mirror of
https://github.com/wpilibsuite/allwpilib
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56 lines
2.0 KiB
C++
56 lines
2.0 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2020 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "glass/networktables/NTCommandScheduler.h"
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#include <iostream>
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using namespace glass;
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NTCommandSchedulerModel::NTCommandSchedulerModel(wpi::StringRef path)
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: NTCommandSchedulerModel(nt::GetDefaultInstance(), path) {}
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NTCommandSchedulerModel::NTCommandSchedulerModel(NT_Inst instance,
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wpi::StringRef path)
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: m_nt(instance),
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m_name(m_nt.GetEntry(path + "/.name")),
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m_commands(m_nt.GetEntry(path + "/Names")),
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m_ids(m_nt.GetEntry(path + "/Ids")),
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m_cancel(m_nt.GetEntry(path + "/Cancel")),
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m_nameValue(path.rsplit('/').second) {
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m_nt.AddListener(m_name);
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m_nt.AddListener(m_commands);
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m_nt.AddListener(m_ids);
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m_nt.AddListener(m_cancel);
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Update();
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}
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void NTCommandSchedulerModel::CancelCommand(size_t index) {
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if (index < m_idsValue.size())
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nt::SetEntryValue(
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m_cancel, nt::NetworkTableValue::MakeDoubleArray({m_idsValue[index]}));
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}
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void NTCommandSchedulerModel::Update() {
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for (auto&& event : m_nt.PollListener()) {
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if (event.entry == m_name) {
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if (event.value && event.value->IsString())
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m_nameValue = event.value->GetString();
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} else if (event.entry == m_commands) {
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if (event.value && event.value->IsStringArray())
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m_commandsValue = event.value->GetStringArray();
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} else if (event.entry == m_ids) {
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if (event.value && event.value->IsDoubleArray())
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m_idsValue = event.value->GetDoubleArray();
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}
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}
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}
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bool NTCommandSchedulerModel::Exists() {
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return m_nt.IsConnected() && nt::GetEntryType(m_commands) != NT_UNASSIGNED;
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}
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