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Add more type handling to NT backend
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@PeterJohnson
PeterJohnson committed Feb 15, 2025
1 parent dc42640 commit d46bf97
Showing 1 changed file with 277 additions and 11 deletions.
288 changes: 277 additions & 11 deletions ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesTelemetryBackend.java
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Original file line number Diff line number Diff line change
Expand Up @@ -106,7 +106,33 @@ public void setTypeString(String typeString) {
}

@Override
public <T> void logStruct(T value, Struct<T> struct) {}
public <T> void logStruct(T value, Struct<T> struct) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getStructTopic(m_path, struct)
.publishEx(
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_struct = struct;
m_pub.set(pub);
}
}
}

if (pub instanceof StructPublisher<?> && struct.equals(m_struct)) {
@SuppressWarnings("unchecked")
StructPublisher<T> e = (StructPublisher<T>) pub;
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public <T> void logProtobuf(T value, Protobuf<T, ?> proto) {}
Expand Down Expand Up @@ -142,22 +168,166 @@ public void logBoolean(boolean value) {
}

@Override
public void logLong(long value) {}
public void logLong(long value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getIntegerTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : IntegerTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof IntegerPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logFloat(float value) {}
public void logFloat(float value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getFloatTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : FloatTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof FloatPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logDouble(double value) {}
public void logDouble(double value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getDoubleTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : DoubleTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof DoublePublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logString(String value) {}
public void logString(String value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getStringTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : StringTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof StringPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logBooleanArray(boolean[] value) {}
public void logBooleanArray(boolean[] value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getBooleanArrayTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : BooleanArrayTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof BooleanArrayPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logByteArray(byte[] value) {}
public void logByteArray(byte[] value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getRawTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : "raw",
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof RawPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logShortArray(short[] value) {}
Expand All @@ -166,15 +336,111 @@ public void logShortArray(short[] value) {}
public void logIntArray(int[] value) {}

@Override
public void logLongArray(long[] value) {}
public void logLongArray(long[] value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getIntegerArrayTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : IntegerArrayTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof IntegerArrayPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logFloatArray(float[] value) {}
public void logFloatArray(float[] value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getFloatArrayTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : FloatArrayTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof FloatArrayPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logDoubleArray(double[] value) {}
public void logDoubleArray(double[] value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getDoubleArrayTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : DoubleArrayTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof DoubleArrayPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}

@Override
public void logStringArray(String[] value) {}
public void logStringArray(String[] value) {
Publisher pub = m_pub.get();
if (pub == null) {
synchronized (this) {
// double-check
pub = m_pub.get();
if (pub == null) {
pub =
m_inst
.getStringArrayTopic(m_path)
.publishEx(
m_typeString != null ? m_typeString : StringArrayTopic.kTypeString,
m_properties,
PubSubOption.keepDuplicates(m_keepDuplicates.get()));
m_pub.set(pub);
}
}
}

if (pub instanceof StringArrayPublisher e) {
e.set(value);
} else {
// TODO: warn?
}
}
}
}

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