Merge pull request #1 from TeamParadise/official-2025.2.2

Merge changes from 2025.2.2 into main

Author: UHDbits

.github/workflows/elastic-ci.yml

@@ -177,20 +177,20 @@ jobs:
           path: build/macos/Build/Products/Release/elastic-setup-macos.dmg
           if-no-files-found: error
 
-      - name: Create windows installer
-        if: ${{ matrix.build-option == 'windows' }}
-        uses: Minionguyjpro/Inno-Setup-Action@v1.2.5
-        with:
-          path: installer_setup_script.iss
-          options: /O+
-
-      - name: Upload windows installer
-        if: ${{ matrix.build-option == 'windows' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ matrix.artifact-name }}_installer
-          path: "build/windows/x64/installer"
-          if-no-files-found: error
+      # - name: Create windows installer
+      #   if: ${{ matrix.build-option == 'windows' }}
+      #   uses: Minionguyjpro/Inno-Setup-Action@v1.2.5
+      #   with:
+      #     path: installer_setup_script.iss
+      #     options: /O+
+
+      # - name: Upload windows installer
+      #   if: ${{ matrix.build-option == 'windows' }}
+      #   uses: actions/upload-artifact@v4
+      #   with:
+      #     name: ${{ matrix.artifact-name }}_installer
+      #     path: "build/windows/x64/installer"
+      #     if-no-files-found: error
 
   build-wpilib:
     strategy:

lib/services/nt4_client.dart

@@ -249,6 +249,9 @@ class NT4Topic {
     return NT4TypeStr.typeMap[type]!;
   }
 
+  bool get isRetained =>
+      properties.containsKey('retained') && properties['retained'];
+
   bool get isPersistent =>
       properties.containsKey('persistent') && properties['persistent'];
 }
@@ -416,9 +419,10 @@ class NT4Client {
 
     // If there are no other subscriptions that are in the same table/tree
     if (!_subscribedTopics.any((element) =>
-        element.topic.startsWith('${sub.topic}/') ||
-        sub.topic.startsWith('${element.topic}/') ||
-        sub.topic == element.topic)) {
+        element.topic.isNotEmpty &&
+        (element.topic.startsWith('${sub.topic}/') ||
+            sub.topic.startsWith('${element.topic}/') ||
+            sub.topic == element.topic))) {
       // If there are any topics associated with the table/tree, unpublish them
       for (NT4Topic topic in _clientPublishedTopics.values.where((element) =>
           element.name.startsWith('${sub.topic}/') ||
@@ -452,22 +456,34 @@ class NT4Client {
     return _clientPublishedTopics.containsValue(topic);
   }
 
-  NT4Topic publishNewTopic(String name, String type) {
-    NT4Topic newTopic = NT4Topic(name: name, type: type, properties: {});
+  NT4Topic publishNewTopic(
+    String name,
+    String type, [
+    Map<String, dynamic> properties = const {},
+  ]) {
+    NT4Topic newTopic = NT4Topic(
+      name: name,
+      type: type,
+      properties: properties,
+    );
     publishTopic(newTopic);
     return newTopic;
   }
 
   void publishTopic(NT4Topic topic) {
     if (_clientPublishedTopics.containsKey(topic.name)) {
-      topic.pubUID = _clientPublishedTopics[topic.name]!.pubUID;
+      NT4Topic existing = _clientPublishedTopics[topic.name]!;
+      topic.pubUID = existing.pubUID;
+      existing.properties.addAll(topic.properties);
+      _wsSetProperties(existing);
       return;
     }
     logger.trace('Publishing topic: $topic');
 
     topic.pubUID = getNewPubUID();
     _clientPublishedTopics[topic.name] = topic;
     _wsPublish(topic);
+    _wsSetProperties(topic);
   }
 
   void unpublishTopic(NT4Topic topic) {
@@ -544,7 +560,7 @@ class NT4Client {
     int rxTime = _getClientTimeUS();
 
     int rtt = rxTime - clientTimestamp;
-    int serverTimeAtRx = (serverTimestamp - rtt / 2.0).round();
+    int serverTimeAtRx = serverTimestamp + rtt ~/ 2;
     _serverTimeOffsetUS = serverTimeAtRx - rxTime;
 
     _lastPongTime = rxTime;

lib/services/nt_connection.dart

@@ -217,8 +217,12 @@ class NTConnection {
     _ntClient.publishTopic(topic);
   }
 
-  NT4Topic publishNewTopic(String name, String type) {
-    return _ntClient.publishNewTopic(name, type);
+  NT4Topic publishNewTopic(
+    String name,
+    String type, {
+    Map<String, dynamic> properties = const {},
+  }) {
+    return _ntClient.publishNewTopic(name, type, properties);
   }
 
   bool isTopicPublished(NT4Topic? topic) {
@@ -233,16 +237,20 @@ class NTConnection {
     _ntClient.unpublishTopic(topic);
   }
 
-  void updateDataFromSubscription(NT4Subscription subscription, dynamic data) {
-    _ntClient.addSampleFromName(subscription.topic, data);
+  void updateDataFromSubscription(
+    NT4Subscription subscription,
+    dynamic data, [
+    int? timestamp,
+  ]) {
+    _ntClient.addSampleFromName(subscription.topic, data, timestamp);
   }
 
-  void updateDataFromTopic(NT4Topic topic, dynamic data) {
-    _ntClient.addSample(topic, data);
+  void updateDataFromTopic(NT4Topic topic, dynamic data, [int? timestamp]) {
+    _ntClient.addSample(topic, data, timestamp);
   }
 
   @visibleForTesting
-  void updateDataFromTopicName(String topic, dynamic data) {
-    _ntClient.addSampleFromName(topic, data);
+  void updateDataFromTopicName(String topic, dynamic data, [int? timestamp]) {
+    _ntClient.addSampleFromName(topic, data, timestamp);
   }
 }