Add fluent builders for more flexibly adding data to Shuffleboard (#1022)

wpilibc/src/main/native/include/frc/shuffleboard/ComplexWidget.h

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+#include "frc/smartdashboard/SendableBuilderImpl.h"
+
+namespace frc {
+
+class Sendable;
+class ShuffleboardContainer;
+
+/**
+ * A Shuffleboard widget that handles a {@link Sendable} object such as a speed
+ * controller or sensor.
+ */
+class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
+ public:
+  ComplexWidget(ShuffleboardContainer& parent, const wpi::Twine& title,
+                Sendable& sendable);
+
+  void EnableIfActuator() override;
+
+  void DisableIfActuator() override;
+
+  void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
+                 std::shared_ptr<nt::NetworkTable> metaTable) override;
+
+ private:
+  Sendable& m_sendable;
+  SendableBuilderImpl m_builder;
+  bool m_builderInit = false;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/Shuffleboard.h

@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/StringRef.h>
+
+#include "frc/shuffleboard/ShuffleboardInstance.h"
+
+namespace frc {
+
+class ShuffleboardTab;
+
+/**
+ * The Shuffleboard class provides a mechanism with which data can be added and
+ * laid out in the Shuffleboard dashboard application from a robot program. Tabs
+ * and layouts can be specified, as well as choosing which widgets to display
+ * with and setting properties of these widgets; for example, programmers can
+ * specify a specific {@code boolean} value to be displayed with a toggle button
+ * instead of the default colored box, or set custom colors for that box.
+ *
+ * For example, displaying a boolean entry with a toggle button:
+ * <pre>{@code
+ * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
+ *   .add("My Boolean", false)
+ *   .withWidget("Toggle Button")
+ *   .getEntry();
+ * }</pre>
+ *
+ * Changing the colors of the boolean box:
+ * <pre>{@code
+ * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
+ *   .add("My Boolean", false)
+ *   .withWidget("Boolean Box")
+ *   .withProperties(Map.of("colorWhenTrue", "green", "colorWhenFalse",
+ * "maroon")) .getEntry();
+ * }</pre>
+ *
+ * Specifying a parent layout. Note that the layout type must <i>always</i> be
+ * specified, even if the layout has already been generated by a previously
+ * defined entry.
+ * <pre>{@code
+ * NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
+ *   .getLayout("List", "Example List")
+ *   .add("My Boolean", false)
+ *   .withWidget("Toggle Button")
+ *   .getEntry();
+ * }</pre>
+ * </p>
+ *
+ * Teams are encouraged to set up shuffleboard layouts at the start of the robot
+ * program.
+ */
+class Shuffleboard final {
+ public:
+  /**
+   * The name of the base NetworkTable into which all Shuffleboard data will be
+   * added.
+   */
+  static constexpr const char* kBaseTableName = "/Shuffleboard";
+
+  /**
+   * Updates all the values in Shuffleboard. Iterative and timed robots are
+   * pre-configured to call this method in the main robot loop; teams using
+   * custom robot base classes, or subclass SampleRobot, should make sure to
+   * call this repeatedly to keep data on the dashboard up to date.
+   */
+  static void Update();
+
+  /**
+   * Gets the Shuffleboard tab with the given title, creating it if it does not
+   * already exist.
+   *
+   * @param title the title of the tab
+   * @return the tab with the given title
+   */
+  static ShuffleboardTab& GetTab(wpi::StringRef title);
+
+  /**
+   * Enables user control of widgets containing actuators: speed controllers,
+   * relays, etc. This should only be used when the robot is in test mode.
+   * IterativeRobotBase and SampleRobot are both configured to call this method
+   * when entering test mode; most users should not need to use this method
+   * directly.
+   */
+  static void EnableActuatorWidgets();
+
+  /**
+   * Disables user control of widgets containing actuators. For safety reasons,
+   * actuators should only be controlled while in test mode. IterativeRobotBase
+   * and SampleRobot are both configured to call this method when exiting in
+   * test mode; most users should not need to use this method directly.
+   */
+  static void DisableActuatorWidgets();
+
+ private:
+  static detail::ShuffleboardInstance& GetInstance();
+
+  // TODO usage reporting
+
+  Shuffleboard() = default;
+};
+
+}  // namespace frc
+
+// Make use of references returned by member functions usable
+#include "frc/shuffleboard/ShuffleboardTab.h"

