From 2caef4aca707bfc7e58fbab9d6a2e905e6cd1bda Mon Sep 17 00:00:00 2001
From: braykoff <99614905+Braykoff@users.noreply.github.com>
Date: Sun, 22 Dec 2024 22:22:47 -0500
Subject: [PATCH 1/9] Initial updates

---
 .../frc/smartdashboard/SendableChooser.h      | 39 +++++++++++++++---
 .../smartdashboard/SendableChooserTest.cpp    |  8 +++-
 .../smartdashboard/SendableChooser.java       | 40 ++++++++++++++++---
 .../smartdashboard/SendableChooserTest.java   |  3 ++
 4 files changed, 79 insertions(+), 11 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 40588dd58ab..262ac0d8b70 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -37,7 +37,7 @@ template <class T>
   requires std::copy_constructible<T> && std::default_initializable<T>
 class SendableChooser : public SendableChooserBase {
   wpi::StringMap<T> m_choices;
-  std::function<void(T)> m_listener;
+  std::function<void(std::string, T)> m_listener;
   template <class U>
   static U _unwrap_smart_ptr(const U& value) {
     return value;
@@ -113,17 +113,46 @@ class SendableChooser : public SendableChooserBase {
     }
   }
 
+  /**
+   * Returns the name of the selected option. 
+   * 
+   * If there is none selected, it will return the default option's name. If there is none selected
+   * and no default, it will return an empty string.
+   *  
+   * @return The name of the option selected
+   */
+  std::string GetSelectedName() const {
+    std::scoped_lock lock(m_mutex);
+    if (m_haveSelected) {
+        return m_selected;
+    } else {
+        return m_defaultChoice;
+    }
+  }
+
   /**
    * Bind a listener that's called when the selected value changes.
    * Only one listener can be bound. Calling this function will replace the
    * previous listener.
-   * @param listener The function to call that accepts the new value
+   * @param listener The function to call that accepts the new name and new value
    */
-  void OnChange(std::function<void(T)> listener) {
+  void OnChange(std::function<void(std::string, T)> listener) {
     std::scoped_lock lock(m_mutex);
     m_listener = listener;
   }
 
+  /**
+   * Bind a listener that's called when the selected value changes.
+   * Only one listener can be bound. Calling this function will replace the
+   * previous listener.
+   * @param listener The function to call that accepts the new value
+   */
+  void OnChange(std::function<void(T)> listener) {
+    OnChange<T>([listener](std::string, T choice) {
+      listener(choice);
+    });
+  }
+
   void InitSendable(wpi::SendableBuilder& builder) override {
     builder.SetSmartDashboardType("String Chooser");
     builder.PublishConstInteger(kInstance, m_instance);
@@ -158,7 +187,7 @@ class SendableChooser : public SendableChooserBase {
     builder.AddStringProperty(kSelected, nullptr,
                               [=, this](std::string_view val) {
                                 T choice{};
-                                std::function<void(T)> listener;
+                                std::function<void(std::string, T)> listener;
                                 {
                                   std::scoped_lock lock(m_mutex);
                                   m_haveSelected = true;
@@ -170,7 +199,7 @@ class SendableChooser : public SendableChooserBase {
                                   m_previousVal = val;
                                 }
                                 if (listener) {
-                                  listener(choice);
+                                  listener(val, choice);
                                 }
                               });
   }
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
index 702735c3eaf..1c127e78bb5 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
@@ -31,6 +31,7 @@ TEST_P(SendableChooserTest, ReturnsSelected) {
   chooserSim.SetSelected(std::to_string(GetParam()));
   frc::SmartDashboard::UpdateValues();
   EXPECT_EQ(GetParam(), chooser.GetSelected());
+  EXPECT_EQ(std::to_string(GetParam()), chooser.GetSelectedName());
 }
 
 TEST(SendableChooserTest, DefaultIsReturnedOnNoSelect) {
@@ -44,6 +45,7 @@ TEST(SendableChooserTest, DefaultIsReturnedOnNoSelect) {
   chooser.SetDefaultOption("4", 4);
 
