Update NT Client to use StandaloneAppSamples (#2173)

* Update NT Client to use StandaloneAppSamples

* Add inspector config

Author: sciencewhiz

.github/workflows/inspector.json

@@ -19,6 +19,11 @@
       "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/vscode-wpilib/",
       "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
       "latestVersion":"v2023.2.1"
+    },
+    {
+      "baseUrl": "https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/",
+      "versionScheme": "v\\d{4}\\.\\d\\.\\d(?:-(?:alpha|beta)-\\d)?|[0-9a-f]{40}",
+      "latestVersion":"3b64aadee717c9f0566497a40fd0be7d0eaed96d"
     }
   ],
   "ignoredFiles": []

source/docs/software/networktables/client-side-program.rst

@@ -13,38 +13,52 @@ A basic client program looks like the following example.
 
         .. code-block:: java
 
-            package networktablesdesktopclient;
-
-            import edu.wpi.first.networktables.DoubleSubscriber;
-            import edu.wpi.first.networktables.NetworkTable;
-            import edu.wpi.first.networktables.NetworkTableInstance;
-
-            public class NetworkTablesDesktopClient {
-              public static void main(String[] args) {
-                new NetworkTablesDesktopClient().run();
-              }
-
-              public void run() {
-                NetworkTableInstance inst = NetworkTableInstance.getDefault();
-                NetworkTable table = inst.getTable("datatable");
-                DoubleSubscriber xSub = table.getDoubleTopic("x").subscribe(0.0);
-                DoubleSubscriber ySub = table.getDoubleTopic("y").subscribe(0.0);
-                inst.startClient4("example client");
-                inst.setServerTeam(TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-                inst.startDSClient();  // recommended if running on DS computer; this gets the robot IP from the DS
-                while (true) {
-                  try {
-                    Thread.sleep(1000);
-                  } catch (InterruptedException ex) {
-                    System.out.println("interrupted");
-                    return;
-                  }
-                  double x = xSub.get();
-                  double y = ySub.get();
-                  System.out.println("X: " + x + " Y: " + y);
-                }
-              }
-            }
+           import edu.wpi.first.networktables.DoubleSubscriber;
+           import edu.wpi.first.networktables.NetworkTable;
+           import edu.wpi.first.networktables.NetworkTableInstance;
+           import edu.wpi.first.networktables.NetworkTablesJNI;
+           import edu.wpi.first.util.CombinedRuntimeLoader;
+
+           import java.io.IOException;
+
+           import edu.wpi.first.cscore.CameraServerJNI;
+           import edu.wpi.first.math.WPIMathJNI;
+           import edu.wpi.first.util.WPIUtilJNI;
+
+
+           public class Program {
+               public static void main(String[] args) throws IOException {
+                   NetworkTablesJNI.Helper.setExtractOnStaticLoad(false);
+                   WPIUtilJNI.Helper.setExtractOnStaticLoad(false);
+                   WPIMathJNI.Helper.setExtractOnStaticLoad(false);
+                   CameraServerJNI.Helper.setExtractOnStaticLoad(false);
+
+                   CombinedRuntimeLoader.loadLibraries(Program.class, "wpiutiljni", "wpimathjni", "ntcorejni",
+                           "cscorejnicvstatic");
+                   new Program().run();
+               }
+
+               public void run() {
+                   NetworkTableInstance inst = NetworkTableInstance.getDefault();
+                   NetworkTable table = inst.getTable("datatable");
+                   DoubleSubscriber xSub = table.getDoubleTopic("x").subscribe(0.0);
+                   DoubleSubscriber ySub = table.getDoubleTopic("y").subscribe(0.0);
+                   inst.startClient4("example client");
+                   inst.setServer("localhost"); // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+                   inst.startDSClient(); // recommended if running on DS computer; this gets the robot IP from the DS
+                   while (true) {
+                       try {
+                           Thread.sleep(1000);
+                       } catch (InterruptedException ex) {
+                           System.out.println("interrupted");
+                           return;
+                       }
+                       double x = xSub.get();
+                       double y = ySub.get();
+                       System.out.println("X: " + x + " Y: " + y);
+                   }
+               }
+           }
 
     .. group-tab:: C++
 
@@ -60,8 +74,8 @@ A basic client program looks like the following example.
             int main() {
               auto inst = nt::NetworkTableInstance::GetDefault();
               auto table = inst.GetTable("datatable");
-              auto xSub = table->GetDoubleTopic("x").subscribe(0.0);
-              auto ySub = table->GetDoubleTopic("y").subscribe(0.0);
+              auto xSub = table->GetDoubleTopic("x").Subscribe(0.0);
+              auto ySub = table->GetDoubleTopic("y").Subscribe(0.0);
               inst.StartClient4("example client");
               inst.SetServerTeam(TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
               inst.StartDSClient();  // recommended if running on DS computer; this gets the robot IP from the DS
@@ -81,17 +95,17 @@ A basic client program looks like the following example.
             #include <chrono>
             #include <thread>
             #include <fmt/format.h>
-            #include <networktables/ntcore.h>
+            #include <ntcore_cpp.h>
 
