[wpiutil] SendableBuilder: Add PublishConst methods (wpilibsuite#5158)

wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp

@@ -141,76 +141,133 @@ void SendableBuilderImpl::AddPropertyImpl(Topic topic, Getter getter,
   m_properties.emplace_back(std::move(prop));
 }
 
+template <typename Topic, typename Value>
+void SendableBuilderImpl::PublishConstImpl(Topic topic, Value value) {
+  auto prop = std::make_unique<PropertyImpl<Topic>>();
+  prop->pub = topic.Publish();
+  prop->pub.Set(value);
+  m_properties.emplace_back(std::move(prop));
+}
+
 void SendableBuilderImpl::AddBooleanProperty(std::string_view key,
                                              std::function<bool()> getter,
                                              std::function<void(bool)> setter) {
   AddPropertyImpl(m_table->GetBooleanTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstBoolean(std::string_view key,
+                                              bool value) {
+  PublishConstImpl(m_table->GetBooleanTopic(key), value);
+}
+
 void SendableBuilderImpl::AddIntegerProperty(
     std::string_view key, std::function<int64_t()> getter,
     std::function<void(int64_t)> setter) {
   AddPropertyImpl(m_table->GetIntegerTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstInteger(std::string_view key,
+                                              int64_t value) {
+  PublishConstImpl(m_table->GetIntegerTopic(key), value);
+}
+
 void SendableBuilderImpl::AddFloatProperty(std::string_view key,
                                            std::function<float()> getter,
                                            std::function<void(float)> setter) {
   AddPropertyImpl(m_table->GetFloatTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstFloat(std::string_view key, float value) {
+  PublishConstImpl(m_table->GetFloatTopic(key), value);
+}
+
 void SendableBuilderImpl::AddDoubleProperty(
     std::string_view key, std::function<double()> getter,
     std::function<void(double)> setter) {
   AddPropertyImpl(m_table->GetDoubleTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstDouble(std::string_view key,
+                                             double value) {
+  PublishConstImpl(m_table->GetDoubleTopic(key), value);
+}
+
 void SendableBuilderImpl::AddStringProperty(
     std::string_view key, std::function<std::string()> getter,
     std::function<void(std::string_view)> setter) {
   AddPropertyImpl(m_table->GetStringTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstString(std::string_view key,
+                                             std::string_view value) {
+  PublishConstImpl(m_table->GetStringTopic(key), value);
+}
+
 void SendableBuilderImpl::AddBooleanArrayProperty(
     std::string_view key, std::function<std::vector<int>()> getter,
     std::function<void(std::span<const int>)> setter) {
   AddPropertyImpl(m_table->GetBooleanArrayTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstBooleanArray(std::string_view key,
+                                                   std::span<const int> value) {
+  PublishConstImpl(m_table->GetBooleanArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddIntegerArrayProperty(
     std::string_view key, std::function<std::vector<int64_t>()> getter,
     std::function<void(std::span<const int64_t>)> setter) {
   AddPropertyImpl(m_table->GetIntegerArrayTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstIntegerArray(
+    std::string_view key, std::span<const int64_t> value) {
+  PublishConstImpl(m_table->GetIntegerArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddFloatArrayProperty(
     std::string_view key, std::function<std::vector<float>()> getter,
     std::function<void(std::span<const float>)> setter) {
   AddPropertyImpl(m_table->GetFloatArrayTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstFloatArray(std::string_view key,
+                                                 std::span<const float> value) {
+  PublishConstImpl(m_table->GetFloatArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddDoubleArrayProperty(
     std::string_view key, std::function<std::vector<double>()> getter,
     std::function<void(std::span<const double>)> setter) {
   AddPropertyImpl(m_table->GetDoubleArrayTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstDoubleArray(
+    std::string_view key, std::span<const double> value) {
+  PublishConstImpl(m_table->GetDoubleArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddStringArrayProperty(
     std::string_view key, std::function<std::vector<std::string>()> getter,
     std::function<void(std::span<const std::string>)> setter) {
   AddPropertyImpl(m_table->GetStringArrayTopic(key), std::move(getter),
                   std::move(setter));
 }
 