   EXPECT_EQ(4, chooser.GetSelected());
+  EXPECT_EQ("4",, chooser.GetSelectedName());
 }
 
 TEST(SendableChooserTest,
@@ -55,6 +57,7 @@ TEST(SendableChooserTest,
   }
 
   EXPECT_EQ(0, chooser.GetSelected());
+  EXPECT_EQ("", chooser.GetSelectedName());
 }
 
 TEST(SendableChooserTest, ChangeListener) {
@@ -65,8 +68,10 @@ TEST(SendableChooserTest, ChangeListener) {
   for (int i = 1; i <= 3; i++) {
     chooser.AddOption(std::to_string(i), i);
   }
+
+  std::string currentName = "";
   int currentVal = 0;
-  chooser.OnChange([&](int val) { currentVal = val; });
+  chooser.OnChange([&](std::string name, int val) { currentName = name; currentVal = val; });
 
   frc::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
   frc::SmartDashboard::UpdateValues();
@@ -74,6 +79,7 @@ TEST(SendableChooserTest, ChangeListener) {
   frc::SmartDashboard::UpdateValues();
 
   EXPECT_EQ(3, currentVal);
+  EXPECT_EQ("3", currentName);
 }
 
 INSTANTIATE_TEST_SUITE_P(SendableChooserTests, SendableChooserTest,
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index e905ebc6350..63380c3abf0 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -13,6 +13,7 @@
 import java.util.Map;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.locks.ReentrantLock;
+import java.util.function.BiConsumer;
 import java.util.function.Consumer;
 
 /**
@@ -49,7 +50,7 @@ public class SendableChooser<V> implements Sendable, AutoCloseable {
   private String m_defaultChoice = "";
   private final int m_instance;
   private String m_previousVal;
-  private Consumer<V> m_listener;
+  private BiConsumer<String, V> m_listener;
   private static final AtomicInteger s_instances = new AtomicInteger();
 
   /** Instantiates a {@link SendableChooser}. */
@@ -109,19 +110,48 @@ public V getSelected() {
     }
   }
 
+  /**
+   * Returns the name of the selected option. If there is none selected, it will return the default.
+   * If there is none selected and no default, it will return {@code null}.
+   * 
+   * @return the name of the option selected
+   */
+  public String getSelectedName() {
+    m_mutex.lock();
+    try {
+      if (m_selected != null) {
+        return m_selected;
+      } else {
+        return m_defaultChoice;
+      }
+    } finally {
+      m_mutex.unlock();
+    }
+  }
+
   /**
    * Bind a listener that's called when the selected value changes. Only one listener can be bound.
    * Calling this function will replace the previous listener.
    *
-   * @param listener The function to call that accepts the new value
+   * @param listener The function to call that accepts the new name and new value
    */
-  public void onChange(Consumer<V> listener) {
+  public void onChange(BiConsumer<String, V> listener) {
     requireNonNullParam(listener, "listener", "onChange");
     m_mutex.lock();
     m_listener = listener;
     m_mutex.unlock();
   }
 
+  /**
+   * Bind a listener that's called when the selected value changes. Only one listener can be bound.
+   * Calling this function will replace the previous listener.
+   *
+   * @param listener The function to call that accepts the new value
+   */
+  public void onChange(Consumer<V> listener) {
+    onChange((String value, V choice) -> listener.accept(choice));
+  }
+
   private String m_selected;
   private final ReentrantLock m_mutex = new ReentrantLock();
 
@@ -151,7 +181,7 @@ public void initSendable(SendableBuilder builder) {
         null,
         val -> {
           V choice;
-          Consumer<V> listener;
+          BiConsumer<String, V> listener;
           m_mutex.lock();
           try {
             m_selected = val;
@@ -167,7 +197,7 @@ public void initSendable(SendableBuilder builder) {
             m_mutex.unlock();
           }
           if (listener != null) {
-            listener.accept(choice);
+            listener.accept(val, choice);
           }
         });
   }
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
index d8e3f8fbb98..48471925298 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
@@ -42,6 +42,7 @@ void returnsSelected(int toSelect) {
       chooserSim.setSelected(String.valueOf(toSelect));
       SmartDashboard.updateValues();
       assertEquals(toSelect, chooser.getSelected());
+      assertEquals(String.valueOf(toSelect), chooser.getSelectedName());
     }
   }
 
