[ntcore] Add hidden subscribe option (wpilibsuite#6376)

This allows creating subscribers that aren't communicated with the network.
KangarooKoala · Feb 17, 2024 · a8a352e · a8a352e
1 parent 0cdab55
commit a8a352e
Show file tree

Hide file tree

Showing 7 changed files with 59 additions and 11 deletions.
diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/PubSubOption.java b/ntcore/src/main/java/edu/wpi/first/networktables/PubSubOption.java
@@ -15,7 +15,8 @@ enum Kind {
     disableRemote,
     disableLocal,
     excludePublisher,
-    excludeSelf
+    excludeSelf,
+    hidden
   }
 
   PubSubOption(Kind kind, boolean value) {
@@ -149,6 +150,18 @@ public static PubSubOption excludeSelf(boolean enabled) {
     return new PubSubOption(Kind.excludeSelf, enabled);
   }
 
+  /**
+   * For subscriptions, don't share the existence of the subscription with the network. Note this
+   * means updates will not be received from the network unless another subscription overlaps with
+   * this one, and the subscription will not appear in metatopics.
+   *
+   * @param enabled True to enable, false to disable
+   * @return option
+   */
+  public static PubSubOption hidden(boolean enabled) {
+    return new PubSubOption(Kind.hidden, enabled);
+  }
+
   final Kind m_kind;
   final boolean m_bValue;
   final int m_iValue;

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/PubSubOptions.java b/ntcore/src/main/java/edu/wpi/first/networktables/PubSubOptions.java
@@ -42,6 +42,9 @@ public PubSubOptions(PubSubOption... options) {
         case excludeSelf:
           excludeSelf = option.m_bValue;
           break;
+        case hidden:
+          hidden = option.m_bValue;
+          break;
         default:
           break;
       }
@@ -58,7 +61,8 @@ public PubSubOptions(PubSubOption... options) {
       boolean prefixMatch,
       boolean disableRemote,
       boolean disableLocal,
-      boolean excludeSelf) {
+      boolean excludeSelf,
+      boolean hidden) {
     this.pollStorage = pollStorage;
     this.periodic = periodic;
     this.excludePublisher = excludePublisher;
@@ -69,6 +73,7 @@ public PubSubOptions(PubSubOption... options) {
     this.disableRemote = disableRemote;
     this.disableLocal = disableLocal;
     this.excludeSelf = excludeSelf;
+    this.hidden = hidden;
   }
 
   /** Default value of periodic. */
@@ -123,4 +128,11 @@ public PubSubOptions(PubSubOption... options) {
 
