[ntcore] Pass pub/sub options as a unified PubSubOptions struct (#4794)

In Java, PubSubOption is still used for passing options, but this simplifies C++ use substantially, as it allows aggregate construction.
wpilibsuite · Dec 13, 2022 · a865f48 · a865f48
1 parent f66a667
commit a865f48
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Showing 53 changed files with 696 additions and 624 deletions.
diff --git a/glass/src/libnt/native/cpp/NTDigitalInput.cpp b/glass/src/libnt/native/cpp/NTDigitalInput.cpp
@@ -15,8 +15,8 @@ NTDigitalInputModel::NTDigitalInputModel(std::string_view path)
 NTDigitalInputModel::NTDigitalInputModel(nt::NetworkTableInstance inst,
                                          std::string_view path)
     : m_inst{inst},
-      m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
-                  .Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
+      m_value{
+          inst.GetBooleanTopic(fmt::format("{}/Value", path)).Subscribe(false)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_valueData{fmt::format("NT_DIn:{}", path)},
       m_nameValue{wpi::rsplit(path, '/').second} {

diff --git a/glass/src/libnt/native/cpp/NTDigitalOutput.cpp b/glass/src/libnt/native/cpp/NTDigitalOutput.cpp
@@ -14,8 +14,8 @@ NTDigitalOutputModel::NTDigitalOutputModel(std::string_view path)
 NTDigitalOutputModel::NTDigitalOutputModel(nt::NetworkTableInstance inst,
                                            std::string_view path)
     : m_inst{inst},
-      m_value{inst.GetBooleanTopic(fmt::format("{}/Value", path))
-                  .GetEntry(false, {{nt::PubSubOption::SendAll(true)}})},
+      m_value{
+          inst.GetBooleanTopic(fmt::format("{}/Value", path)).GetEntry(false)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(false)},

diff --git a/glass/src/libnt/native/cpp/NTFMS.cpp b/glass/src/libnt/native/cpp/NTFMS.cpp
@@ -21,11 +21,11 @@ NTFMSModel::NTFMSModel(nt::NetworkTableInstance inst, std::string_view path)
           inst.GetStringTopic(fmt::format("{}/GameSpecificMessage", path))
               .Subscribe("")},
       m_alliance{inst.GetBooleanTopic(fmt::format("{}/IsRedAlliance", path))
-                     .Subscribe(false, {{nt::PubSubOption::SendAll(true)}})},
+                     .Subscribe(false)},
       m_station{inst.GetIntegerTopic(fmt::format("{}/StationNumber", path))
-                    .Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
+                    .Subscribe(0)},
       m_controlWord{inst.GetIntegerTopic(fmt::format("{}/FMSControlData", path))
-                        .Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
+                        .Subscribe(0)},
       m_fmsAttached{fmt::format("NT_FMS:FMSAttached:{}", path)},
       m_dsAttached{fmt::format("NT_FMS:DSAttached:{}", path)},
       m_allianceStationId{fmt::format("NT_FMS:AllianceStationID:{}", path)},

diff --git a/glass/src/libnt/native/cpp/NTField2D.cpp b/glass/src/libnt/native/cpp/NTField2D.cpp
@@ -112,10 +112,7 @@ NTField2DModel::NTField2DModel(nt::NetworkTableInstance inst,
                                std::string_view path)
     : m_path{fmt::format("{}/", path)},
       m_inst{inst},
-      m_tableSub{inst,
-                 {{m_path}},
-                 {{nt::PubSubOption::SendAll(true),
-                   nt::PubSubOption::Periodic(0.05)}}},
+      m_tableSub{inst, {{m_path}}, {.periodic = 0.05, .sendAll = true}},
       m_nameTopic{inst.GetTopic(fmt::format("{}/.name", path))},
       m_poller{inst} {
   m_poller.AddListener(m_tableSub, nt::EventFlags::kTopic |

diff --git a/glass/src/libnt/native/cpp/NTGyro.cpp b/glass/src/libnt/native/cpp/NTGyro.cpp
@@ -14,8 +14,7 @@ NTGyroModel::NTGyroModel(std::string_view path)
 