             int main() {
-              NT_Instance inst = nt::GetDefaultInstance();
+              NT_Inst inst = nt::GetDefaultInstance();
               NT_Subscriber xSub =
                   nt::Subscribe(nt::GetTopic(inst, "/datatable/x"), NT_DOUBLE, "double");
               NT_Subscriber ySub =
                   nt::Subscribe(nt::GetTopic(inst, "/datatable/y"), NT_DOUBLE, "double");
               nt::StartClient4(inst, "example client");
-              nt::SetServerTeam(inst, TEAM);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
-              nt::StartDSClient(inst);  // recommended if running on DS computer; this gets the robot IP from the DS
+              nt::SetServerTeam(inst, TEAM, 0);  // where TEAM=190, 294, etc, or use inst.setServer("hostname") or similar
+              nt::StartDSClient(inst, 0);  // recommended if running on DS computer; this gets the robot IP from the DS
               while (true) {
                 using namespace std::chrono_literals;
                 std::this_thread::sleep_for(1s);
@@ -159,49 +173,30 @@ Then this instance is started as a NetworkTables client with the team number (th
 
 Then this sample program simply loops once a second and gets the values for x and y and prints them on the console. In a more realistic program, the client might be processing or generating values for the robot to consume.
 
-Building the program
---------------------
-When building and running the program you will need some additional libraries to include with your client-side program. For Java these are:
-
-https://frcmaven.wpi.edu/artifactory/development/edu/wpi/first/ntcore/ntcore-java/ (ntcore Java files)
-
-https://frcmaven.wpi.edu/artifactory/development/edu/wpi/first/ntcore/ntcore-jni/ (ntcore native libs for all desktop platforms)
-
-https://frcmaven.wpi.edu/artifactory/development/edu/wpi/first/wpiutil/wpiutil-java/ (wpiutil Java files)
-
-.. note:: The desktop platform jar is for Windows, macOS, and Linux.
-
-For Python, refer to the `RobotPy pyntcore install documentation <https://robotpy.readthedocs.io/en/stable/install/pynetworktables.html>`__.
-
 Building using Gradle
 ^^^^^^^^^^^^^^^^^^^^^
 
-The dependencies above can be added to the ``dependencies`` block in a ``build.gradle`` file. The ``ntcore-java`` and ``wpiutil-java`` libraries are required at compile-time and the JNI dependencies are required at runtime. The JNI dependencies for all supported platforms should be added to the ``build.gradle`` if cross-platform support for the application is desired.
+Example build.gradle files are provided in the `StandaloneAppSamples Repository <https://github.com/wpilibsuite/StandaloneAppSamples>`__ Update the GradleRIO version to correspond to the desired WPILib version.
 
-First, the FRC\ |reg| Maven repository should be added to the ``repositories`` block. Note that this is not required if you are using the GradleRIO plugin with your application.
+.. tabs::
 
-.. code-block:: groovy
+    .. group-tab:: Java
 
-   repositories {
-       maven { url "https://frcmaven.wpi.edu/artifactory/development/" }
-   }
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/3b64aadee717c9f0566497a40fd0be7d0eaed96d/Java/build.gradle
+          :language: groovy
+          :linenos:
+          :emphasize-lines: 5
 
-Then, the dependencies can be added to the ``dependencies`` block. Here, ``VERSION`` should be replaced with the latest version number of the following dependencies. This usually corresponds to the version number of the latest WPILib release.
+    .. group-tab:: C++
 
-.. code-block:: groovy
+       Uncomment the appropriate platform as highlighted.
 
-   dependencies {
-       // Add ntcore-java
-       implementation "edu.wpi.first.ntcore:ntcore-java:VERSION"
+       .. rli:: https://raw.githubusercontent.com/wpilibsuite/StandaloneAppSamples/3b64aadee717c9f0566497a40fd0be7d0eaed96d/Cpp/build.gradle
+          :language: groovy
+          :linenos:
+          :emphasize-lines: 3, 20-22
 
-       // Add wpiutil-java
-       implementation "edu.wpi.first.wpiutil:wpiutil-java:VERSION"
+Building Python
+^^^^^^^^^^^^^^^
 
-       // Add ntcore-jni for runtime. We are adding all supported platforms
-       // so that our application will work on all supported platforms.
-       implementation "edu.wpi.first.ntcore:ntcore-jni:VERSION:windowsx86"
-       implementation "edu.wpi.first.ntcore:ntcore-jni:VERSION:windowsx86-64"
-       implementation "edu.wpi.first.ntcore:ntcore-jni:VERSION:linuxx86-64"
-       implementation "edu.wpi.first.ntcore:ntcore-jni:VERSION:linuxraspbian"
-       implementation "edu.wpi.first.ntcore:ntcore-jni:VERSION:osxx86-64"
-   }
+For Python, refer to the `RobotPy pyntcore install documentation <https://robotpy.readthedocs.io/en/stable/install/pynetworktables.html>`__.