
       logger,
       Call(_, _, _,
            "could not decode JSON message: [json.exception.parse_error.101] "
-           "parse error at 2: syntax error - "
-           "unexpected end of input; expected '[', '{', or a literal"sv));
+           "parse error at line 1, column 2: syntax error while parsing value "
+           "- unexpected end of input; expected '[', '{', or a literal"sv));
   net::WireDecodeText("[", handler, logger);
 }
 
@@ -87,8 +87,8 @@ TEST_F(WireDecodeTextClientTest, ErrorBadJson2) {
       logger,
       Call(_, _, _,
            "could not decode JSON message: [json.exception.parse_error.101] "
-           "parse error at 3: syntax error - "
-           "unexpected end of input; expected string literal"sv));
+           "parse error at line 1, column 3: syntax error while parsing object "
+           "key - unexpected end of input; expected string literal"sv));
   net::WireDecodeText("[{", handler, logger);
 }
 

ntcoreffi/src/main/native/cpp/DataLogManager.cpp

@@ -264,12 +264,18 @@ Thread::~Thread() {
 void Thread::Main() {
   // based on free disk space, scan for "old" FRC_*.wpilog files and remove
   {
-    uintmax_t freeSpace = fs::space(m_logDir).free;
+    std::error_code ec;
+    uintmax_t freeSpace;
+    auto freeSpaceInfo = fs::space(m_logDir, ec);
+    if (!ec) {
+      freeSpace = freeSpaceInfo.available;
+    } else {
+      freeSpace = UINTMAX_MAX;
+    }
     if (freeSpace < kFreeSpaceThreshold) {
       // Delete oldest FRC_*.wpilog files (ignore FRC_TBD_*.wpilog as we just
       // created one)
       std::vector<fs::directory_entry> entries;
-      std::error_code ec;
       for (auto&& entry : fs::directory_iterator{m_logDir, ec}) {
         auto stem = entry.path().stem().string();
         if (wpi::starts_with(stem, "FRC_") &&
@@ -462,6 +468,9 @@ static Instance& GetInstance(std::string_view dir = "",
                              std::string_view filename = "",
                              double period = 0.25) {
   static Instance instance(dir, filename, period);
+  if (!instance.owner) {
+    instance.owner.Start(MakeLogDir(dir), filename, period);
+  }
   return instance;
 }
 
@@ -470,6 +479,12 @@ void DataLogManager::Start(std::string_view dir, std::string_view filename,
   GetInstance(dir, filename, period);
 }
 
+void DataLogManager::Stop() {
+  auto& inst = GetInstance();
+  inst.owner.GetThread()->m_log.Stop();
+  inst.owner.Stop();
+}
+
 void DataLogManager::Log(std::string_view message) {
   GetInstance().owner.GetThread()->m_messageLog.Append(message);
   fmt::print("{}\n", message);
@@ -503,6 +518,10 @@ void DLM_Start(const char* dir, const char* filename, double period) {
   DataLogManager::Start(dir, filename, period);
 }
 
+void DLM_Stop(void) {
+  DataLogManager::Stop();
+}
+
 void DLM_Log(const char* message) {
   DataLogManager::Log(message);
 }

ntcoreffi/src/main/native/include/DataLogManager.h

@@ -52,6 +52,11 @@ class DataLogManager final {
   static void Start(std::string_view dir = "", std::string_view filename = "",
                     double period = 0.25);
 
+  /**
+   * Stop data log manager.
+   */
+  static void Stop();
+
   /**
    * Log a message to the "messages" entry. The message is also printed to
    * standard output (followed by a newline).
@@ -110,6 +115,11 @@ struct WPI_DataLog;
  */
 void DLM_Start(const char* dir, const char* filename, double period);
 
+/**
+ * Stop data log manager.
+ */
+void DLM_Stop(void);
+
 /**
  * Log a message to the "messages" entry. The message is also printed to
  * standard output (followed by a newline).

ntcoreffi/src/main/native/symbols.txt

@@ -4,6 +4,7 @@ DLM_Log
 DLM_LogNetworkTables
 DLM_SignalNewDSDataOccur
 DLM_Start
+DLM_Stop
 NT_AddListener
 NT_AddListenerMultiple
 NT_AddListenerSingle
@@ -245,6 +246,7 @@ WPI_DataLog_Resume
 WPI_DataLog_SetFilename
 WPI_DataLog_SetMetadata
 WPI_DataLog_Start
+WPI_DataLog_Stop
 WPI_DestroyEvent
 WPI_DestroySemaphore
 WPI_DestroySignalObject

romiVendordep/CMakeLists.txt

@@ -24,6 +24,20 @@ if (WITH_JAVA)
   endif()
 endif()
 
