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Add a way to indicate a Sendable is an actuator (#1226)

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SendableBuilder.setActuator() sets the .actuator key in the network table
so dashboards can change behavior on the client side if desired, and also
sets a local flag (retrievable via isActuator()).

Both make drive bases actuators and call setSafeState on them.
This commit is contained in:
Peter Johnson
2018-07-28 14:04:46 -07:00
committed by GitHub
parent 5fafaf6272
commit 0614913f1a
25 changed files with 78 additions and 0 deletions
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7
wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
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@@ -21,6 +21,8 @@ std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
return m_table;
}
bool SendableBuilderImpl::IsActuator() const { return m_actuator; }
void SendableBuilderImpl::UpdateTable() {
uint64_t time = nt::Now();
for (auto& property : m_properties) {
@@ -53,6 +55,11 @@ void SendableBuilderImpl::SetSmartDashboardType(const wpi::Twine& type) {
m_table->GetEntry(".type").SetString(type);
}
void SendableBuilderImpl::SetActuator(bool value) {
m_table->GetEntry(".actuator").SetBoolean(value);
m_actuator = value;
}
void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
m_safeState = func;
}