Add support for passing an extra address to NT when using team

ntcore/src/generate/main/java/NetworkTableInstance.java.jinja

@@ -1028,6 +1028,30 @@ public final class NetworkTableInstance implements AutoCloseable {
     NetworkTablesJNI.setServerTeam(m_handle, team, port);
   }
 
+  /**
+   * Sets server addresses and port for client (without restarting client). Connects using commonly
+   * known robot addresses for the specified team, and an extra address. Changes the port to the
+   * default port.
+   *
+   * @param team team number
+   * @param extraAddress extra server address
+   */
+  public void setServerTeamExtra(int team, String extraAddress) {
+    setServerTeamExtra(team, extraAddress, 0);
+  }
+
+  /**
+   * Sets server addresses and port for client (without restarting client). Connects using commonly
+   * known robot addresses for the specified team, and an extra address.
+   *
+   * @param team team number
+   * @param extraAddress extra server address
+   * @param port port to communicate over (0=default)
+   */
+  public void setServerTeamExtra(int team, String extraAddress, int port) {
+    NetworkTablesJNI.setServerTeamExtra(m_handle, team, extraAddress, port);
+  }
+
   /**
    * Disconnects the client if it's running and connected. This will automatically start
    * reconnection attempts to the current server list.
@@ -1268,4 +1292,3 @@ public final class NetworkTableInstance implements AutoCloseable {
   private int m_handle;
   private final ConcurrentMap<String, RawPublisher> m_schemas = new ConcurrentHashMap<>();
 }
-

ntcore/src/generate/main/java/NetworkTablesJNI.java.jinja

@@ -929,6 +929,17 @@ public final class NetworkTablesJNI {
    */
   public static native void setServerTeam(int inst, int team, int port);
 
+  /**
+   * Sets server address and port for client (without restarting client). Connects using commonly
+   * known robot addresses for the specified team, with an extra address added to the list.
+   *
+   * @param inst          NT instance handle.
+   * @param team          team number
+   * @param extraAddress  extra server address to add
+   * @param port          port to communicate over
+   */
+  public static native void setServerTeamExtra(int inst, int team, String extraAddress, int port);
+
   /**
    * Disconnects the client if it's running and connected. This will automatically start
    * reconnection attempts to the current server list.
@@ -1088,4 +1099,3 @@ public final class NetworkTablesJNI {
   /** Utility class. */
   private NetworkTablesJNI() {}
 }
-

ntcore/src/main/native/cpp/jni/NetworkTablesJNI.cpp

@@ -1322,6 +1322,18 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setServerTeam
   nt::SetServerTeam(inst, team, port);
 }
 
+/*
+ * Class:     edu_wpi_first_networktables_NetworkTablesJNI
+ * Method:    setServerTeamExtra
+ * Signature: (IILjava/lang/String;I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_networktables_NetworkTablesJNI_setServerTeamExtra
+  (JNIEnv* env, jclass, jint inst, jint team, jstring extraAddress, jint port)
+{
+  nt::SetServerTeamExtra(inst, team, JStringRef{env, extraAddress}, port);
+}
+
 /*
  * Class:     edu_wpi_first_networktables_NetworkTablesJNI
  * Method:    disconnect

ntcore/src/main/native/cpp/ntcore_c.cpp

@@ -570,6 +570,12 @@ void NT_SetServerTeam(NT_Inst inst, unsigned int team, unsigned int port) {
   nt::SetServerTeam(inst, team, port);
 }
 