+if (WITH_JAVA_SOURCE)
+  find_package(Java REQUIRED)
+  include(UseJava)
+  file(GLOB_RECURSE ROMIVENDORDEP_SOURCES src/main/java/*.java)
+  add_jar(romiVendordep_src_jar
+  RESOURCES NAMESPACE "edu/wpi/first/wpilibj/romi" ${ROMIVENDORDEP_SOURCES}
+  OUTPUT_NAME romiVendordep-sources)
+
+  get_property(ROMIVENDORDEP_SRC_JAR_FILE TARGET romiVendordep_src_jar PROPERTY JAR_FILE)
+  install(FILES ${ROMIVENDORDEP_JAR_FILE} DESTINATION "${java_lib_dest}")
+
+  set_property(TARGET romiVendordep_src_jar PROPERTY FOLDER "java")
+endif()
+
 file(GLOB_RECURSE romiVendordep_native_src src/main/native/cpp/*.cpp)
 add_library(romiVendordep ${romiVendordep_native_src})
 set_target_properties(romiVendordep PROPERTIES DEBUG_POSTFIX "d")

shared/config.gradle

@@ -16,7 +16,7 @@ nativeUtils {
             opencvYear = "frc2024"
             googleTestYear = "frc2024"
             niLibVersion = "2024.1.1"
-            opencvVersion = "4.8.0-1"
+            opencvVersion = "4.8.0-2"
             googleTestVersion = "1.14.0-1"
         }
     }

shared/cppJavaDesktopTestTask.gradle

@@ -0,0 +1,7 @@
+apply from: "${rootDir}/shared/cppDesktopTestTask.gradle"
+apply from: "${rootDir}/shared/javaDesktopTestTask.gradle"
+
+tasks.register('testDesktop') {
+    dependsOn testDesktopJava
+    dependsOn testDesktopCpp
+}

shared/examplecheck.gradle

@@ -67,8 +67,8 @@ def tagList = [
         "SmartDashboard", "Shuffleboard", "Sendable", "DataLog",
 
         /* --- Controls --- */
-        "PID", "State-Space", "Ramsete", "Path Following", "Trajectory", "SysId",
-        "Simulation", "Trapezoid Profile", "Profiled PID", "Odometry", "LQR",
+        "Exponential Profile", "PID", "State-Space", "Ramsete", "Path Following", "Trajectory",
+        "SysId", "Simulation", "Trapezoid Profile", "Profiled PID", "Odometry", "LQR",
         "Pose Estimator",
 
         /* --- Hardware --- */
@@ -77,7 +77,7 @@ def tagList = [
         "Digital Output",
 
         /* --- HID --- */
-        "XboxController", "PS4Controller", "Joystick",
+        "XboxController", "PS4Controller", "PS5Controller", "Joystick",
 
         /* --- Misc --- */
         /* (try to keep this section minimal) */

shared/java/javacommon.gradle

@@ -1,6 +1,7 @@
 apply plugin: 'maven-publish'
 apply plugin: 'java-library'
 apply plugin: 'jacoco'
+apply plugin: 'com.google.protobuf'
 
 def baseArtifactId = project.baseId
 def artifactGroupId = project.groupId
@@ -141,3 +142,27 @@ jacocoTestReport {
         html.required = true
     }
 }
+
+protobuf {
+    protoc {
+        artifact = 'com.google.protobuf:protoc:3.21.12'
+    }
+    plugins {
+        quickbuf {
+            artifact = 'us.hebi.quickbuf:protoc-gen-quickbuf:1.3.2'
+        }
+    }
+    generateProtoTasks {
+        all().configureEach { task ->
+            task.builtins {
+                cpp {}
+                remove java
+            }
+            task.plugins {
+                quickbuf {
+                    option "gen_descriptors=true"
+                }
+            }
+        }
+    }
+}

shared/javacpp/setupBuild.gradle

@@ -30,11 +30,11 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs 'src/main/native/cpp'
-                        include '**/*.cpp'
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
+                        include '**/*.cpp', '**/*.cc'
                     }
                     exportedHeaders {
-                        srcDirs 'src/main/native/include'
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
                     }
                 }
             }
@@ -43,6 +43,9 @@ model {
                     it.buildable = false
                     return
                 }
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
                 if (project.hasProperty('extraSetup')) {
                     extraSetup(it)
                 }
@@ -179,8 +182,7 @@ model {
     }
 }
 
