Update SmartDashboard to use WPILib-2023.4.3 NetworkTable APIs

build.gradle

@@ -10,7 +10,7 @@ plugins {
     id 'java'
     id 'application'
     id 'com.github.johnrengelman.shadow' version '8.1.1'
-    id "com.jfrog.artifactory" version "4.16.0"
+    id "com.jfrog.artifactory" version "4.25.2"
     id "com.diffplug.spotless" version "6.19.0"
     id "com.github.spotbugs" version "5.0.14"
     id 'maven-publish'
@@ -20,7 +20,7 @@ plugins {
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '4.1.0'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
     id 'checkstyle'
-    id 'edu.wpi.first.WpilibTools' version '0.9.1'
+    id 'edu.wpi.first.WpilibTools' version '1.0.0'
 }
 
 wpilibVersioning.buildServerMode = project.hasProperty('buildServer')

dependencies.gradle

@@ -7,13 +7,15 @@ def nativeTasks = wpilibTools.createExtractionTasks {
 
 nativeTasks.addToSourceSetResources(sourceSets.main)
 
-wpilibTools.deps.wpilibVersion = "2021.3.1"
+wpilibTools.deps.wpilibVersion = "2023.+"
 
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
 
 dependencies {
     implementation wpilibTools.deps.wpilibJava("ntcore")
+    implementation wpilibTools.deps.wpilibJava("wpinet")
     implementation wpilibTools.deps.wpilibJava("wpiutil")
 
     implementation 'jfree:jcommon:1.0.16'

fakeRobot/build.gradle

@@ -12,13 +12,15 @@ def nativeTasks = wpilibTools.createExtractionTasks {
 
 nativeTasks.addToSourceSetResources(sourceSets.main)
 
-wpilibTools.deps.wpilibVersion = "2021.+"
+wpilibTools.deps.wpilibVersion = "2023.+"
 
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("ntcore")
+nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpinet")
 nativeConfig.dependencies.add wpilibTools.deps.wpilib("wpiutil")
 
 dependencies {
     implementation wpilibTools.deps.wpilibJava("ntcore")
+    implementation wpilibTools.deps.wpilibJava("wpinet")
     implementation wpilibTools.deps.wpilibJava("wpiutil")
 
     implementation "com.fasterxml.jackson.core:jackson-annotations:2.10.0"

fakeRobot/src/main/java/edu/wpi/livewindowfakerobot/LiveWindowFakeRobot.java

@@ -1,10 +1,10 @@
 package edu.wpi.livewindowfakerobot;
 
 import edu.wpi.first.networktables.NetworkTablesJNI;
-import edu.wpi.first.wpilibj.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.tables.ITable;
-import edu.wpi.first.wpiutil.CombinedRuntimeLoader;
-import edu.wpi.first.wpiutil.WPIUtilJNI;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import edu.wpi.first.util.WPIUtilJNI;
 
 import java.io.IOException;
 import java.util.Timer;
@@ -15,10 +15,9 @@
  * @author Sam
  */
 public class LiveWindowFakeRobot {
-
     private static NetworkTable liveWindow;
 
-    private static ITable STATUS, wrist, wPotentiometer, wVictor, elevator, ePotentiometer,
+    private static NetworkTable STATUS, wrist, wPotentiometer, wVictor, elevator, ePotentiometer,
         eVictor, testSys, tComp, tGearTooth, tVictor, tPotentiometer, tRelay, tDigitalOutput,
         tGyro, tSolenoid, tServo, tAccel, tEncoder1, tUltra, tCompass, tSwitch, canSystem,
         canJag, canTalon, ePID;
@@ -27,11 +26,16 @@ public static void main(String[] args) throws IOException {
         WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
         NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
         CombinedRuntimeLoader.loadLibraries(LiveWindowFakeRobot.class, "wpiutiljni", "ntcorejni");
-
-        liveWindow = NetworkTable.getTable("LiveWindow");
+        NetworkTableInstance.getDefault().startServer();
+
+        liveWindow = NetworkTableInstance.getDefault().getTable("LiveWindow");
 
