Add Observable pattern to Network Inputs

akit/src/main/java/org/littletonrobotics/junction/networktables/LoggedDashboardChooser.java

@@ -13,21 +13,20 @@
 
 package org.littletonrobotics.junction.networktables;
 
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import java.lang.reflect.Field;
 import java.util.HashMap;
 import java.util.Map;
-
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 
-import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-
 /**
  * Manages a chooser value published to the "SmartDashboard" table of NT.
  */
 public class LoggedDashboardChooser<V> extends LoggedNetworkInput {
+
   private final String key;
   private String selectedValue = null;
   private SendableChooser<String> sendableChooser = new SendableChooser<>();
@@ -70,30 +69,34 @@ public LoggedDashboardChooser(String key) {
   @SuppressWarnings("unchecked")
   public LoggedDashboardChooser(String key, SendableChooser<V> chooser) {
     this(key);
-
     // Get options map
     Map<String, V> options = new HashMap<>();
     try {
       Field mapField = SendableChooser.class.getDeclaredField("m_map");
       mapField.setAccessible(true);
       options = (Map<String, V>) mapField.get(chooser);
-    } catch (NoSuchFieldException
-        | SecurityException
-        | IllegalArgumentException
-        | IllegalAccessException e) {
+    } catch (
+      NoSuchFieldException
+      | SecurityException
+      | IllegalArgumentException
+      | IllegalAccessException e
+    ) {
       e.printStackTrace();
     }
 
     // Get default option
     String defaultString = "";
     try {
-      Field defaultField = SendableChooser.class.getDeclaredField("m_defaultChoice");
+      Field defaultField =
+        SendableChooser.class.getDeclaredField("m_defaultChoice");
       defaultField.setAccessible(true);
       defaultString = (String) defaultField.get(chooser);
-    } catch (NoSuchFieldException
-        | SecurityException
-        | IllegalArgumentException
-        | IllegalAccessException e) {
+    } catch (
+      NoSuchFieldException
+      | SecurityException
+      | IllegalArgumentException
+      | IllegalAccessException e
+    ) {
       e.printStackTrace();
     }
 
@@ -142,4 +145,4 @@ public void periodic() {
     }
     Logger.processInputs(prefix + "/SmartDashboard", inputs);
   }
-}
+}

akit/src/main/java/org/littletonrobotics/junction/networktables/LoggedNetworkBoolean.java

@@ -15,15 +15,21 @@
 
 import edu.wpi.first.networktables.BooleanEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
+import edu.wpi.first.wpilibj.DriverStation;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 
 /** Manages a boolean value published to the root table of NT. */
-public class LoggedNetworkBoolean extends LoggedNetworkInput {
+public class LoggedNetworkBoolean
+  extends ObservableLoggedNetworkInput<Boolean> {
+
+  private static final boolean DEFAULT_VALUE = false;
+
   private final String key;
   private final BooleanEntry entry;
-  private boolean defaultValue = false;
+  private boolean defaultValue = DEFAULT_VALUE;
   private boolean value;
 
   /**
@@ -34,8 +40,15 @@ public class LoggedNetworkBoolean extends LoggedNetworkInput {
    *            "/DashboardInputs/{key}" when logged.
    */
   public LoggedNetworkBoolean(String key) {
+    super(DEFAULT_VALUE);
     this.key = key;
-    this.entry = NetworkTableInstance.getDefault().getBooleanTopic(key).getEntry(false);
+    this.entry = NetworkTableInstance.getDefault()
+      .getBooleanTopic(key)
+      .getEntry(
+        DEFAULT_VALUE,
+        PubSubOption.keepDuplicates(false),
+        PubSubOption.pollStorage(1)
+      );
     this.value = defaultValue;
     Logger.registerDashboardInput(this);
   }
@@ -69,7 +82,7 @@ public void set(boolean value) {
   }
 
   /** Returns the current value. */
-  public boolean get() {
+  public Boolean get() {
     return value;
   }
 
@@ -86,6 +99,14 @@ public void fromLog(LogTable table) {
   public void periodic() {
     if (!Logger.hasReplaySource()) {
       value = entry.get(defaultValue);
+
+      // Only do tunables when not in a match
+      if (DriverStation.getMatchType() == DriverStation.MatchType.None) {
+        var changes = entry.readQueueValues();
+        if (changes.length == 1) {
+          notifyListeners();
+        }
+      }
     }
     Logger.processInputs(prefix, inputs);
   }

akit/src/main/java/org/littletonrobotics/junction/networktables/LoggedNetworkNumber.java

@@ -15,15 +15,20 @@
 
 import edu.wpi.first.networktables.DoubleEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
+import edu.wpi.first.wpilibj.DriverStation;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 
 /** Manages a number value published to the root table of NT. */
-public class LoggedNetworkNumber extends LoggedNetworkInput {
+public class LoggedNetworkNumber extends ObservableLoggedNetworkInput<Double> {
+
+  private static final double DEFAULT_VALUE = 0.0;
+
   private final String key;
   private final DoubleEntry entry;
-  private double defaultValue = 0.0;
+  private double defaultValue = DEFAULT_VALUE;
   private double value;
 
