[ntcore] PubSubOption: Use record approach for Java (#8659)

Author: PeterJohnson

ntcore/src/main/java/org/wpilib/networktables/PubSubOption.java

@@ -5,165 +5,183 @@
 package org.wpilib.networktables;
 
 /** NetworkTables publish/subscribe option. */
-public class PubSubOption {
-  enum Kind {
-    periodic,
-    sendAll,
-    topicsOnly,
-    pollStorage,
-    keepDuplicates,
-    disableRemote,
-    disableLocal,
-    excludePublisher,
-    excludeSelf,
-    hidden
-  }
-
-  PubSubOption(Kind kind, boolean value) {
-    m_kind = kind;
-    m_bValue = value;
-    m_iValue = 0;
-    m_dValue = 0;
-  }
-
-  PubSubOption(Kind kind, int value) {
-    m_kind = kind;
-    m_bValue = false;
-    m_iValue = value;
-    m_dValue = 0;
-  }
-
-  PubSubOption(Kind kind, double value) {
-    m_kind = kind;
-    m_bValue = false;
-    m_iValue = 0;
-    m_dValue = value;
-  }
-
+public sealed interface PubSubOption {
   /**
    * How frequently changes will be sent over the network. NetworkTables may send more frequently
    * than this (e.g. use a combined minimum period for all values) or apply a restricted range to
    * this value. The default if unspecified is 100 ms.
    *
    * @param period time between updates, in seconds
-   * @return option
    */
-  public static PubSubOption periodic(double period) {
-    return new PubSubOption(Kind.periodic, period);
-  }
+  record Periodic(double period) implements PubSubOption {}
 
   /**
    * If enabled, sends all value changes over the network. This option defaults to disabled.
    *
    * @param enabled True to enable, false to disable
-   * @return option
    */
-  public static PubSubOption sendAll(boolean enabled) {
-    return new PubSubOption(Kind.sendAll, enabled);
-  }
+  record SendAll(boolean enabled) implements PubSubOption {}
 
   /**
    * If enabled on a subscription, does not request value changes. This option defaults to disabled.
    *
    * @param enabled True to enable, false to disable
-   * @return option
    */
-  public static PubSubOption topicsOnly(boolean enabled) {
-    return new PubSubOption(Kind.topicsOnly, enabled);
-  }
+  record TopicsOnly(boolean enabled) implements PubSubOption {}
 
   /**
    * If enabled, preserves duplicate value changes (rather than ignoring them). This option defaults
    * to disabled.
    *
    * @param enabled True to enable, false to disable
-   * @return option
    */
-  public static PubSubOption keepDuplicates(boolean enabled) {
-    return new PubSubOption(Kind.keepDuplicates, enabled);
-  }
+  record KeepDuplicates(boolean enabled) implements PubSubOption {}
 
   /**
    * Polling storage for subscription. Specifies the maximum number of updates NetworkTables should
    * store between calls to the subscriber's readQueue() function. Defaults to 1 if sendAll is
    * false, 20 if sendAll is true.
    *
    * @param depth number of entries to save for polling.
-   * @return option
    */
-  public static PubSubOption pollStorage(int depth) {
-    return new PubSubOption(Kind.pollStorage, depth);
-  }
+  record PollStorage(int depth) implements PubSubOption {}
 
   /**
    * For subscriptions, specify whether remote value updates should not be queued for readQueue().
    * See also disableLocal(). Defaults to false (remote value updates are queued).
    *
    * @param disabled True to disable, false to enable
-   * @return option
    */
-  public static PubSubOption disableRemote(boolean disabled) {
-    return new PubSubOption(Kind.disableRemote, disabled);
-  }
+  record DisableRemote(boolean disabled) implements PubSubOption {}
 
   /**
    * For subscriptions, specify whether local value updates should not be queued for readQueue().
    * See also disableRemote(). Defaults to false (local value updates are queued).
    *
    * @param disabled True to disable, false to enable
-   * @return option
    */
-  public static PubSubOption disableLocal(boolean disabled) {
-    return new PubSubOption(Kind.disableLocal, disabled);
-  }
+  record DisableLocal(boolean disabled) implements PubSubOption {}
 
