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Update NT4SafePublisher #38

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Update NT4SafePublisher #38

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5 changes: 0 additions & 5 deletions simgui.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,6 @@
"window": {
"visible": false
}
},
"Timing": {
"window": {
"visible": false
}
}
},
"NTProvider": {
Expand Down
135 changes: 69 additions & 66 deletions src/main/kotlin/com/team4099/robot2023/util/NTSafePublisher.kt
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Original file line number Diff line number Diff line change
@@ -1,75 +1,78 @@
package com.team4099.robot2023.util

import edu.wpi.first.networktables.GenericPublisher
import edu.wpi.first.networktables.IntegerPublisher
import edu.wpi.first.networktables.NetworkTable
import edu.wpi.first.networktables.NetworkTableInstance
import edu.wpi.first.networktables.PubSubOption
import edu.wpi.first.wpilibj.DriverStation
import org.littletonrobotics.junction.LogDataReceiver
import org.littletonrobotics.junction.LogTable
import org.littletonrobotics.junction.LogTable.LogValue
import org.littletonrobotics.junction.LogTable.LoggableType
import org.littletonrobotics.junction.networktables.NT4Publisher

class NTSafePublisher : LogDataReceiver {
private val rootTable: NetworkTable = NetworkTableInstance.getDefault().getTable("/AdvantageKit")
private var lastTable = LogTable(0)
private val timestampPublisher: IntegerPublisher =
rootTable
.getIntegerTopic(LogDataReceiver.timestampKey.substring(1))
.publish(PubSubOption.sendAll(true))
private val publishers: MutableMap<String, GenericPublisher?> = HashMap()

override fun putTable(table: LogTable) {
// only stream data if we are not connected to FMS to reduce bandwidth issues
class NTSafePublisher : NT4Publisher() {
override fun putTable(table: LogTable?) {
// only stream data if we're not connected to FMS to reduce bandwidth issues
if (!DriverStation.isFMSAttached()) {
// Send timestamp
timestampPublisher[table.timestamp] = table.timestamp

// Get old and new data
val newMap = table.getAll(false)
val oldMap = lastTable.getAll(false)

// Encode new/changed fields
for (field: Map.Entry<String, LogValue> in newMap) {
// Check if field has changed
val newValue = field.value
if (newValue == oldMap[field.key]) {
continue
}

// Create publisher if necessary
val key = field.key.substring(1)
var publisher = publishers[key]
if (publisher == null) {
publisher =
rootTable
.getTopic(key)
.genericPublish(newValue.type.nT4Type, PubSubOption.sendAll(true))
publishers[key] = publisher
}

when (newValue.type) {
LoggableType.Raw -> publisher!!.setRaw(newValue.raw, table.timestamp)
LoggableType.Boolean -> publisher!!.setBoolean(newValue.boolean, table.timestamp)
LoggableType.BooleanArray ->
publisher!!.setBooleanArray(newValue.booleanArray, table.timestamp)
LoggableType.Integer -> publisher!!.setInteger(newValue.integer, table.timestamp)
LoggableType.IntegerArray ->
publisher!!.setIntegerArray(newValue.integerArray, table.timestamp)
LoggableType.Float -> publisher!!.setFloat(newValue.float, table.timestamp)
LoggableType.FloatArray -> publisher!!.setFloatArray(newValue.floatArray, table.timestamp)
LoggableType.Double -> publisher!!.setDouble(newValue.double, table.timestamp)
LoggableType.DoubleArray ->
publisher!!.setDoubleArray(newValue.doubleArray, table.timestamp)
LoggableType.String -> publisher!!.setString(newValue.string, table.timestamp)
LoggableType.StringArray ->
publisher!!.setStringArray(newValue.stringArray, table.timestamp)
}
}

// Update last table
lastTable = table
super.putTable(table)
}
}
}
// class NTSafePublisher : LogDataReceiver {
// private val rootTable: NetworkTable =
// NetworkTableInstance.getDefault().getTable("/AdvantageKit")
// private var lastTable = LogTable(0)
// private val timestampPublisher: IntegerPublisher =
// rootTable
// .getIntegerTopic(LogDataReceiver.timestampKey.substring(1))
// .publish(PubSubOption.sendAll(true))
// private val publishers: MutableMap<String, GenericPublisher?> = HashMap()
//
// override fun putTable(table: LogTable) {
// // only stream data if we are not connected to FMS to reduce bandwidth issues
// if (!DriverStation.isFMSAttached()) {
// // Send timestamp
// timestampPublisher[table.timestamp] = table.timestamp
//
// // Get old and new data
// val newMap = table.getAll(false)
// val oldMap = lastTable.getAll(false)
//
// // Encode new/changed fields
// for (field: Map.Entry<String, LogValue> in newMap) {
// // Check if field has changed
// val newValue = field.value
// if (newValue == oldMap[field.key]) {
// continue
// }
//
// // Create publisher if necessary
// val key = field.key.substring(1)
// var publisher = publishers[key]
// if (publisher == null) {
// publisher =
// rootTable
// .getTopic(key)
// .genericPublish(newValue.type.nT4Type, PubSubOption.sendAll(true))
// publishers[key] = publisher
// }
//
// when (newValue.type) {
// LoggableType.Raw -> publisher!!.setRaw(newValue.raw, table.timestamp)
// LoggableType.Boolean -> publisher!!.setBoolean(newValue.boolean, table.timestamp)
// LoggableType.BooleanArray ->
// publisher!!.setBooleanArray(newValue.booleanArray, table.timestamp)
// LoggableType.Integer -> publisher!!.setInteger(newValue.integer, table.timestamp)
// LoggableType.IntegerArray ->
// publisher!!.setIntegerArray(newValue.integerArray, table.timestamp)
// LoggableType.Float -> publisher!!.setFloat(newValue.float, table.timestamp)
// LoggableType.FloatArray -> publisher!!.setFloatArray(newValue.floatArray,
// table.timestamp)
// LoggableType.Double -> publisher!!.setDouble(newValue.double, table.timestamp)
// LoggableType.DoubleArray ->
// publisher!!.setDoubleArray(newValue.doubleArray, table.timestamp)
// LoggableType.String -> publisher!!.setString(newValue.string, table.timestamp)
// LoggableType.StringArray ->
// publisher!!.setStringArray(newValue.stringArray, table.timestamp)
// }
// }
//
// // Update last table
// lastTable = table
// }
// }
// }
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