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.h

@@ -0,0 +1,76 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableValue.h>
+#include <wpi/StringMap.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardComponentBase.h"
+
+namespace frc {
+
+class ShuffleboardContainer;
+
+/**
+ * A generic component in Shuffleboard.
+ *
+ * @tparam Derived the self type
+ */
+template <typename Derived>
+class ShuffleboardComponent : public ShuffleboardComponentBase {
+ public:
+  ShuffleboardComponent(ShuffleboardContainer& parent, const wpi::Twine& title,
+                        const wpi::Twine& type = "");
+
+  virtual ~ShuffleboardComponent() = default;
+
+  /**
+   * Sets custom properties for this component. Property names are
+   * case-sensitive and whitespace-insensitive (capitalization and spaces do not
+   * matter).
+   *
+   * @param properties the properties for this component
+   * @return this component
+   */
+  Derived& WithProperties(
+      const wpi::StringMap<std::shared_ptr<nt::Value>>& properties);
+
+  /**
+   * Sets the position of this component in the tab. This has no effect if this
+   * component is inside a layout.
+   *
+   * If the position of a single component is set, it is recommended to set the
+   * positions of <i>all</i> components inside a tab to prevent Shuffleboard
+   * from automatically placing another component there before the one with the
+   * specific position is sent.
+   *
+   * @param columnIndex the column in the tab to place this component
+   * @param rowIndex    the row in the tab to place this component
+   * @return this component
+   */
+  Derived& WithPosition(int columnIndex, int rowIndex);
+
+  /**
+   * Sets the size of this component in the tab. This has no effect if this
+   * component is inside a layout.
+   *
+   * @param width  how many columns wide the component should be
+   * @param height how many rows high the component should be
+   * @return this component
+   */
+  Derived& WithSize(int width, int height);
+};
+
+}  // namespace frc
+
+#include "frc/shuffleboard/ShuffleboardComponent.inc"

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponent.inc

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+namespace frc {
+
+template <typename Derived>
+ShuffleboardComponent<Derived>::ShuffleboardComponent(
+    ShuffleboardContainer& parent, const wpi::Twine& title,
+    const wpi::Twine& type)
+    : ShuffleboardValue(title),
+      ShuffleboardComponentBase(parent, title, type) {}
+
+template <typename Derived>
+Derived& ShuffleboardComponent<Derived>::WithProperties(
+    const wpi::StringMap<std::shared_ptr<nt::Value>>& properties) {
+  m_properties = properties;
+  m_metadataDirty = true;
+  return *static_cast<Derived*>(this);
+}
+
+template <typename Derived>
+Derived& ShuffleboardComponent<Derived>::WithPosition(int columnIndex,
+                                                      int rowIndex) {
+  m_column = columnIndex;
+  m_row = rowIndex;
+  m_metadataDirty = true;
+  return *static_cast<Derived*>(this);
+}
+
+template <typename Derived>
+Derived& ShuffleboardComponent<Derived>::WithSize(int width, int height) {
+  m_width = width;
+  m_height = height;
+  m_metadataDirty = true;
+  return *static_cast<Derived*>(this);
+}
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardComponentBase.h

@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableValue.h>
+#include <wpi/StringMap.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardValue.h"
+
+namespace frc {
+
+class ShuffleboardContainer;
+
+/**
+ * A shim class to allow storing ShuffleboardComponents in arrays.
+ */
+class ShuffleboardComponentBase : public virtual ShuffleboardValue {
+ public:
+  ShuffleboardComponentBase(ShuffleboardContainer& parent,
+                            const wpi::Twine& title,
+                            const wpi::Twine& type = "");
+
+  virtual ~ShuffleboardComponentBase() = default;
+
+  void SetType(const wpi::Twine& type);
+
+  void BuildMetadata(std::shared_ptr<nt::NetworkTable> metaTable);
+
+  ShuffleboardContainer& GetParent();
+
+  const std::string& GetType() const;
+
+ protected:
+  wpi::StringMap<std::shared_ptr<nt::Value>> m_properties;
+  bool m_metadataDirty = false;
+  int m_column = -1;
+  int m_row = -1;
+  int m_width = -1;
+  int m_height = -1;
+
+ private:
+  ShuffleboardContainer& m_parent;
+  std::string m_type;
+
+  /**
+   * Gets the custom properties for this component. May be null.
+   */
+  const wpi::StringMap<std::shared_ptr<nt::Value>>& GetProperties() const;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h