@@ -54,6 +55,7 @@ void defaultIsReturnedOnNoSelect() {
       chooser.setDefaultOption(String.valueOf(0), 0);
 
       assertEquals(0, chooser.getSelected());
+      assertEquals(String.valueOf(0), chooser.getSelectedName());
     }
   }
 
@@ -65,6 +67,7 @@ void nullIsReturnedOnNoSelectAndNoDefault() {
       }
 
       assertNull(chooser.getSelected());
+      assertNull(chooser.getSelectedName());
     }
   }
 

From 034b89c307d0d56bb1748fa065f840ee141ad19e Mon Sep 17 00:00:00 2001
From: braykoff <99614905+Braykoff@users.noreply.github.com>
Date: Sun, 22 Dec 2024 22:49:33 -0500
Subject: [PATCH 2/9] Bug fixes

---
 .../include/frc/smartdashboard/SendableChooser.h  | 10 +++++-----
 .../cpp/smartdashboard/SendableChooserTest.cpp    |  4 ++--
 .../wpilibj/smartdashboard/SendableChooser.java   | 15 +++------------
 .../smartdashboard/SendableChooserTest.java       |  2 +-
 4 files changed, 11 insertions(+), 20 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 262ac0d8b70..3f0ae83b5a9 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -37,7 +37,7 @@ template <class T>
   requires std::copy_constructible<T> && std::default_initializable<T>
 class SendableChooser : public SendableChooserBase {
   wpi::StringMap<T> m_choices;
-  std::function<void(std::string, T)> m_listener;
+  std::function<void(std::string_view, T)> m_listener;
   template <class U>
   static U _unwrap_smart_ptr(const U& value) {
     return value;
@@ -121,7 +121,7 @@ class SendableChooser : public SendableChooserBase {
    *  
    * @return The name of the option selected
    */
-  std::string GetSelectedName() const {
+  std::string_view GetSelectedName() const {
     std::scoped_lock lock(m_mutex);
     if (m_haveSelected) {
         return m_selected;
@@ -136,7 +136,7 @@ class SendableChooser : public SendableChooserBase {
    * previous listener.
    * @param listener The function to call that accepts the new name and new value
    */
-  void OnChange(std::function<void(std::string, T)> listener) {
+  void OnChange(std::function<void(std::string_view, T)> listener) {
     std::scoped_lock lock(m_mutex);
     m_listener = listener;
   }
@@ -148,7 +148,7 @@ class SendableChooser : public SendableChooserBase {
    * @param listener The function to call that accepts the new value
    */
   void OnChange(std::function<void(T)> listener) {
-    OnChange<T>([listener](std::string, T choice) {
+    OnChange<T>([listener](std::string_view, T choice) {
       listener(choice);
     });
   }
@@ -187,7 +187,7 @@ class SendableChooser : public SendableChooserBase {
     builder.AddStringProperty(kSelected, nullptr,
                               [=, this](std::string_view val) {
                                 T choice{};
-                                std::function<void(std::string, T)> listener;
+                                std::function<void(std::string_view, T)> listener;
                                 {
                                   std::scoped_lock lock(m_mutex);
                                   m_haveSelected = true;
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
index 1c127e78bb5..83ffd44578b 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
@@ -45,7 +45,7 @@ TEST(SendableChooserTest, DefaultIsReturnedOnNoSelect) {
   chooser.SetDefaultOption("4", 4);
 
   EXPECT_EQ(4, chooser.GetSelected());
-  EXPECT_EQ("4",, chooser.GetSelectedName());
+  EXPECT_EQ("4", chooser.GetSelectedName());
 }
 
