robotpy-native-telemetry 2027.0.0a7__py3-none-win_amd64.whl

native/telemetry/_init_robotpy_native_telemetry.py

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+# This file is automatically generated, DO NOT EDIT
+# fmt: off
+
+import native.wpiutil._init_robotpy_native_wpiutil
+
+def __load_library():
+    from os.path import abspath, join, dirname, exists
+    from ctypes import cdll
+
+    root = abspath(dirname(__file__))
+
+    lib_path = join(root, 'lib', 'telemetry.dll')
+
+    try:
+        return cdll.LoadLibrary(lib_path)
+    except FileNotFoundError:
+        if not exists(lib_path):
+            raise FileNotFoundError("telemetry.dll was not found on your system. Is this package correctly installed?")
+        raise Exception("telemetry.dll could not be loaded. Do you have Visual Studio C++ Redistributible installed?")
+
+__lib = __load_library()
+

native/telemetry/include/LICENSE.md

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+Copyright (c) 2009-2026 FIRST and other WPILib contributors
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+   * Neither the name of FIRST, WPILib, nor the names of other WPILib
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY FIRST AND OTHER WPILIB CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
+PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

native/telemetry/include/wpi/telemetry/DiscardTelemetryBackend.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <memory>
+
+#include "wpi/telemetry/TelemetryBackend.hpp"
+
+namespace wpi::telemetry {
+
+/** A telemetry backend that discards all logged data. */
+class DiscardTelemetryBackend : public TelemetryBackend {
+ public:
+  /**
+   * Create an entry for the given path.
+   *
+   * @param path full name
+   * @return telemetry entry
+   */
+  std::shared_ptr<TelemetryEntry> GetEntry(std::string_view path) override;
+
+  /**
+   * Returns whether there is a data schema already registered with the given
+   * name. This does NOT perform a check as to whether the schema has already
+   * been published by another node on the network.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @return True if schema already registered
+   */
+  bool HasSchema(std::string_view schemaName) const override;
+
+  /**
+   * Registers a data schema.  Data schemas provide information for how a
+   * certain data type string can be decoded.  The type string of a data schema
+   * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+   * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+   * published just like normal topics, with the name being generated from the
+   * provided name: "/.schema/<name>".  Duplicate calls to this function with
+   * the same name are silently ignored.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view schemaName, std::string_view type,
+                 std::span<const uint8_t> schema) override;
+
+  /**
+   * Registers a data schema.  Data schemas provide information for how a
+   * certain data type string can be decoded.  The type string of a data schema
+   * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+   * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+   * published just like normal topics, with the name being generated from the
+   * provided name: "/.schema/<name>".  Duplicate calls to this function with
+   * the same name are silently ignored.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view schemaName, std::string_view type,
+                 std::string_view schema) override;
+};
+
+}  // namespace wpi::telemetry