         STATUS = createTable(liveWindow, ".status", "LW Status");
 
+        wrist           = createTable(liveWindow, "Wrist", "LW Subsystem");
+        wPotentiometer  = createTable(wrist, "Potentiometer", "Analog Input");
+        wVictor         = createTable(wrist, "Victor", "Motor Controller"); 
+
         wrist = createTable(liveWindow, "Wrist", "LW Subsystem");
         wPotentiometer = createTable(wrist, "Potentiometer", "Analog Input");
         wVictor = createTable(wrist, "Victor", "Motor Controller");
@@ -62,48 +66,49 @@ public static void main(String[] args) throws IOException {
         canTalon = createTable(canSystem, "CAN Talon", "CANSpeedController");
 
         System.out.println();
+
+        STATUS.getEntry("LW Enabled").setBoolean(true);
+        STATUS.getEntry("Robot").setString("Testing");
+        wPotentiometer.getEntry("Value").setDouble(2.6);
+        ePotentiometer.getEntry("Value").setDouble(-11.6872);
+        tSwitch.getEntry("Value").setBoolean(false);
 
-        STATUS.putBoolean("LW Enabled", true);
-        STATUS.putString("Robot", "Testing");
-        wPotentiometer.putNumber("Value", 2.6);
-        ePotentiometer.putNumber("Value", -11.6872);
-        tSwitch.putBoolean("Value", false);
 
-        ePID.putNumber("p", 0.5);
-        ePID.putNumber("i", 0.5);
-        ePID.putNumber("d", 0.5);
-        ePID.putNumber("setpoint", 0.5);
+        ePID.getEntry("p").setDouble(0.5);
+        ePID.getEntry("i").setDouble(0.5);
+        ePID.getEntry("d").setDouble(0.5);
+        ePID.getEntry("setpoint").setDouble(0.5);
 
-        canJag.putString("Type", "CANJaguar");
-        canTalon.putString("Type", "CANTalon");
+        canJag.getEntry("Type").setString("CANJaguar");
+        canTalon.getEntry("Type").setString("CANTalon");
 
 
         (new Timer()).schedule(
             new TimerTask(){
                 @Override
                 public void run() {
-                    wPotentiometer.putNumber("Value", (Math.random()-.5) * 24);
-                    ePotentiometer.putNumber("Value", (Math.random()-.5) * 24);
-                    tPotentiometer.putNumber("Value", (Math.random()-.5) * 24);
-                    tGyro.putNumber("Value", Math.random() * 360);
-                    tAccel.putNumber("Value", (Math.random()-.5)*8);
-                    tSwitch.putBoolean("Value", Math.random() < 0.5 ? true : false);
-                    tEncoder1.putNumber("Speed", Math.random() * 20);
-                    tEncoder1.putNumber("Distance", Math.random() * 10);
-                    tEncoder1.putNumber("Distance per Tick", Math.random());
-                    tCompass.putNumber("Value", Math.random());
-                    tUltra.putNumber("Value", (Math.random()-.5) * 200);
-                    tGearTooth.putNumber("Value", (int)(Math.random() * 100));
+                    wPotentiometer.getEntry("Value").setDouble((Math.random()-.5) * 24);
+                    ePotentiometer.getEntry("Value").setDouble((Math.random()-.5) * 24);
+                    tPotentiometer.getEntry("Value").setDouble((Math.random()-.5) * 24);
+                    tGyro.getEntry("Value").setDouble(Math.random() * 360);
+                    tAccel.getEntry("Value").setDouble((Math.random()-.5)*8);
+                    tSwitch.getEntry("Value").setBoolean(Math.random() < 0.5 ? true : false);
+                    tEncoder1.getEntry("Speed").setDouble(Math.random() * 20);
+                    tEncoder1.getEntry("Distance").setDouble(Math.random() * 10);
+                    tEncoder1.getEntry("Distance per Tick").setDouble(Math.random());
+                    tCompass.getEntry("Value").setDouble(Math.random());
+                    tUltra.getEntry("Value").setDouble((Math.random()-.5) * 200);
+                    tGearTooth.getEntry("Value").setDouble((int)(Math.random() * 100));
                 }},
             0, 500);
 
