ProtobufTopic.java

// 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 org.wpilib.networktables;
 
import org.wpilib.util.protobuf.Protobuf;
import org.wpilib.util.protobuf.ProtobufBuffer;

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;
  }

  public static <T> ProtobufTopic<T> wrap(Topic topic, Protobuf<T, ?> proto) {
    return new ProtobufTopic<>(topic, proto);
  }

  public static <T> ProtobufTopic<T> wrap(
      NetworkTableInstance inst, int handle, Protobuf<T, ?> proto) {
    return new ProtobufTopic<>(inst, handle, proto);
  }

  public ProtobufSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
    return new ProtobufEntryImpl<>(
        this,
        ProtobufBuffer.create(m_proto),
        NetworkTablesJNI.subscribe(
            m_handle, NetworkTableType.RAW.getValue(), m_proto.getTypeString(), options),
        defaultValue,
        false);
  }

  public ProtobufPublisher<T> publish(PubSubOption... options) {
    m_inst.addSchema(m_proto);
    return new ProtobufEntryImpl<>(
        this,
        ProtobufBuffer.create(m_proto),
        NetworkTablesJNI.publish(
            m_handle, NetworkTableType.RAW.getValue(), m_proto.getTypeString(), options),
        null,
        true);
  }

  public ProtobufPublisher<T> publishEx(String properties, PubSubOption... options) {
    m_inst.addSchema(m_proto);
    return new ProtobufEntryImpl<>(
        this,
        ProtobufBuffer.create(m_proto),
        NetworkTablesJNI.publishEx(
            m_handle,
            NetworkTableType.RAW.getValue(),
            m_proto.getTypeString(),
            properties,
            options),
        null,
        true);
  }

  public ProtobufEntry<T> getEntry(T defaultValue, PubSubOption... options) {
    return new ProtobufEntryImpl<>(
        this,
        ProtobufBuffer.create(m_proto),
        NetworkTablesJNI.getEntry(
            m_handle, NetworkTableType.RAW.getValue(), m_proto.getTypeString(), options),
        defaultValue,
        false);
  }

  public Protobuf<T, ?> getProto() {
    return m_proto;
  }
 
  @Override
  public boolean equals(Object other) {
    return other == this
        || other instanceof ProtobufTopic<?> topic
            && super.equals(topic)
            && m_proto == topic.m_proto;
  }
 
  @Override
  public int hashCode() {
    return super.hashCode() ^ m_proto.hashCode();
  }
 
  private final Protobuf<T, ?> m_proto;
}