   /**
    * Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only
    * one exclusion may be set.
    *
-   * @param publisher publisher handle to exclude
-   * @return option
+   * @param publisher publisher to exclude
    */
-  public static PubSubOption excludePublisher(int publisher) {
-    return new PubSubOption(Kind.excludePublisher, publisher);
-  }
+  record ExcludePublisher(Publisher publisher) implements PubSubOption {}
 
   /**
    * Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only
    * one exclusion may be set.
    *
-   * @param publisher publisher to exclude
-   * @return option
+   * @param publisher publisher handle to exclude
    */
-  public static PubSubOption excludePublisher(Publisher publisher) {
-    return excludePublisher(publisher != null ? publisher.getHandle() : 0);
-  }
+  record ExcludePublisherHandle(int publisher) implements PubSubOption {}
 
   /**
    * Don't queue value updates for the internal publisher for an entry. Only has an effect on
    * entries.
    *
    * @param enabled True to enable, false to disable
-   * @return option
    */
-  public static PubSubOption excludeSelf(boolean enabled) {
-    return new PubSubOption(Kind.excludeSelf, enabled);
-  }
+  record ExcludeSelf(boolean enabled) implements PubSubOption {}
 
   /**
    * 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
+   */
+  record Hidden(boolean enabled) implements PubSubOption {}
+
+  /** Indicates only value changes will be sent over the network (default). */
+  PubSubOption SEND_CHANGES = new SendAll(false);
+
+  /** Indicates all value changes will be sent over the network. */
+  PubSubOption SEND_ALL = new SendAll(true);
+
+  /** Indicates both topics and values will be sent over the network (default). */
+  PubSubOption TOPICS_AND_VALUES = new TopicsOnly(false);
+
+  /** Indicates only topics will be sent over the network. */
+  PubSubOption TOPICS_ONLY = new TopicsOnly(true);
+
+  /** Indicates duplicate value changes will be ignored (default). */
+  PubSubOption IGNORE_DUPLICATES = new KeepDuplicates(false);
+
+  /** Indicates duplicate value changes will be preserved. */
+  PubSubOption KEEP_DUPLICATES = new KeepDuplicates(true);
+
+  /** For subscriptions, indicates remote value updates will be queued for readQueue() (default). */
+  PubSubOption ENABLE_REMOTE = new DisableRemote(false);
+
+  /** For subscriptions, indicates remote value updates will not be queued for readQueue() . */
+  PubSubOption DISABLE_REMOTE = new DisableRemote(true);
+
+  /** For subscriptions, indicates local value updates will be queued for readQueue() (default). */
+  PubSubOption ENABLE_LOCAL = new DisableLocal(false);
+
+  /** For subscriptions, indicates local value updates will not be queued for readQueue() . */
+  PubSubOption DISABLE_LOCAL = new DisableLocal(true);
+
+  /**
+   * For entries, indicates value updates from the internal publisher will be included (default).
+   */
+  PubSubOption INCLUDE_SELF = new ExcludeSelf(false);
+
+  /** For entries, indicates value updates from the internal publisher will be excluded. */
+  PubSubOption EXCLUDE_SELF = new ExcludeSelf(true);
+
+  /** For subscriptions, indicates the subscription is visible to the network (default). */
+  PubSubOption VISIBLE = new Hidden(false);
+
+  /** For subscriptions, indicates the subscription is hidden from the network. */
+  PubSubOption HIDDEN = new Hidden(true);
+
+  /**
+   * How frequently changes will be sent over the network. NetworkTables may send more frequently
+   * than this (e.g. use a combined minimum period for all values) or apply a restricted range to
+   * this value. The default if unspecified is 100 ms.
+   *
+   * @param period time between updates, in seconds
    * @return option
    */
-  public static PubSubOption hidden(boolean enabled) {
-    return new PubSubOption(Kind.hidden, enabled);
+  static PubSubOption periodic(double period) {
+    return new Periodic(period);
   }
 