 TEST(SendableChooserTest,
@@ -71,7 +71,7 @@ TEST(SendableChooserTest, ChangeListener) {
 
   std::string currentName = "";
   int currentVal = 0;
-  chooser.OnChange([&](std::string name, int val) { currentName = name; currentVal = val; });
+  chooser.OnChange([&](std::string_view name, int val) { currentName = std::string(name); currentVal = val; });
 
   frc::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
   frc::SmartDashboard::UpdateValues();
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
index 63380c3abf0..a73b7eea5c5 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
@@ -98,22 +98,13 @@ public void setDefaultOption(String name, V object) {
    * @return the option selected
    */
   public V getSelected() {
-    m_mutex.lock();
-    try {
-      if (m_selected != null) {
-        return m_map.get(m_selected);
-      } else {
-        return m_map.get(m_defaultChoice);
-      }
-    } finally {
-      m_mutex.unlock();
-    }
+    return m_map.get(getSelectedName());
   }
 
   /**
    * Returns the name of the selected option. If there is none selected, it will return the default.
-   * If there is none selected and no default, it will return {@code null}.
-   * 
+   * If there is none selected and no default, it will return an empty String.
+   *
    * @return the name of the option selected
    */
   public String getSelectedName() {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
index 48471925298..655c09ef512 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
@@ -67,7 +67,7 @@ void nullIsReturnedOnNoSelectAndNoDefault() {
       }
 
       assertNull(chooser.getSelected());
-      assertNull(chooser.getSelectedName());
+      assertEquals("", chooser.getSelectedName());
     }
   }
 

From 7923415969273c82c28416c7cb848b8f7552aff5 Mon Sep 17 00:00:00 2001
From: braykoff <99614905+Braykoff@users.noreply.github.com>
Date: Sun, 22 Dec 2024 23:04:17 -0500
Subject: [PATCH 3/9] sendable-chooser-value

---
 .../frc/smartdashboard/SendableChooser.h      | 57 +++++++++----------
 .../smartdashboard/SendableChooserTest.cpp    |  5 +-
 2 files changed, 32 insertions(+), 30 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 3f0ae83b5a9..a931af09fae 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -114,19 +114,19 @@ class SendableChooser : public SendableChooserBase {
   }
 
   /**
-   * Returns the name of the selected option. 
-   * 
-   * If there is none selected, it will return the default option's name. If there is none selected
-   * and no default, it will return an empty string.
-   *  
+   * Returns the name of the selected option.
+   *
+   * If there is none selected, it will return the default option's name. If
+   * there is none selected and no default, it will return an empty string.
+   *
    * @return The name of the option selected
    */
   std::string_view GetSelectedName() const {
     std::scoped_lock lock(m_mutex);
     if (m_haveSelected) {
-        return m_selected;
+      return m_selected;
     } else {
-        return m_defaultChoice;
+      return m_defaultChoice;
     }
   }
 
@@ -134,7 +134,8 @@ class SendableChooser : public SendableChooserBase {
    * Bind a listener that's called when the selected value changes.
    * Only one listener can be bound. Calling this function will replace the
    * previous listener.
-   * @param listener The function to call that accepts the new name and new value
+   * @param listener The function to call that accepts the new name and new
+   * value
    */
   void OnChange(std::function<void(std::string_view, T)> listener) {
     std::scoped_lock lock(m_mutex);
@@ -148,9 +149,7 @@ class SendableChooser : public SendableChooserBase {
    * @param listener The function to call that accepts the new value
    */
   void OnChange(std::function<void(T)> listener) {
-    OnChange<T>([listener](std::string_view, T choice) {
-      listener(choice);
-    });
+    OnChange<T>([listener](std::string_view, T choice) { listener(choice); });
   }
 