 NTGyroModel::NTGyroModel(nt::NetworkTableInstance inst, std::string_view path)
     : m_inst{inst},
-      m_angle{inst.GetDoubleTopic(fmt::format("{}/Value", path))
-                  .Subscribe(0, {{nt::PubSubOption::SendAll(true)}})},
+      m_angle{inst.GetDoubleTopic(fmt::format("{}/Value", path)).Subscribe(0)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe({})},
       m_angleData{fmt::format("NT_Gyro:{}", path)},
       m_nameValue{wpi::rsplit(path, '/').second} {}

diff --git a/glass/src/libnt/native/cpp/NTMecanumDrive.cpp b/glass/src/libnt/native/cpp/NTMecanumDrive.cpp
@@ -22,16 +22,16 @@ NTMecanumDriveModel::NTMecanumDriveModel(nt::NetworkTableInstance inst,
                          .Subscribe(0)},
       m_flPercent{
           inst.GetDoubleTopic(fmt::format("{}/Front Left Motor Speed", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+              .GetEntry(0)},
       m_frPercent{
           inst.GetDoubleTopic(fmt::format("{}/Front Right Motor Speed", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+              .GetEntry(0)},
       m_rlPercent{
           inst.GetDoubleTopic(fmt::format("{}/Rear Left Motor Speed", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+              .GetEntry(0)},
       m_rrPercent{
           inst.GetDoubleTopic(fmt::format("{}/Rear Right Motor Speed", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+              .GetEntry(0)},
       m_nameValue{wpi::rsplit(path, '/').second},
       m_flPercentData{fmt::format("NTMcnmDriveFL:{}", path)},
       m_frPercentData{fmt::format("NTMcnmDriveFR:{}", path)},

diff --git a/glass/src/libnt/native/cpp/NTMechanism2D.cpp b/glass/src/libnt/native/cpp/NTMechanism2D.cpp
@@ -240,10 +240,7 @@ NTMechanism2DModel::NTMechanism2DModel(nt::NetworkTableInstance inst,
                                        std::string_view path)
     : m_inst{inst},
       m_path{fmt::format("{}/", path)},
-      m_tableSub{inst,
-                 {{m_path}},
-                 {{nt::PubSubOption::SendAll(true),
-                   nt::PubSubOption::Periodic(0.05)}}},
+      m_tableSub{inst, {{m_path}}, {.periodic = 0.05, .sendAll = true}},
       m_nameTopic{m_inst.GetTopic(fmt::format("{}/.name", path))},
       m_dimensionsTopic{m_inst.GetTopic(fmt::format("{}/dims", path))},
       m_bgColorTopic{m_inst.GetTopic(fmt::format("{}/backgroundColor", path))},

diff --git a/glass/src/libnt/native/cpp/NTMotorController.cpp b/glass/src/libnt/native/cpp/NTMotorController.cpp
@@ -15,8 +15,7 @@ NTMotorControllerModel::NTMotorControllerModel(std::string_view path)
 NTMotorControllerModel::NTMotorControllerModel(nt::NetworkTableInstance inst,
                                                std::string_view path)
     : m_inst{inst},
-      m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path))
-                  .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+      m_value{inst.GetDoubleTopic(fmt::format("{}/Value", path)).GetEntry(0)},
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(false)},

