001// Copyright (c) FIRST and other WPILib contributors. 002// Open Source Software; you can modify and/or share it under the terms of 003// the WPILib BSD license file in the root directory of this project. 004 005package edu.wpi.first.networktables; 006 007/** NetworkTables publish/subscribe option. */ 008public class PubSubOption { 009 enum Kind { 010 periodic, 011 sendAll, 012 topicsOnly, 013 pollStorage, 014 keepDuplicates, 015 disableRemote, 016 disableLocal, 017 excludePublisher, 018 excludeSelf 019 } 020 021 PubSubOption(Kind kind, boolean value) { 022 m_kind = kind; 023 m_bValue = value; 024 m_iValue = 0; 025 m_dValue = 0; 026 } 027 028 PubSubOption(Kind kind, int value) { 029 m_kind = kind; 030 m_bValue = false; 031 m_iValue = value; 032 m_dValue = 0; 033 } 034 035 PubSubOption(Kind kind, double value) { 036 m_kind = kind; 037 m_bValue = false; 038 m_iValue = 0; 039 m_dValue = value; 040 } 041 042 /** 043 * How frequently changes will be sent over the network. NetworkTables may send more frequently 044 * than this (e.g. use a combined minimum period for all values) or apply a restricted range to 045 * this value. The default if unspecified is 100 ms. 046 * 047 * @param period time between updates, in seconds 048 * @return option 049 */ 050 public static PubSubOption periodic(double period) { 051 return new PubSubOption(Kind.periodic, period); 052 } 053 054 /** 055 * If enabled, sends all value changes over the network. This option defaults to disabled. 056 * 057 * @param enabled True to enable, false to disable 058 * @return option 059 */ 060 public static PubSubOption sendAll(boolean enabled) { 061 return new PubSubOption(Kind.sendAll, enabled); 062 } 063 064 /** 065 * If enabled on a subscription, does not request value changes. This option defaults to disabled. 066 * 067 * @param enabled True to enable, false to disable 068 * @return option 069 */ 070 public static PubSubOption topicsOnly(boolean enabled) { 071 return new PubSubOption(Kind.topicsOnly, enabled); 072 } 073 074 /** 075 * If enabled, preserves duplicate value changes (rather than ignoring them). This option defaults 076 * to disabled. 077 * 078 * @param enabled True to enable, false to disable 079 * @return option 080 */ 081 public static PubSubOption keepDuplicates(boolean enabled) { 082 return new PubSubOption(Kind.keepDuplicates, enabled); 083 } 084 085 /** 086 * Polling storage for subscription. Specifies the maximum number of updates NetworkTables should 087 * store between calls to the subscriber's readQueue() function. Defaults to 1 if sendAll is 088 * false, 20 if sendAll is true. 089 * 090 * @param depth number of entries to save for polling. 091 * @return option 092 */ 093 public static PubSubOption pollStorage(int depth) { 094 return new PubSubOption(Kind.pollStorage, depth); 095 } 096 097 /** 098 * For subscriptions, specify whether remote value updates should not be queued for readQueue(). 099 * See also disableLocal(). Defaults to false (remote value updates are queued). 100 * 101 * @param disabled True to disable, false to enable 102 * @return option 103 */ 104 public static PubSubOption disableRemote(boolean disabled) { 105 return new PubSubOption(Kind.disableRemote, disabled); 106 } 107 108 /** 109 * For subscriptions, specify whether local value updates should not be queued for readQueue(). 110 * See also disableRemote(). Defaults to false (local value updates are queued). 111 * 112 * @param disabled True to disable, false to enable 113 * @return option 114 */ 115 public static PubSubOption disableLocal(boolean disabled) { 116 return new PubSubOption(Kind.disableLocal, disabled); 117 } 118 119 /** 120 * Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only 121 * one exclusion may be set. 122 * 123 * @param publisher publisher handle to exclude 124 * @return option 125 */ 126 public static PubSubOption excludePublisher(int publisher) { 127 return new PubSubOption(Kind.excludePublisher, publisher); 128 } 129 130 /** 131 * Don't queue value updates for the given publisher. Only has an effect on subscriptions. Only 132 * one exclusion may be set. 133 * 134 * @param publisher publisher to exclude 135 * @return option 136 */ 137 public static PubSubOption excludePublisher(Publisher publisher) { 138 return excludePublisher(publisher != null ? publisher.getHandle() : 0); 139 } 140 141 /** 142 * Don't queue value updates for the internal publisher for an entry. Only has an effect on 143 * entries. 144 * 145 * @param enabled True to enable, false to disable 146 * @return option 147 */ 148 public static PubSubOption excludeSelf(boolean enabled) { 149 return new PubSubOption(Kind.excludeSelf, enabled); 150 } 151 152 final Kind m_kind; 153 final boolean m_bValue; 154 final int m_iValue; 155 final double m_dValue; 156}