Handle non-normalized topic names

Shuffleboard historically relied on the assumption that a leading slash was optional for paths in networktables. NT4 changed that by making topic names exact (so two topic names only differing by the presence or absence of a leading slash would be two unique topics), which broke NT data sources for topics without leading slashes

plugins/networktables/src/main/java/edu/wpi/first/shuffleboard/plugin/networktables/sources/CompositeNetworkTableSource.java

@@ -47,7 +47,7 @@ public CompositeNetworkTableSource(String tableName, ComplexDataType<D> dataType
     setData(dataType.getDefaultValue());
 
     setTableListener((key, event) -> {
-      String relativeKey = NetworkTable.normalizeKey(key.substring(path.length() + 1), false);
+      String relativeKey = NetworkTable.basenameKey(key);
       if (event.is(NetworkTableEvent.Kind.kUnpublish)) {
         backingMap.remove(relativeKey);
       } else if (event.valueData != null) {

plugins/networktables/src/main/java/edu/wpi/first/shuffleboard/plugin/networktables/sources/NetworkTableSource.java

@@ -16,6 +16,7 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.networktables.PubSubOption;
 
+import java.util.Arrays;
 import java.util.Comparator;
 import java.util.EnumSet;
 import java.util.Map;
@@ -73,7 +74,19 @@ protected final void setTableListener(TableListener listener) {
     }
     setConnected(true);
     if (isSingular()) {
-      singleSub = inst.getTopic(fullTableKey).genericSubscribe(PubSubOption.hidden(false), PubSubOption.sendAll(true));
+      // Handle leading slashes. Topic names are exact and do no normalization
+      String topicName;
+      if (Arrays.stream(inst.getTopicInfo()).anyMatch(t -> t.name.equals(fullTableKey))) {
+        topicName = fullTableKey;
+      } else {
+        if (fullTableKey.startsWith("/")) {
+          topicName = NetworkTable.normalizeKey(fullTableKey, false);
+        } else {
+          topicName = NetworkTable.normalizeKey(fullTableKey, true);
+        }
+      }
+
+      singleSub = inst.getTopic(topicName).genericSubscribe(PubSubOption.hidden(false), PubSubOption.sendAll(true));
       listenerUid = inst.addListener(
         singleSub,
         EnumSet.of(
@@ -197,7 +210,7 @@ public static void removeAllCachedSources() {
    */
   @SuppressWarnings("unchecked")
   public static DataSource<?> forKey(String fullTableKey) {
-    String key = NetworkTable.normalizeKey(fullTableKey, false);
+    String key = fullTableKey;
     final String uri = NetworkTableSourceType.getInstance().toUri(key);
     return sources.computeIfAbsent(uri, __ -> {
       DataType<?> lookup = NetworkTableUtils.dataTypeForEntry(key);