diff --git a/glass/src/libnt/native/cpp/NTPIDController.cpp b/glass/src/libnt/native/cpp/NTPIDController.cpp
@@ -18,14 +18,11 @@ NTPIDControllerModel::NTPIDControllerModel(nt::NetworkTableInstance inst,
       m_name{inst.GetStringTopic(fmt::format("{}/.name", path)).Subscribe("")},
       m_controllable{inst.GetBooleanTopic(fmt::format("{}/.controllable", path))
                          .Subscribe(false)},
-      m_p{inst.GetDoubleTopic(fmt::format("{}/p", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
-      m_i{inst.GetDoubleTopic(fmt::format("{}/i", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
-      m_d{inst.GetDoubleTopic(fmt::format("{}/d", path))
-              .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
-      m_setpoint{inst.GetDoubleTopic(fmt::format("{}/setpoint", path))
-                     .GetEntry(0, {{nt::PubSubOption::SendAll(true)}})},
+      m_p{inst.GetDoubleTopic(fmt::format("{}/p", path)).GetEntry(0)},
+      m_i{inst.GetDoubleTopic(fmt::format("{}/i", path)).GetEntry(0)},
+      m_d{inst.GetDoubleTopic(fmt::format("{}/d", path)).GetEntry(0)},
+      m_setpoint{
+          inst.GetDoubleTopic(fmt::format("{}/setpoint", path)).GetEntry(0)},
       m_pData{fmt::format("NTPIDCtrlP:{}", path)},
       m_iData{fmt::format("NTPIDCtrlI:{}", path)},
       m_dData{fmt::format("NTPIDCtrlD:{}", path)},

diff --git a/ntcore/src/dev/native/cpp/main.cpp b/ntcore/src/dev/native/cpp/main.cpp
@@ -63,8 +63,7 @@ void bench() {
   // add "typical" set of subscribers on client and server
   nt::SubscribeMultiple(client, {{std::string_view{}}});
   nt::Subscribe(nt::GetTopic(client, "highrate"), NT_DOUBLE, "double",
-                {{nt::PubSubOption::KeepDuplicates(true),
-                  nt::PubSubOption::SendAll(true)}});
+                {.sendAll = true, .keepDuplicates = true});
   nt::SubscribeMultiple(server, {{std::string_view{}}});
   auto pub = nt::Publish(nt::GetTopic(server, "highrate"), NT_DOUBLE, "double");
   nt::SetDouble(pub, 0);

diff --git a/ntcore/src/generate/include/networktables/Topic.h.jinja b/ntcore/src/generate/include/networktables/Topic.h.jinja
@@ -311,7 +311,7 @@ class {{ TypeName }}Topic final : public Topic {
   [[nodiscard]]
   SubscriberType Subscribe(
       {% if not TypeString %}std::string_view typeString, {% endif %}ParamType defaultValue,
-      std::span<const PubSubOption> options = {});
+      const PubSubOptions& options = kDefaultPubSubOptions);
 {%- if TypeString %}
   /**
    * Create a new subscriber to the topic, with specific type string.
@@ -332,7 +332,7 @@ class {{ TypeName }}Topic final : public Topic {
   [[nodiscard]]
   SubscriberType SubscribeEx(
       std::string_view typeString, ParamType defaultValue,
-      std::span<const PubSubOption> options = {});
+      const PubSubOptions& options = kDefaultPubSubOptions);
 {% endif %}
   /**
    * Create a new publisher to the topic.
@@ -353,7 +353,7 @@ class {{ TypeName }}Topic final : public Topic {
    * @return publisher
    */
   [[nodiscard]]
-  PublisherType Publish({% if not TypeString %}std::string_view typeString, {% endif %}std::span<const PubSubOption> options = {});
+  PublisherType Publish({% if not TypeString %}std::string_view typeString, {% endif %}const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
    * Create a new publisher to the topic, with type string and initial
@@ -375,7 +375,7 @@ class {{ TypeName }}Topic final : public Topic {
    */
   [[nodiscard]]
   PublisherType PublishEx(std::string_view typeString,
-    const wpi::json& properties, std::span<const PubSubOption> options = {});
+    const wpi::json& properties, const PubSubOptions& options = kDefaultPubSubOptions);
 