+void NT_SetServerTeamExtra(NT_Inst inst, unsigned int team,
+                           const struct WPI_String* extraAddress,
+                           unsigned int port) {
+  nt::SetServerTeamExtra(inst, team, wpi::to_string_view(extraAddress), port);
+}
+
 void NT_Disconnect(NT_Inst inst) {
   nt::Disconnect(inst);
 }

ntcore/src/main/native/cpp/ntcore_cpp.cpp

@@ -682,9 +682,14 @@ void SetServer(
 }
 
 void SetServerTeam(NT_Inst inst, unsigned int team, unsigned int port) {
+  SetServerTeamExtra(inst, team, {}, port);
+}
+
+void SetServerTeamExtra(NT_Inst inst, unsigned int team,
+                        std::string_view extraAddress, unsigned int port) {
   if (auto ii = InstanceImpl::GetTyped(inst, Handle::kInstance)) {
     std::vector<std::pair<std::string, unsigned int>> servers;
-    servers.reserve(5);
+    servers.reserve(6);
 
     // 10.te.am.2
     servers.emplace_back(fmt::format("10.{}.{}.2", static_cast<int>(team / 100),
@@ -704,6 +709,11 @@ void SetServerTeam(NT_Inst inst, unsigned int team, unsigned int port) {
     servers.emplace_back(fmt::format("roboRIO-{}-FRC.frc-field.local", team),
                          port);
 
+    if (!extraAddress.empty()) {
+      // robot.local
+      servers.emplace_back(extraAddress, port);
+    }
+
     ii->SetServers(servers);
   }
 }

ntcore/src/main/native/include/networktables/NetworkTableInstance.h

@@ -693,6 +693,20 @@ class NetworkTableInstance final {
     ::nt::SetServerTeam(m_handle, team, port);
   }
 
+  /**
+   * Sets server addresses and port for client (without restarting client).
+   * Connects using commonly known robot addresses for the specified team,
+   * and an extra address.
+   *
+   * @param team         team number
+   * @param extraAddress extra address to connect to
+   * @param port         port to communicate over (0 = default)
+   */
+  void SetServerTeamExtra(unsigned int team, std::string_view extraAddress,
+                          unsigned int port = 0) {
+    ::nt::SetServerTeamExtra(m_handle, team, extraAddress, port);
+  }
+
   /**
    * Disconnects the client if it's running and connected. This will
    * automatically start reconnection attempts to the current server list.

ntcore/src/main/native/include/ntcore_c.h

@@ -1192,6 +1192,20 @@ void NT_SetServerMulti(NT_Inst inst, size_t count,
  */
 void NT_SetServerTeam(NT_Inst inst, unsigned int team, unsigned int port);
 
+/**
+ * Sets extra server address for client (without restarting client).
+ * Connects using commonly known robot addresses for the specified team,
+ * plus an extra address.
+ *
+ * @param inst        instance handle
+ * @param team        team number
+ * @param extraAddress  extra server address
+ * @param port        port to communicate over
+ */
+void NT_SetServerTeamExtra(NT_Inst inst, unsigned int team,
+                           const struct WPI_String* extraAddress,
+                           unsigned int port);
+
 /**
  * Disconnects the client if it's running and connected. This will automatically
  * start reconnection attempts to the current server list.

ntcore/src/main/native/include/ntcore_cpp.h

@@ -1126,6 +1126,19 @@ void SetServer(
  */
 void SetServerTeam(NT_Inst inst, unsigned int team, unsigned int port);
 
+/**
+ * Sets server addresses and port for client (without restarting client).
+ * Connects using commonly known robot addresses for the specified team,
+ * plus an extra custom address.
+ *
+ * @param inst          instance handle
+ * @param team          team number
+ * @param extraAddress  extra address to connect to
+ * @param port          port to communicate over
+ */
+void SetServerTeamExtra(NT_Inst inst, unsigned int team,
+                        std::string_view extraAddress, unsigned int port);
+
 /**
  * Disconnects the client if it's running and connected. This will automatically
  * start reconnection attempts to the current server list.

ntcoreffi/src/main/native/symbols.txt

@@ -201,6 +201,7 @@ NT_SetRaw
 NT_SetServer
 NT_SetServerMulti
 NT_SetServerTeam
+NT_SetServerTeamExtra
 NT_SetString
 NT_SetStringArray
 NT_SetTopicCached