   /** For entries, don't queue (for readQueue) value updates for the entry's internal publisher. */
   public boolean excludeSelf;
+
+  /**
+   * For subscriptions, don't share the existence of the subscription with the network. Note this
+   * means updates will not be received from the network unless another subscription overlaps with
+   * this one, and the subscription will not appear in metatopics.
+   */
+  public boolean hidden;
 }
diff --git a/ntcore/src/main/native/cpp/LocalStorage.cpp b/ntcore/src/main/native/cpp/LocalStorage.cpp
@@ -611,7 +611,7 @@ LocalStorage::SubscriberData* LocalStorage::Impl::AddLocalSubscriber(
         "published as '{}')",
         topic->name, config.typeStr, topic->typeStr);
   }
-  if (m_network) {
+  if (m_network && !subscriber->config.hidden) {
     DEBUG4("-> NetworkSubscribe({})", topic->name);
     m_network->Subscribe(subscriber->handle, {{topic->name}}, config);
   }
@@ -640,7 +640,7 @@ LocalStorage::Impl::RemoveLocalSubscriber(NT_Subscriber subHandle) {
         listener.getSecond()->subscriber = nullptr;
       }
     }
-    if (m_network) {
+    if (m_network && !subscriber->config.hidden) {
       m_network->Unsubscribe(subscriber->handle);
     }
   }
@@ -676,7 +676,7 @@ LocalStorage::MultiSubscriberData* LocalStorage::Impl::AddMultiSubscriber(
       }
     }
   }
-  if (m_network) {
+  if (m_network && !subscriber->options.hidden) {
     DEBUG4("-> NetworkSubscribe");
     m_network->Subscribe(subscriber->handle, subscriber->prefixes,
                          subscriber->options);
@@ -696,7 +696,7 @@ LocalStorage::Impl::RemoveMultiSubscriber(NT_MultiSubscriber subHandle) {
         listener.getSecond()->multiSubscriber = nullptr;
       }
     }
-    if (m_network) {
+    if (m_network && !subscriber->options.hidden) {
       m_network->Unsubscribe(subscriber->handle);
     }
   }
@@ -1128,12 +1128,16 @@ void LocalStorage::Impl::StartNetwork(net::NetworkInterface* network) {
     }
   }
   for (auto&& subscriber : m_subscribers) {
-    network->Subscribe(subscriber->handle, {{subscriber->topic->name}},
-                       subscriber->config);
+    if (!subscriber->config.hidden) {
+      network->Subscribe(subscriber->handle, {{subscriber->topic->name}},
+                         subscriber->config);
+    }
   }
   for (auto&& subscriber : m_multiSubscribers) {
-    network->Subscribe(subscriber->handle, subscriber->prefixes,
-                       subscriber->options);
+    if (!subscriber->options.hidden) {
+      network->Subscribe(subscriber->handle, subscriber->prefixes,
+                         subscriber->options);
+    }
   }
 }
 

diff --git a/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp b/ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp
@@ -139,6 +139,7 @@ static nt::PubSubOptions FromJavaPubSubOptions(JNIEnv* env, jobject joptions) {
   FIELD(disableRemote, "Z");
   FIELD(disableLocal, "Z");
   FIELD(excludeSelf, "Z");
+  FIELD(hidden, "Z");
 
 #undef FIELD
 
@@ -154,7 +155,8 @@ static nt::PubSubOptions FromJavaPubSubOptions(JNIEnv* env, jobject joptions) {
           FIELD(bool, Boolean, prefixMatch),
           FIELD(bool, Boolean, disableRemote),
           FIELD(bool, Boolean, disableLocal),
-          FIELD(bool, Boolean, excludeSelf)};
+          FIELD(bool, Boolean, excludeSelf),
+          FIELD(bool, Boolean, hidden)};
 
 #undef GET
 #undef FIELD

diff --git a/ntcore/src/main/native/cpp/ntcore_c.cpp b/ntcore/src/main/native/cpp/ntcore_c.cpp
@@ -126,6 +126,7 @@ static PubSubOptions ConvertToCpp(const NT_PubSubOptions* in) {
   out.disableRemote = in->disableRemote;
   out.disableLocal = in->disableLocal;
   out.excludeSelf = in->excludeSelf;
+  out.hidden = in->hidden;
   return out;
 }
 

diff --git a/ntcore/src/main/native/include/ntcore_c.h b/ntcore/src/main/native/include/ntcore_c.h
@@ -367,6 +367,14 @@ struct NT_PubSubOptions {
    * internal publisher.
    */
   NT_Bool excludeSelf;
+
+  /**
+   * For subscriptions, don't share the existence of the subscription with the
+   * network. Note this means updates will not be received from the network
+   * unless another subscription overlaps with this one, and the subscription
+   * will not appear in metatopics.
+   */
+  NT_Bool hidden;
 };
 
 /**

diff --git a/ntcore/src/main/native/include/ntcore_cpp.h b/ntcore/src/main/native/include/ntcore_cpp.h
@@ -374,6 +374,14 @@ struct PubSubOptions {
    * internal publisher.
    */
   bool excludeSelf = false;
+
+  /**
+   * For subscriptions, don't share the existence of the subscription with the
+   * network. Note this means updates will not be received from the network
+   * unless another subscription overlaps with this one, and the subscription
+   * will not appear in metatopics.
+   */
+  bool hidden = false;
 };
 
 /**