-apply from: "${rootDir}/shared/cppDesktopTestTask.gradle"
-apply from: "${rootDir}/shared/javaDesktopTestTask.gradle"
+apply from: "${rootDir}/shared/cppJavaDesktopTestTask.gradle"
 
 tasks.withType(RunTestExecutable) {
     args "--gtest_output=xml:test_detail.xml"

shared/jni/setupBuild.gradle

@@ -41,15 +41,15 @@ model {
             sources {
                 cpp {
                     source {
-                        srcDirs 'src/main/native/cpp'
+                        srcDirs 'src/main/native/cpp', "$buildDir/generated/source/proto/main/cpp"
                         if (project.hasProperty('generatedSources')) {
                             srcDir generatedSources
                         }
-                        include '**/*.cpp'
+                        include '**/*.cpp', '**/*.cc'
                         exclude '**/jni/**/*.cpp'
                     }
                     exportedHeaders {
-                        srcDir 'src/main/native/include'
+                        srcDirs 'src/main/native/include', "$buildDir/generated/source/proto/main/cpp"
                         if (project.hasProperty('generatedHeaders')) {
                             srcDir generatedHeaders
                         }
@@ -67,6 +67,9 @@ model {
                 if (!project.hasProperty('noWpiutil')) {
                     lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
                 }
+                it.tasks.withType(CppCompile) {
+                    it.dependsOn generateProto
+                }
                 if (project.hasProperty('splitSetup')) {
                     splitSetup(it)
                 }
@@ -324,8 +327,7 @@ model {
     }
 }
 
-apply from: "${rootDir}/shared/cppDesktopTestTask.gradle"
-apply from: "${rootDir}/shared/javaDesktopTestTask.gradle"
+apply from: "${rootDir}/shared/cppJavaDesktopTestTask.gradle"
 
 ext.getJniSpecClass = {
     return JniNativeLibrarySpec

shared/opencv.gradle

@@ -1,4 +1,4 @@
-def opencvVersion = '4.8.0-1'
+def opencvVersion = '4.8.0-2'
 
 if (project.hasProperty('useCpp') && project.useCpp) {
     model {

simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp

@@ -146,7 +146,9 @@ void DSCommPacket::DecodeUDP(std::span<const uint8_t> packet) {
   m_lo = packet[1];
   // Comm Version is packet 2, ignore
   SetControl(packet[3], packet[4]);
-  SetAlliance(packet[5]);
+  // DS sends values 0, 1, and 2 for Red, but kUnknown is 0, so the value needs
+  // to be offset by one
+  SetAlliance(packet[5] + 1);
 
   // Return if packet finished
   if (packet.size() == 6) {

simulation/halsim_ds_socket/src/main/native/cpp/main.cpp

@@ -16,6 +16,7 @@
 #include <atomic>
 #include <cstdio>
 #include <cstring>
+#include <exception>
 #include <string_view>
 
 #include <DSCommPacket.h>
@@ -124,33 +125,45 @@ static void SetupUdp(wpi::uv::Loop& loop) {
     });
   });
   simLoopTimer->Start(Timer::Time{100}, Timer::Time{100});
+  // DS Timeout
+  int timeoutMs = 100;
+  if (auto envTimeout = std::getenv("DS_TIMEOUT_MS")) {
+    try {
+      timeoutMs = std::stoi(envTimeout);
+    } catch (const std::exception& e) {
+      fmt::print(stderr, "Error parsing DS_TIMEOUT_MS: {}\n", e.what());
+    }
+  }
+  auto autoDisableTimer = Timer::Create(loop);
+  autoDisableTimer->timeout.connect([] { HALSIM_SetDriverStationEnabled(0); });
 