+void SendableBuilderImpl::PublishConstStringArray(
+    std::string_view key, std::span<const std::string> value) {
+  PublishConstImpl(m_table->GetStringArrayTopic(key), value);
+}
+
 void SendableBuilderImpl::AddRawProperty(
     std::string_view key, std::string_view typeString,
     std::function<std::vector<uint8_t>()> getter,
@@ -235,6 +292,16 @@ void SendableBuilderImpl::AddRawProperty(
   m_properties.emplace_back(std::move(prop));
 }
 
+void SendableBuilderImpl::PublishConstRaw(std::string_view key,
+                                          std::string_view typeString,
+                                          std::span<const uint8_t> value) {
+  auto topic = m_table->GetRawTopic(key);
+  auto prop = std::make_unique<PropertyImpl<nt::RawTopic>>();
+  prop->pub = topic.Publish(typeString);
+  prop->pub.Set(value);
+  m_properties.emplace_back(std::move(prop));
+}
+
 template <typename T, size_t Size, typename Topic, typename Getter,
           typename Setter>
 void SendableBuilderImpl::AddSmallPropertyImpl(Topic topic, Getter getter,

wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h

@@ -96,44 +96,73 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
   void AddBooleanProperty(std::string_view key, std::function<bool()> getter,
                           std::function<void(bool)> setter) override;
 
+  void PublishConstBoolean(std::string_view key, bool value) override;
+
   void AddIntegerProperty(std::string_view key, std::function<int64_t()> getter,
                           std::function<void(int64_t)> setter) override;
 
+  void PublishConstInteger(std::string_view key, int64_t value) override;
+
   void AddFloatProperty(std::string_view key, std::function<float()> getter,
                         std::function<void(float)> setter) override;
 
+  void PublishConstFloat(std::string_view key, float value) override;
+
   void AddDoubleProperty(std::string_view key, std::function<double()> getter,
                          std::function<void(double)> setter) override;
 
+  void PublishConstDouble(std::string_view key, double value) override;
+
   void AddStringProperty(std::string_view key,
                          std::function<std::string()> getter,
                          std::function<void(std::string_view)> setter) override;
 
+  void PublishConstString(std::string_view key,
+                          std::string_view value) override;
+
   void AddBooleanArrayProperty(
       std::string_view key, std::function<std::vector<int>()> getter,
       std::function<void(std::span<const int>)> setter) override;
 
+  void PublishConstBooleanArray(std::string_view key,
+                                std::span<const int> value) override;
+
   void AddIntegerArrayProperty(
       std::string_view key, std::function<std::vector<int64_t>()> getter,
       std::function<void(std::span<const int64_t>)> setter) override;
 
+  void PublishConstIntegerArray(std::string_view key,
+                                std::span<const int64_t> value) override;
+
   void AddFloatArrayProperty(
       std::string_view key, std::function<std::vector<float>()> getter,
       std::function<void(std::span<const float>)> setter) override;
 
+  void PublishConstFloatArray(std::string_view key,
+                              std::span<const float> value) override;
+
   void AddDoubleArrayProperty(
       std::string_view key, std::function<std::vector<double>()> getter,
       std::function<void(std::span<const double>)> setter) override;
 
+  void PublishConstDoubleArray(std::string_view key,
+                               std::span<const double> value) override;
+
   void AddStringArrayProperty(
       std::string_view key, std::function<std::vector<std::string>()> getter,
       std::function<void(std::span<const std::string>)> setter) override;
 
+  void PublishConstStringArray(std::string_view key,
+                               std::span<const std::string> value) override;
+
   void AddRawProperty(
       std::string_view key, std::string_view typeString,
       std::function<std::vector<uint8_t>()> getter,
       std::function<void(std::span<const uint8_t>)> setter) override;
 
+  void PublishConstRaw(std::string_view key, std::string_view typeString,
+                       std::span<const uint8_t> value) override;
+
   void AddSmallStringProperty(
       std::string_view key,
       std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
@@ -198,6 +227,9 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
   template <typename Topic, typename Getter, typename Setter>
   void AddPropertyImpl(Topic topic, Getter getter, Setter setter);
 
+  template <typename Topic, typename Value>
+  void PublishConstImpl(Topic topic, Value value);
+
   template <typename T, size_t Size, typename Topic, typename Getter,
             typename Setter>
   void AddSmallPropertyImpl(Topic topic, Getter getter, Setter setter);