   void InitSendable(wpi::SendableBuilder& builder) override {
@@ -184,24 +183,24 @@ class SendableChooser : public SendableChooserBase {
           }
         },
         nullptr);
-    builder.AddStringProperty(kSelected, nullptr,
-                              [=, this](std::string_view val) {
-                                T choice{};
-                                std::function<void(std::string_view, T)> listener;
-                                {
-                                  std::scoped_lock lock(m_mutex);
-                                  m_haveSelected = true;
-                                  m_selected = val;
-                                  if (m_previousVal != val && m_listener) {
-                                    choice = m_choices[val];
-                                    listener = m_listener;
-                                  }
-                                  m_previousVal = val;
-                                }
-                                if (listener) {
-                                  listener(val, choice);
-                                }
-                              });
+    builder.AddStringProperty(
+        kSelected, nullptr, [=, this](std::string_view val) {
+          T choice{};
+          std::function<void(std::string_view, T)> listener;
+          {
+            std::scoped_lock lock(m_mutex);
+            m_haveSelected = true;
+            m_selected = val;
+            if (m_previousVal != val && m_listener) {
+              choice = m_choices[val];
+              listener = m_listener;
+            }
+            m_previousVal = val;
+          }
+          if (listener) {
+            listener(val, choice);
+          }
+        });
   }
 };
 
diff --git a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
index 83ffd44578b..824ab416491 100644
--- a/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
+++ b/wpilibc/src/test/native/cpp/smartdashboard/SendableChooserTest.cpp
@@ -71,7 +71,10 @@ TEST(SendableChooserTest, ChangeListener) {
 
   std::string currentName = "";
   int currentVal = 0;
-  chooser.OnChange([&](std::string_view name, int val) { currentName = std::string(name); currentVal = val; });
+  chooser.OnChange([&](std::string_view name, int val) {
+    currentName = std::string(name);
+    currentVal = val;
+  });
 
   frc::SmartDashboard::PutData("ChangeListenerChooser", &chooser);
   frc::SmartDashboard::UpdateValues();

From e7fd08aa24f72fe77b6f1db6f3fe49aa897f09dd Mon Sep 17 00:00:00 2001
From: braykoff <99614905+Braykoff@users.noreply.github.com>
Date: Sun, 22 Dec 2024 23:12:40 -0500
Subject: [PATCH 4/9] linted again

---
 .../main/native/include/frc/smartdashboard/SendableChooser.h    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index a931af09fae..0aa1c801bce 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -149,7 +149,7 @@ class SendableChooser : public SendableChooserBase {
    * @param listener The function to call that accepts the new value
    */
   void OnChange(std::function<void(T)> listener) {
-    OnChange<T>([listener](std::string_view, T choice) { listener(choice); });
+    OnChange([listener](std::string_view val, T choice) { listener(choice); });
   }
 
   void InitSendable(wpi::SendableBuilder& builder) override {

From 263e3f8838de81e7634ba6324e8d7efeab436dc4 Mon Sep 17 00:00:00 2001
From: braykoff <99614905+Braykoff@users.noreply.github.com>
Date: Mon, 23 Dec 2024 14:48:33 -0500
Subject: [PATCH 5/9] Optimization and java test case

---
 .../include/frc/smartdashboard/SendableChooser.h       |  8 +-------
 .../wpilibj/smartdashboard/SendableChooserTest.java    | 10 +++++++++-
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 0aa1c801bce..47c2c91f397 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -95,13 +95,7 @@ class SendableChooser : public SendableChooserBase {
    * @return The option selected
    */
   CopyType GetSelected() const {
-    std::string selected = m_defaultChoice;
-    {
-      std::scoped_lock lock(m_mutex);
-      if (m_haveSelected) {
-        selected = m_selected;
-      }
-    }
+    std::string_view selected = GetSelectedName();
     if (selected.empty()) {
       return CopyType{};
     } else {
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
index 655c09ef512..4846bbc85a2 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
@@ -10,6 +10,7 @@
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.simulation.SendableChooserSim;
 import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.atomic.AtomicReference;
 import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -78,14 +79,21 @@ void testChangeListener() {
       for (int i = 1; i <= 3; i++) {
         chooser.addOption(String.valueOf(i), i);
       }
+
+      AtomicReference<String> currentName = new AtomicReference<>("");
       AtomicInteger currentVal = new AtomicInteger();
-      chooser.onChange(currentVal::set);
+      chooser.onChange(
+          (String name, Integer value) -> {
+            currentName.set(name);
+            currentVal.set(value);
+          });
 