-  final Kind m_kind;
-  final boolean m_bValue;
-  final int m_iValue;
-  final double m_dValue;
+  /**
+   * Polling storage for subscription. Specifies the maximum number of updates NetworkTables should
+   * store between calls to the subscriber's readQueue() function. Defaults to 1 if sendAll is
+   * false, 20 if sendAll is true.
+   *
+   * @param depth number of entries to save for polling.
+   * @return option
+   */
+  static PubSubOption pollStorage(int depth) {
+    return new PollStorage(depth);
+  }
+
+  /**
+   * Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only
+   * one exclusion may be set.
+   *
+   * @param publisher publisher handle to exclude
+   * @return option
+   */
+  static PubSubOption excludePublisher(int publisher) {
+    return new ExcludePublisherHandle(publisher);
+  }
+
+  /**
+   * Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only
+   * one exclusion may be set.
+   *
+   * @param publisher publisher to exclude
+   * @return option
+   */
+  static PubSubOption excludePublisher(Publisher publisher) {
+    return new ExcludePublisher(publisher);
+  }
 }

ntcore/src/main/java/org/wpilib/networktables/PubSubOptions.java

@@ -14,20 +14,19 @@ public class PubSubOptions {
    */
   public PubSubOptions(PubSubOption... options) {
     for (PubSubOption option : options) {
-      switch (option.m_kind) {
-        case periodic -> periodic = option.m_dValue;
-        case sendAll -> sendAll = option.m_bValue;
-        case topicsOnly -> topicsOnly = option.m_bValue;
-        case pollStorage -> pollStorage = option.m_iValue;
-        case keepDuplicates -> keepDuplicates = option.m_bValue;
-        case disableRemote -> disableRemote = option.m_bValue;
-        case disableLocal -> disableLocal = option.m_bValue;
-        case excludePublisher -> excludePublisher = option.m_iValue;
-        case excludeSelf -> excludeSelf = option.m_bValue;
-        case hidden -> hidden = option.m_bValue;
-        default -> {
-          // NOP
-        }
+      switch (option) {
+        case PubSubOption.Periodic p -> periodic = p.period();
+        case PubSubOption.SendAll s -> sendAll = s.enabled();
+        case PubSubOption.TopicsOnly t -> topicsOnly = t.enabled();
+        case PubSubOption.PollStorage p -> pollStorage = p.depth();
+        case PubSubOption.KeepDuplicates k -> keepDuplicates = k.enabled();
+        case PubSubOption.DisableRemote d -> disableRemote = d.disabled();
+        case PubSubOption.DisableLocal l -> disableLocal = l.disabled();
+        case PubSubOption.ExcludePublisher e ->
+            excludePublisher = e.publisher() == null ? 0 : e.publisher().getHandle();
+        case PubSubOption.ExcludePublisherHandle e -> excludePublisher = e.publisher();
+        case PubSubOption.ExcludeSelf s -> excludeSelf = s.enabled();
+        case PubSubOption.Hidden h -> hidden = h.enabled();
       }
     }
   }

wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubMotor.java

@@ -74,9 +74,7 @@ public ExpansionHubMotor(int usbId, int channel) {
 
     PubSubOption[] options =
         new PubSubOption[] {
-          PubSubOption.sendAll(true),
-          PubSubOption.keepDuplicates(true),
-          PubSubOption.periodic(0.005)
+          PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
         };
 
     m_encoderSubscriber =

wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubPidConstants.java

@@ -28,9 +28,7 @@ public class ExpansionHubPidConstants {
 
     PubSubOption[] options =
         new PubSubOption[] {
-          PubSubOption.sendAll(true),
-          PubSubOption.keepDuplicates(true),
-          PubSubOption.periodic(0.005)
+          PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
         };
 
     String pidType = isVelocityPid ? "velocity" : "position";

wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubServo.java

@@ -60,9 +60,7 @@ public ExpansionHubServo(int usbId, int channel) {
 
     PubSubOption[] options =
         new PubSubOption[] {
-          PubSubOption.sendAll(true),
-          PubSubOption.keepDuplicates(true),
-          PubSubOption.periodic(0.005)
+          PubSubOption.SEND_ALL, PubSubOption.KEEP_DUPLICATES, PubSubOption.periodic(0.005)
         };
 
     m_pulseWidthPublisher =