   /**
    * Create a new entry for the topic.
@@ -402,7 +402,7 @@ class {{ TypeName }}Topic final : public Topic {
    */
   [[nodiscard]]
   EntryType GetEntry({% if not TypeString %}std::string_view typeString, {% endif %}ParamType defaultValue,
-                     std::span<const PubSubOption> options = {});
+                     const PubSubOptions& options = kDefaultPubSubOptions);
 {%- if TypeString %}
   /**
    * Create a new entry for the topic, with specific type string.
@@ -427,7 +427,7 @@ class {{ TypeName }}Topic final : public Topic {
    */
   [[nodiscard]]
   EntryType GetEntryEx(std::string_view typeString, ParamType defaultValue,
-                       std::span<const PubSubOption> options = {});
+                       const PubSubOptions& options = kDefaultPubSubOptions);
 {% endif %}
 };
 

diff --git a/ntcore/src/generate/include/networktables/Topic.inc.jinja b/ntcore/src/generate/include/networktables/Topic.inc.jinja
@@ -89,44 +89,44 @@ inline void {{ TypeName }}Entry::Unpublish() {
 
 inline {{ TypeName }}Subscriber {{ TypeName }}Topic::Subscribe(
     {% if not TypeString %}std::string_view typeString, {% endif %}{{ cpp.ParamType }} defaultValue,
-    std::span<const PubSubOption> options) {
+    const PubSubOptions& options) {
   return {{ TypeName }}Subscriber{
       ::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
       defaultValue};
 }
 {%- if TypeString %}
 inline {{ TypeName }}Subscriber {{ TypeName }}Topic::SubscribeEx(
     std::string_view typeString, {{ cpp.ParamType }} defaultValue,
-    std::span<const PubSubOption> options) {
+    const PubSubOptions& options) {
   return {{ TypeName }}Subscriber{
       ::nt::Subscribe(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
       defaultValue};
 }
 {% endif %}
 inline {{ TypeName }}Publisher {{ TypeName }}Topic::Publish(
-    {% if not TypeString %}std::string_view typeString, {% endif %}std::span<const PubSubOption> options) {
+    {% if not TypeString %}std::string_view typeString, {% endif %}const PubSubOptions& options) {
   return {{ TypeName }}Publisher{
       ::nt::Publish(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options)};
 }
 
 inline {{ TypeName }}Publisher {{ TypeName }}Topic::PublishEx(
     std::string_view typeString,
-    const wpi::json& properties, std::span<const PubSubOption> options) {
+    const wpi::json& properties, const PubSubOptions& options) {
   return {{ TypeName }}Publisher{
       ::nt::PublishEx(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, properties, options)};
 }
 
 inline {{ TypeName }}Entry {{ TypeName }}Topic::GetEntry(
     {% if not TypeString %}std::string_view typeString, {% endif %}{{ cpp.ParamType }} defaultValue,
-    std::span<const PubSubOption> options) {
+    const PubSubOptions& options) {
   return {{ TypeName }}Entry{
       ::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, {{ TypeString|default('typeString') }}, options),
       defaultValue};
 }
 {%- if TypeString %}
 inline {{ TypeName }}Entry {{ TypeName }}Topic::GetEntryEx(
     std::string_view typeString, {{ cpp.ParamType }} defaultValue,
-    std::span<const PubSubOption> options) {
+    const PubSubOptions& options) {
   return {{ TypeName }}Entry{
       ::nt::GetEntry(m_handle, NT_{{ cpp.TYPE_NAME }}, typeString, options),
       defaultValue};

diff --git a/ntcore/src/generate/java/NetworkTablesJNI.java.jinja b/ntcore/src/generate/java/NetworkTablesJNI.java.jinja
@@ -57,20 +57,11 @@ public final class NetworkTablesJNI {
     libraryLoaded = true;
   }
 
-  private static int[] pubSubOptionTypes(PubSubOption... options) {
-    int[] rv = new int[options.length];
-    for (int i = 0; i < options.length; i++) {
-      rv[i] = options[i].m_type;
+  private static PubSubOptions buildOptions(PubSubOption... options) {
+    if (options.length == 0) {
+      return null;  // optimize common case (JNI checks for null)
     }
-    return rv;
-  }
-
-  private static int[] pubSubOptionValues(PubSubOption... options) {
-    int[] rv = new int[options.length];
-    for (int i = 0; i < options.length; i++) {
-      rv[i] = options[i].m_value;
-    }
-    return rv;
+    return new PubSubOptions(options);
   }
 
   public static native int getDefaultInstance();
@@ -81,13 +72,19 @@ public final class NetworkTablesJNI {
 
   public static native int getInstanceFromHandle(int handle);
 