   // UDP Receive then send
-  udp->received.connect([udpLocal = udp.get()](Buffer& buf, size_t len,
-                                               const sockaddr& recSock,
-                                               unsigned int port) {
-    auto ds = udpLocal->GetLoop()->GetData<halsim::DSCommPacket>();
-    ds->DecodeUDP({reinterpret_cast<uint8_t*>(buf.base), len});
+  udp->received.connect(
+      [udpLocal = udp.get(), autoDisableTimer, timeoutMs](
+          Buffer& buf, size_t len, const sockaddr& recSock, unsigned int port) {
+        autoDisableTimer->Start(Timer::Time(timeoutMs));
+        auto ds = udpLocal->GetLoop()->GetData<halsim::DSCommPacket>();
+        ds->DecodeUDP({reinterpret_cast<uint8_t*>(buf.base), len});
 
-    struct sockaddr_in outAddr;
-    std::memcpy(&outAddr, &recSock, sizeof(sockaddr_in));
-    outAddr.sin_family = PF_INET;
-    outAddr.sin_port = htons(1150);
+        struct sockaddr_in outAddr;
+        std::memcpy(&outAddr, &recSock, sizeof(sockaddr_in));
+        outAddr.sin_family = PF_INET;
+        outAddr.sin_port = htons(1150);
 
-    wpi::SmallVector<wpi::uv::Buffer, 4> sendBufs;
-    wpi::raw_uv_ostream stream{sendBufs,
-                               [] { return GetBufferPool().Allocate(); }};
-    ds->SetupSendBuffer(stream);
+        wpi::SmallVector<wpi::uv::Buffer, 4> sendBufs;
+        wpi::raw_uv_ostream stream{sendBufs,
+                                   [] { return GetBufferPool().Allocate(); }};
+        ds->SetupSendBuffer(stream);
 
-    udpLocal->Send(outAddr, sendBufs, [](auto bufs, Error err) {
-      GetBufferPool().Release(bufs);
-      if (err) {
-        fmt::print(stderr, "{}\n", err.str());
-        std::fflush(stderr);
-      }
-    });
-    ds->SendUDPToHALSim();
-  });
+        udpLocal->Send(outAddr, sendBufs, [](auto bufs, Error err) {
+          GetBufferPool().Release(bufs);
+          if (err) {
+            fmt::print(stderr, "{}\n", err.str());
+            std::fflush(stderr);
+          }
+        });
+        ds->SendUDPToHALSim();
+      });
 
   udp->StartRecv();
 }

simulation/halsim_ws_client/src/main/native/include/HALSimWS.h

@@ -24,7 +24,7 @@ class HALSimWSClientConnection;
 
 class HALSimWS : public std::enable_shared_from_this<HALSimWS> {
  public:
-  using LoopFunc = std::function<void(void)>;
+  using LoopFunc = std::function<void()>;
   using UvExecFunc = wpi::uv::Async<LoopFunc>;
 
   HALSimWS(wpi::uv::Loop& loop, ProviderContainer& providers,

simulation/halsim_ws_core/src/main/native/include/WSProvider_SimDevice.h

@@ -87,7 +87,7 @@ class HALSimWSProviderSimDevice : public HALSimWSBaseProvider {
 
 class HALSimWSProviderSimDevices {
  public:
-  using LoopFn = std::function<void(void)>;
+  using LoopFn = std::function<void()>;
   using UvExecFn = wpi::uv::AsyncFunction<void(LoopFn)>;
 
   explicit HALSimWSProviderSimDevices(ProviderContainer& providers)

simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h

@@ -22,7 +22,7 @@ namespace wpilibws {
 
 class HALSimWeb : public std::enable_shared_from_this<HALSimWeb> {
  public:
-  using LoopFunc = std::function<void(void)>;
+  using LoopFunc = std::function<void()>;
   using UvExecFunc = wpi::uv::Async<LoopFunc>;
 
   HALSimWeb(wpi::uv::Loop& loop, ProviderContainer& providers,

simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h

@@ -22,7 +22,7 @@ namespace wpilibws {
 class WebServerClientTest {
  public:
   using BufferPool = wpi::uv::SimpleBufferPool<4>;
-  using LoopFunc = std::function<void(void)>;
+  using LoopFunc = std::function<void()>;
   using UvExecFunc = wpi::uv::AsyncFunction<void(LoopFunc)>;
 
   explicit WebServerClientTest(wpi::uv::Loop& loop) : m_loop(loop) {}

simulation/halsim_xrp/src/main/native/cpp/main.cpp

@@ -35,7 +35,7 @@ __declspec(dllexport)
     return -1;
   }
 
-  std::puts("HALSim XRP Extention Initialized");
+  std::puts("HALSim XRP Extension Initialized");
   return 0;
 }