native/telemetry/include/wpi/telemetry/MockTelemetryBackend.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <optional>
+#include <string>
+#include <utility>
+#include <variant>
+#include <vector>
+
+#include "wpi/telemetry/TelemetryBackend.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+
+namespace wpi::telemetry {
+
+/**
+ * A telemetry backend that saves logged data to an array for unit testing
+ * purposes. Logging is thread-safe, but callers must quiesce or externally
+ * synchronize logging while inspecting references or pointers returned by
+ * this class.
+ */
+class MockTelemetryBackend : public TelemetryBackend {
+ public:
+  /** Value for KeepDuplicate() action. */
+  struct KeepDuplicatesValue {
+    bool value = true;
+  };
+
+  /** Value for SetProperty() action. */
+  struct SetPropertyValue {
+    std::string key;
+    std::string value;
+  };
+
+  /** Value for LogString() action. */
+  struct LogStringValue {
+    std::string value;
+    std::string typeString;
+  };
+
+  /** Value for LogBooleanArray() action. */
+  struct LogBooleanArrayValue {
+    std::vector<int> value;
+  };
+
+  /** Value for LogRaw() action. */
+  struct LogRawValue {
+    std::vector<uint8_t> value;
+    std::string typeString;
+  };
+
+  /** A logged action. */
+  struct Action {
+    template <typename T>
+    Action(std::string_view path_, T value_, int64_t timestamp_ = 0)
+        : path{path_}, value{std::move(value_)}, timestamp{timestamp_} {}
+
+    std::string path;
+    std::variant<KeepDuplicatesValue, SetPropertyValue, bool, int16_t, int32_t,
+                 int64_t, float, double, LogStringValue, LogBooleanArrayValue,
+                 std::vector<int16_t>, std::vector<int32_t>,
+                 std::vector<int64_t>, std::vector<float>, std::vector<double>,
+                 std::vector<std::string>, LogRawValue>
+        value;
+    int64_t timestamp = 0;
+  };
+
+  struct Schema {
+    std::string type;
+    std::vector<uint8_t> schemaBytes;
+    std::string schemaString;
+  };
+
+  MockTelemetryBackend();
+
+  ~MockTelemetryBackend() override;
+
+  /**
+   * Get logged actions.
+   *
+   * @return Logged actions
+   */
+  const std::vector<Action>& GetActions() const { return m_actions; }
+
+  /**
+   * Clear logged actions.
+   */
+  void Clear();
+
+  /**
+   * Get the last action for a particular path.
+   *
+   * @param path path
+   * @return Pointer to action, or nullptr if no update to that path
+   */
+  const Action* GetLastAction(std::string_view path) const {
+    std::scoped_lock lock{m_mutex};
+    return GetLastActionImpl(path);
+  }
+
+  /**
+   * Get the last action for a particular path.
+   *
+   * @param path path
+   * @return Action value, or empty if no update to that path
+   */
+  template <typename T>
+  std::optional<T> GetLastValue(std::string_view path) const {
+    std::scoped_lock lock{m_mutex};
+    auto* action = GetLastActionImpl(path);
+    if (!action || !std::holds_alternative<T>(action->value)) {
+      return std::nullopt;
+    }
+    return std::get<T>(action->value);
+  }
+
+  /**
+   * Get schema.
+   *
+   * @param schemaName schema name
+   * @return Schema, or nullptr if no match
+   */
+  const Schema* GetSchema(std::string_view schemaName) {
+    std::scoped_lock lock{m_mutex};
+    auto it = m_schemas.find(schemaName);
+    if (it == m_schemas.end()) {
+      return nullptr;
+    }
+    return &it->second;
+  }
+
+  /**
+   * Create an entry for the given path.
+   *
+   * @param path full name
+   * @return telemetry entry
+   */
+  std::shared_ptr<TelemetryEntry> GetEntry(std::string_view path) override;
+
+  /**
+   * Removes an entry for the given path.
+   *
+   * @param path normalized full name
+   */
+  void RemoveEntry(std::string_view path) override;
+
+  /**
+   * Returns whether there is a data schema already registered with the given
+   * name. This does NOT perform a check as to whether the schema has already
+   * been published by another node on the network.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @return True if schema already registered
+   */
+  bool HasSchema(std::string_view schemaName) const override;
+
+  /**
+   * Registers a data schema.  Data schemas provide information for how a
+   * certain data type string can be decoded.  The type string of a data schema
+   * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+   * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+   * published just like normal topics, with the name being generated from the
+   * provided name: "/.schema/<name>".  Duplicate calls to this function with
+   * the same name are silently ignored.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view schemaName, std::string_view type,
+                 std::span<const uint8_t> schema) override;
+
+  /**
+   * Registers a data schema.  Data schemas provide information for how a
+   * certain data type string can be decoded.  The type string of a data schema
+   * indicates the type of the schema itself (e.g. "protobuf" for protobuf
+   * schemas, "struct" for struct schemas, etc). In NetworkTables, schemas are
+   * published just like normal topics, with the name being generated from the
+   * provided name: "/.schema/<name>".  Duplicate calls to this function with
+   * the same name are silently ignored.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view schemaName, std::string_view type,
+                 std::string_view schema) override;
+
+ private:
+  const Action* GetLastActionImpl(std::string_view path) const;
+
+  class Entry;
+  mutable wpi::util::mutex m_mutex;
+  wpi::util::StringMap<std::shared_ptr<Entry>> m_entries;
+  wpi::util::StringMap<Schema> m_schemas;
+  std::vector<Action> m_actions;
+};
+
+}  // namespace wpi::telemetry

native/telemetry/include/wpi/telemetry/MultiTelemetryBackend.hpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <stdint.h>
+
+#include <initializer_list>
+#include <memory>
+#include <span>
+#include <string_view>
+#include <vector>
+
+#include "wpi/telemetry/TelemetryBackend.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+
+namespace wpi::telemetry {
+
+/**
+ * A telemetry backend that forwards logged data to multiple child backends.
+ */
+class MultiTelemetryBackend : public TelemetryBackend {
+ public:
+  /** Constructs a telemetry backend with no child backends. */
+  MultiTelemetryBackend();
+
+  /**
+   * Constructs a telemetry backend that forwards to multiple child backends.
+   *
+   * @param backends child backends
+   */
+  explicit MultiTelemetryBackend(
+      std::span<const std::shared_ptr<TelemetryBackend>> backends);
+
+  /**
+   * Constructs a telemetry backend that forwards to multiple child backends.
+   *
+   * @param backends child backends
+   */
+  explicit MultiTelemetryBackend(
+      std::vector<std::shared_ptr<TelemetryBackend>> backends);
+
+  /**
+   * Constructs a telemetry backend that forwards to multiple child backends.
+   *
+   * @param backends child backends
+   */
+  MultiTelemetryBackend(
+      std::initializer_list<std::shared_ptr<TelemetryBackend>> backends);
+
+  ~MultiTelemetryBackend() override;
+
+  /**
+   * Create an entry for the given path.
+   *
+   * @param path full name
+   * @return telemetry entry
+   */
+  std::shared_ptr<TelemetryEntry> GetEntry(std::string_view path) override;
+
+  /**
+   * Removes an entry for the given path.
+   *
+   * @param path normalized full name
+   */
+  void RemoveEntry(std::string_view path) override;
+
+  /**
+   * Returns whether every child backend has a data schema already registered
+   * with the given name.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @return True if every child backend already has the schema
+   */
+  bool HasSchema(std::string_view schemaName) const override;
+
+  /**
+   * Registers a data schema with every child backend.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view schemaName, std::string_view type,
+                 std::span<const uint8_t> schema) override;
+
+  /**
+   * Registers a data schema with every child backend.
+   *
+   * @param schemaName Name (the string passed as the data type for topics using
+   * this schema)
+   * @param type Type of schema (e.g. "protobuf", "struct", etc)
+   * @param schema Schema data
+   */
+  void AddSchema(std::string_view schemaName, std::string_view type,
+                 std::string_view schema) override;
+
+ private:
+  class Entry;
+
+  std::vector<std::shared_ptr<TelemetryBackend>> m_backends;
+  wpi::util::mutex m_mutex;
+  wpi::util::StringMap<std::shared_ptr<Entry>> m_entries;
+};
+
+}  // namespace wpi::telemetry