       SmartDashboard.putData("changeListenerChooser", chooser);
       SmartDashboard.updateValues();
       chooserSim.setSelected("3");
       SmartDashboard.updateValues();
       assertEquals(3, currentVal.get());
+      assertEquals("3", currentName.get());
     }
   }
 

From bc03f9f52d6520db65b1f9fee2faa72613484144 Mon Sep 17 00:00:00 2001
From: Brendan Raykoff <99614905+Braykoff@users.noreply.github.com>
Date: Mon, 23 Dec 2024 17:52:44 -0500
Subject: [PATCH 6/9] c++, move listener instead of copying

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>
---
 .../main/native/include/frc/smartdashboard/SendableChooser.h    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 47c2c91f397..9f2f5167875 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -143,7 +143,7 @@ class SendableChooser : public SendableChooserBase {
    * @param listener The function to call that accepts the new value
    */
   void OnChange(std::function<void(T)> listener) {
-    OnChange([listener](std::string_view val, T choice) { listener(choice); });
+    OnChange([listener = std::move(listener)](std::string_view val, T choice) { listener(choice); });
   }
 
   void InitSendable(wpi::SendableBuilder& builder) override {

From 3a4bb75917ffb23222a14d4bc73d2496f6a46f5e Mon Sep 17 00:00:00 2001
From: braykoff <99614905+Braykoff@users.noreply.github.com>
Date: Mon, 23 Dec 2024 18:07:36 -0500
Subject: [PATCH 7/9] linted cpp

---
 .../main/native/include/frc/smartdashboard/SendableChooser.h  | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 9f2f5167875..9db047a4599 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -143,7 +143,9 @@ class SendableChooser : public SendableChooserBase {
    * @param listener The function to call that accepts the new value
    */
   void OnChange(std::function<void(T)> listener) {
-    OnChange([listener = std::move(listener)](std::string_view val, T choice) { listener(choice); });
+    OnChange([listener = std::move(listener)](std::string_view val, T choice) {
+      listener(choice);
+    });
   }
 
   void InitSendable(wpi::SendableBuilder& builder) override {

From a79936a5880bc2c51e11ef611b133907c1a0ff9d Mon Sep 17 00:00:00 2001
From: Brendan Raykoff <99614905+Braykoff@users.noreply.github.com>
Date: Mon, 30 Dec 2024 17:21:31 -0500
Subject: [PATCH 8/9] Switch string_view to string (1/2)

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
---
 .../main/native/include/frc/smartdashboard/SendableChooser.h    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index 9db047a4599..ec34ecd3171 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -115,7 +115,7 @@ class SendableChooser : public SendableChooserBase {
    *
    * @return The name of the option selected
    */
-  std::string_view GetSelectedName() const {
+  std::string GetSelectedName() const {
     std::scoped_lock lock(m_mutex);
     if (m_haveSelected) {
       return m_selected;

From 0d88d6c36ea9f0857cc4866aa15a7303c8d52982 Mon Sep 17 00:00:00 2001
From: Brendan Raykoff <99614905+Braykoff@users.noreply.github.com>
Date: Mon, 30 Dec 2024 17:21:42 -0500
Subject: [PATCH 9/9] Switch string_view to string (2/2)

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
---
 .../main/native/include/frc/smartdashboard/SendableChooser.h    | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
index ec34ecd3171..bf7fff55630 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
@@ -95,7 +95,7 @@ class SendableChooser : public SendableChooserBase {
    * @return The option selected
    */
   CopyType GetSelected() const {
-    std::string_view selected = GetSelectedName();
+    std::string selected = GetSelectedName();
     if (selected.empty()) {
       return CopyType{};
     } else {