     }
 
-    private static ITable createTable(ITable parent, String name, String type) {
-        ITable table = parent.getSubTable(name);
+    private static NetworkTable createTable(NetworkTable parent, String name, String type) {
+        NetworkTable table = parent.getSubTable(name);
         System.out.println(table);
-        table.putString(".type", type);
-        table.putString(".name", name);
+        table.getEntry(".type").setValue(type);
+        table.getEntry(".name").setValue(name);
         return table;
     }
 }

src/main/java/edu/wpi/first/smartdashboard/LogToCSV.java

@@ -1,24 +1,28 @@
 package edu.wpi.first.smartdashboard;
 
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEvent;
+import edu.wpi.first.networktables.NetworkTable.TableEventListener;
 import edu.wpi.first.smartdashboard.gui.DashboardFrame;
 import edu.wpi.first.smartdashboard.robot.Robot;
-import edu.wpi.first.wpilibj.tables.ITable;
-import edu.wpi.first.wpilibj.tables.ITableListener;
 import java.io.FileWriter;
 import java.io.IOException;
+import java.util.EnumSet;
+
 import javax.swing.JOptionPane;
 
 /**
  * Logs all information received to a CSV file.
  *
  * @author pmalmsten
  */
-public class LogToCSV implements ITableListener {
+public class LogToCSV implements TableEventListener {
 
   private static final String s_lineSeparator = System.getProperty("line.separator");
   private long m_startTime;
   private FileWriter m_fw;
   private final DashboardFrame frame;
+  private int listenerHandle;
 
   public LogToCSV(DashboardFrame frame) {
     this.frame = frame;
@@ -38,9 +42,10 @@ public void start(String path) {
         m_fw = new FileWriter(path);
         m_fw.write("Time (ms),Name,Value" + s_lineSeparator);
         m_fw.flush();
-        Robot.getTable().addTableListenerEx(this,
-            ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW
-                | ITable.NOTIFY_UPDATE);
+        listenerHandle = Robot.getTable().addListener(
+            EnumSet.of(NetworkTableEvent.Kind.kImmediate, NetworkTableEvent.Kind.kValueAll,
+                       NetworkTableEvent.Kind.kPublish),
+            this);
       } catch (IOException ex) {
         ex.printStackTrace();
         JOptionPane.showMessageDialog(null,
@@ -66,16 +71,18 @@ public void stop() {
     } catch (IOException ex) {
       ex.printStackTrace();
     }
-    Robot.getTable().removeTableListener(this);
+    Robot.getTable().removeListener(listenerHandle);
     m_fw = null;
   }
 
   @Override
-  public void valueChanged(ITable source, String key, Object value, boolean isNew) {
-    if (!(value instanceof ITable) && m_fw != null) {
+  public void accept(NetworkTable source, String key, 
+                     NetworkTableEvent event) {
+    if (m_fw != null) {
       try {
         long timeStamp = System.currentTimeMillis() - m_startTime;
-        m_fw.write(timeStamp + "," + "\"" + key + "\"," + "\"" + value + "\"" + s_lineSeparator);
+        m_fw.write(timeStamp + "," + "\"" + key + "\"," + "\"" + event.valueData
+            .value.getValue() + "\"" + s_lineSeparator);
         m_fw.flush();
       } catch (IOException ex) {
         ex.printStackTrace();

src/main/java/edu/wpi/first/smartdashboard/SmartDashboard.java

@@ -1,13 +1,14 @@
 package edu.wpi.first.smartdashboard;
 