+  private static native int getEntryImpl(
+      int topic, int type, String typeStr, PubSubOptions options);
+
   public static native int getEntry(int inst, String key);
 
-  private static native int getEntry(
-      int topic, int type, String typeStr, int[] optionTypes, int[] optionValues);
+  public static int getEntry(
+      int topic, int type, String typeStr, PubSubOptions options) {
+    return getEntryImpl(topic, type, typeStr, options);
+  }
 
-  public static int getEntry(int topic, int type, String typeStr, PubSubOption... options) {
-    return getEntry(topic, type, typeStr, pubSubOptionTypes(options), pubSubOptionValues(options));
+  public static int getEntry(
+      int topic, int type, String typeStr, PubSubOption... options) {
+    return getEntryImpl(topic, type, typeStr, buildOptions(options));
   }
 
   public static native String getEntryName(int entry);
@@ -136,27 +133,30 @@ public final class NetworkTablesJNI {
 
   public static native void setTopicProperties(int topic, String properties);
 
-  private static native int subscribe(
-      int topic, int type, String typeStr, int[] optionTypes, int[] optionValues);
+  public static native int subscribe(
+      int topic, int type, String typeStr, PubSubOptions options);
 
-  public static int subscribe(int topic, int type, String typeStr, PubSubOption... options) {
-    return subscribe(topic, type, typeStr, pubSubOptionTypes(options), pubSubOptionValues(options));
+  public static int subscribe(
+      int topic, int type, String typeStr, PubSubOption... options) {
+    return subscribe(topic, type, typeStr, buildOptions(options));
   }
 
   public static native void unsubscribe(int sub);
 
-  private static native int publish(
-      int topic, int type, String typeStr, int[] optionTypes, int[] optionValues);
+  public static native int publish(
+      int topic, int type, String typeStr, PubSubOptions options);
 
-  public static int publish(int topic, int type, String typeStr, PubSubOption... options) {
-    return publish(topic, type, typeStr, pubSubOptionTypes(options), pubSubOptionValues(options));
+  public static int publish(
+      int topic, int type, String typeStr, PubSubOption... options) {
+    return publish(topic, type, typeStr, buildOptions(options));
   }
 
-  private static native int publishEx(
-      int topic, int type, String typeStr, String properties, int[] optionTypes, int[] optionValues);
+  public static native int publishEx(
+      int topic, int type, String typeStr, String properties, PubSubOptions options);
 
-  public static int publishEx(int topic, int type, String typeStr, String properties, PubSubOption... options) {
-    return publishEx(topic, type, typeStr, properties, pubSubOptionTypes(options), pubSubOptionValues(options));
+  public static int publishEx(
+      int topic, int type, String typeStr, String properties, PubSubOption... options) {
+    return publishEx(topic, type, typeStr, properties, buildOptions(options));
   }
 
   public static native void unpublish(int pubentry);
@@ -167,12 +167,10 @@ public final class NetworkTablesJNI {
 
   public static native int getTopicFromHandle(int pubsubentry);
 
-  private static native int subscribeMultiple(
-      int inst, String[] prefixes, int[] optionTypes, int[] optionValues);
+  public static native int subscribeMultiple(int inst, String[] prefixes, PubSubOptions options);
 
   public static int subscribeMultiple(int inst, String[] prefixes, PubSubOption... options) {
-    return subscribeMultiple(
-        inst, prefixes, pubSubOptionTypes(options), pubSubOptionValues(options));
+    return subscribeMultiple(inst, prefixes, buildOptions(options));
   }
 
   public static native void unsubscribeMultiple(int sub);