   /**
@@ -34,8 +39,15 @@ public class LoggedNetworkNumber extends LoggedNetworkInput {
    *            "/DashboardInputs/{key}" when logged.
    */
   public LoggedNetworkNumber(String key) {
+    super(DEFAULT_VALUE);
     this.key = key;
-    this.entry = NetworkTableInstance.getDefault().getDoubleTopic(key).getEntry(0.0);
+    this.entry = NetworkTableInstance.getDefault()
+      .getDoubleTopic(key)
+      .getEntry(
+        DEFAULT_VALUE,
+        PubSubOption.keepDuplicates(false),
+        PubSubOption.pollStorage(1)
+      );
     this.value = defaultValue;
     Logger.registerDashboardInput(this);
   }
@@ -69,7 +81,7 @@ public void set(double value) {
   }
 
   /** Returns the current value. */
-  public double get() {
+  public Double get() {
     return value;
   }
 
@@ -86,6 +98,14 @@ public void fromLog(LogTable table) {
   public void periodic() {
     if (!Logger.hasReplaySource()) {
       value = entry.get(defaultValue);
+
+      // Only do tunables when not in a match
+      if (DriverStation.getMatchType() == DriverStation.MatchType.None) {
+        var changes = entry.readQueueValues();
+        if (changes.length == 1) {
+          notifyListeners();
+        }
+      }
     }
     Logger.processInputs(prefix, inputs);
   }

akit/src/main/java/org/littletonrobotics/junction/networktables/LoggedNetworkString.java

@@ -14,16 +14,21 @@
 package org.littletonrobotics.junction.networktables;
 
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.networktables.PubSubOption;
 import edu.wpi.first.networktables.StringEntry;
+import edu.wpi.first.wpilibj.DriverStation;
 import org.littletonrobotics.junction.LogTable;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 
 /** Manages a String value published to the root table of NT. */
-public class LoggedNetworkString extends LoggedNetworkInput {
+public class LoggedNetworkString extends ObservableLoggedNetworkInput<String> {
+
+  private static final String DEFAULT_VALUE = "";
+
   private final String key;
   private final StringEntry entry;
-  private String defaultValue = "";
+  private String defaultValue = DEFAULT_VALUE;
   private String value;
 
   /**
@@ -34,8 +39,15 @@ public class LoggedNetworkString extends LoggedNetworkInput {
    *            "/DashboardInputs/{key}" when logged.
    */
   public LoggedNetworkString(String key) {
+    super(DEFAULT_VALUE);
     this.key = key;
-    this.entry = NetworkTableInstance.getDefault().getStringTopic(key).getEntry("");
+    this.entry = NetworkTableInstance.getDefault()
+      .getStringTopic(key)
+      .getEntry(
+        DEFAULT_VALUE,
+        PubSubOption.keepDuplicates(false),
+        PubSubOption.pollStorage(1)
+      );
     this.value = defaultValue;
     Logger.registerDashboardInput(this);
   }
@@ -86,6 +98,14 @@ public void fromLog(LogTable table) {
   public void periodic() {
     if (!Logger.hasReplaySource()) {
       value = entry.get(defaultValue);
+
+      // Only do tunables when not in a match
+      if (DriverStation.getMatchType() == DriverStation.MatchType.None) {
+        var changes = entry.readQueueValues();
+        if (changes.length == 1) {
+          notifyListeners();
+        }
+      }
     }
     Logger.processInputs(prefix, inputs);
   }

akit/src/main/java/org/littletonrobotics/junction/networktables/ObservableLoggedNetworkInput.java

@@ -0,0 +1,81 @@
+// Copyright 2021-2025 FRC 6328
+// http://github.com/Mechanical-Advantage
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License
+// version 3 as published by the Free Software Foundation or
+// available in the root directory of this project.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+package org.littletonrobotics.junction.networktables;
+
+import edu.wpi.first.wpilibj.DriverStation;
+import java.lang.ref.WeakReference;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.function.Consumer;
+
+public abstract class ObservableLoggedNetworkInput<T>
+    extends LoggedNetworkInput {
+
+    public static final String prefix = "NetworkInputs";
+    private final T defaultValue;
+    private final List<WeakReference<Consumer<T>>> listeners;
+
+    protected ObservableLoggedNetworkInput(T defaultValue) {
+        this.defaultValue = defaultValue;
+        this.listeners = new ArrayList<>();
+    }
+
+    public abstract T get();
+
+    /** Removes the leading slash from a key. */
+    protected static String removeSlash(String key) {
+        if (key.startsWith("/")) {
+            return key.substring(1);
+        } else {
+            return key;
+        }
+    }
+
+    public void addListener(Consumer<T> listener) {
+        listeners.add(new WeakReference<>(listener));
+
+        // Only do tunables when not in a match, when in a match, give listener the
+        // default value
+        if (DriverStation.getMatchType() == DriverStation.MatchType.None) {
+            listener.accept(get());
+        } else {
+            listener.accept(defaultValue);
+        }
+    }
+
+    public void removeListener(Consumer<T> listener) {
+        Iterator<WeakReference<Consumer<T>>> iter = listeners.iterator();
+        while (iter.hasNext()) {
+            WeakReference<Consumer<T>> ref = iter.next();
+            Consumer<T> current = ref.get();
+            if (current == null || current == listener) {
+                iter.remove();
+            }
+        }
+    }
+
+    protected void notifyListeners() {
+        Iterator<WeakReference<Consumer<T>>> iter = listeners.iterator();
+        while (iter.hasNext()) {
+            WeakReference<Consumer<T>> ref = iter.next();
+            Consumer<T> listener = ref.get();
+            if (listener != null) {
+                listener.accept(get());
+            } else {
+                iter.remove();
+            }
+        }
+    }
+}