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.NetworkTablesJNI;
 import edu.wpi.first.smartdashboard.extensions.FileSniffer;
 import edu.wpi.first.smartdashboard.gui.DashboardFrame;
-import edu.wpi.first.smartdashboard.properties.IntegerProperty;
 import edu.wpi.first.smartdashboard.properties.StringProperty;
 import edu.wpi.first.smartdashboard.robot.Robot;
-import edu.wpi.first.wpiutil.CombinedRuntimeLoader;
-import edu.wpi.first.wpiutil.WPIUtilJNI;
+import edu.wpi.first.util.CombinedRuntimeLoader;
+import edu.wpi.first.util.WPIUtilJNI;
+import edu.wpi.first.smartdashboard.robot.Robot;
 
 import java.io.File;
 import java.io.IOException;
@@ -59,8 +60,9 @@ public static void main(final String[] args) throws IOException {
     NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
     CombinedRuntimeLoader.loadLibraries(SmartDashboard.class, "wpiutiljni", "ntcorejni");
 
-
-    NetworkTablesJNI.getDefaultInstance();
+    // NetworkTablesJNI.getDefaultInstance();
+    var instance = NetworkTableInstance.getDefault();
+    instance.stopDSClient();
 
     try {
       SwingUtilities.invokeAndWait(new Runnable() {
@@ -101,32 +103,6 @@ public void run() {
       System.exit(2);
     }
 
-    if (argParser.hasValue("ip")) {
-      monitor.setProgress(650);
-      monitor.setNote("Connecting to robot at: " + argParser.getValue("ip"));
-      Robot.setHost(argParser.getValue("ip"));
-      System.out.println("IP: " + argParser.getValue("ip"));
-    } else {
-      monitor.setProgress(600);
-      monitor.setNote("Getting Team Number");
-      StringProperty teamProp = frame.getPrefs().team;
-      String teamNumber = teamProp.getValue();
-
-      teamNumberLoop:
-      while (teamNumber.equals("0")) {
-          String input = JOptionPane.showInputDialog("Input Team Number\\Host");
-          if (input == null) {
-            break teamNumberLoop;
-          }
-          teamNumber = input;
-      }
-
-      monitor.setProgress(650);
-      monitor.setNote("Connecting to robot: " + teamNumber);
-      Robot.setHost(teamNumber);
-      teamProp.setValue(teamNumber);
-    }
-
     try {
       SwingUtilities.invokeAndWait(new Runnable() {
 
@@ -135,7 +111,7 @@ public void run() {
             frame.pack();
             frame.setVisible(true);
 
-            monitor.setProgress(750);
+            monitor.setProgress(500);
             monitor.setNote("Loading From Save");
 
             // Load
@@ -144,7 +120,7 @@ public void run() {
               frame.load(file.getPath());
             }
 
-            monitor.setProgress(1000);
+            monitor.setProgress(750);
 
           } catch (Exception e) {
             e.printStackTrace();
@@ -157,5 +133,43 @@ public void run() {
       ex.printStackTrace();
       System.exit(2);
     }
+    // Delay starting DSClient until save.xml is processed.
+    // If NT connection happens before save.xml is processed
+    // some widgets will not be rendered.
+    Robot.startDSClient();
+    try {
+      // Give time for DS client to supply server address
+      // before trying locally configured team number/address
+      Thread.sleep(500);
+    } catch (InterruptedException e) {
+      // ignore; no harm if sleep is interrupted
+    }
+    if (argParser.hasValue("ip")) {
+      monitor.setProgress(800);
+      monitor.setNote("Connecting to robot at: " + argParser.getValue("ip"));
+      Robot.setHost(argParser.getValue("ip"));
+      System.out.println("IP: " + argParser.getValue("ip"));
+    } else {
+      monitor.setProgress(850);
+      monitor.setNote("Getting Team Number");
+      StringProperty teamProp = frame.getPrefs().team;
+      String teamNumber = teamProp.getValue();
+
+      teamNumberLoop:
+      while (teamNumber.equals("0")) {
+          String input = JOptionPane.showInputDialog("Input Team Number\\Host");
+          if (input == null) {
+            break teamNumberLoop;
+          }
+          teamNumber = input;
+      }
+
+
+      monitor.setProgress(900);
+      monitor.setNote("Connecting to robot: " + teamNumber);
+      Robot.setHost(teamNumber);
+      teamProp.setValue(teamNumber);
+      monitor.setProgress(1000);
+    }
   }
 }