@@ -0,0 +1,324 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableValue.h>
+#include <wpi/ArrayRef.h>
+#include <wpi/SmallSet.h>
+#include <wpi/StringMap.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardComponentBase.h"
+#include "frc/shuffleboard/ShuffleboardValue.h"
+
+namespace frc {
+
+class ComplexWidget;
+class Sendable;
+class ShuffleboardLayout;
+class SimpleWidget;
+
+/**
+ * Common interface for objects that can contain shuffleboard components.
+ */
+class ShuffleboardContainer : public virtual ShuffleboardValue {
+ public:
+  explicit ShuffleboardContainer(const wpi::Twine& title);
+
+  ShuffleboardContainer(ShuffleboardContainer&& rhs) = default;
+
+  virtual ~ShuffleboardContainer() = default;
+
+  /**
+   * Gets the components that are direct children of this container.
+   */
+  const std::vector<std::unique_ptr<ShuffleboardComponentBase>>& GetComponents()
+      const;
+
+  /**
+   * Gets the layout with the given type and title, creating it if it does not
+   * already exist at the time this method is called.
+   *
+   * @param type  the type of the layout, eg "List" or "Grid"
+   * @param title the title of the layout
+   * @return the layout
+   */
+  ShuffleboardLayout& GetLayout(const wpi::Twine& type,
+                                const wpi::Twine& title);
+
+  /**
+   * Adds a widget to this container to display the given sendable.
+   *
+   * @param title    the title of the widget
+   * @param sendable the sendable to display
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   * container with the given title
+   */
+  ComplexWidget& Add(const wpi::Twine& title, Sendable& sendable);
+
+  /**
+   * Adds a widget to this container to display the given sendable.
+   *
+   * @param sendable the sendable to display
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   * container with the given title, or if the sendable's name has not been
+   * specified
+   */
+  ComplexWidget& Add(Sendable& sendable);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title,
+                    std::shared_ptr<nt::Value> defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title, bool defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title, double defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title, int defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title, const wpi::Twine& defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title, wpi::ArrayRef<bool> defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title,
+                    wpi::ArrayRef<double> defaultValue);
+
+  /**
+   * Adds a widget to this container to display the given data.
+   *
+   * @param title the title of the widget
+   * @param defaultValue  the default value of the widget
+   * @return a widget to display the sendable data
+   * @throws IllegalArgumentException if a widget already exists in this
+   *         container with the given title
+   * @see #addPersistent(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& Add(const wpi::Twine& title,
+                    wpi::ArrayRef<std::string> defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title,
+                              std::shared_ptr<nt::Value> defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title, bool defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title, double defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title, int defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title,
+                              const wpi::Twine& defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title,
+                              wpi::ArrayRef<bool> defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title,
+                              wpi::ArrayRef<double> defaultValue);
+
+  /**
+   * Adds a widget to this container to display a simple piece of data.
+   *
+   * Unlike {@link #add(String, Object)}, the value in the widget will be saved
+   * on the robot and will be used when the robot program next starts rather
+   * than {@code defaultValue}.
+   *
+   * @param title the title of the widget
+   * @param defaultValue the default value of the widget
+   * @return a widget to display the sendable data
+   * @see #add(String, Object) add(String title, Object defaultValue)
+   */
+  SimpleWidget& AddPersistent(const wpi::Twine& title,
+                              wpi::ArrayRef<std::string> defaultValue);
+
+  void EnableIfActuator() override;
+
+  void DisableIfActuator() override;
+
+ protected:
+  bool m_isLayout = false;
+
+ private:
+  wpi::SmallSet<std::string, 32> m_usedTitles;
+  std::vector<std::unique_ptr<ShuffleboardComponentBase>> m_components;
+  wpi::StringMap<ShuffleboardLayout*> m_layouts;
+
+  /**
+   * Adds title to internal set if it hasn't already.
+   *
+   * @return True if title isn't in use; false otherwise.
+   */
+  void CheckTitle(const wpi::Twine& title);
+
+  friend class SimpleWidget;
+};
+
+}  // namespace frc
+
+// Make use of references returned by member functions usable
+#include "frc/shuffleboard/ComplexWidget.h"
+#include "frc/shuffleboard/ShuffleboardLayout.h"
+#include "frc/shuffleboard/SimpleWidget.h"

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardInstance.h

@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include "frc/shuffleboard/ShuffleboardRoot.h"
+#include "frc/shuffleboard/ShuffleboardTab.h"
+
+namespace frc {
+namespace detail {
+
+class ShuffleboardInstance final : public ShuffleboardRoot {
+ public:
+  explicit ShuffleboardInstance(nt::NetworkTableInstance ntInstance);
+  virtual ~ShuffleboardInstance();
+
+  frc::ShuffleboardTab& GetTab(wpi::StringRef title) override;
+
+  void Update() override;
+
+  void EnableActuatorWidgets() override;
+
+  void DisableActuatorWidgets() override;
+
+ private:
+  struct Impl;
+  std::unique_ptr<Impl> m_impl;
+};
+
+}  // namespace detail
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardLayout.h

@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardComponent.h"
+#include "frc/shuffleboard/ShuffleboardContainer.h"
+#include "frc/smartdashboard/Sendable.h"
+
+namespace frc {
+
+/**
+ * A layout in a Shuffleboard tab. Layouts can contain widgets and other
+ * layouts.
+ */
+class ShuffleboardLayout : public ShuffleboardComponent<ShuffleboardLayout>,
+                           public ShuffleboardContainer {
+ public:
+  ShuffleboardLayout(ShuffleboardContainer& parent, const wpi::Twine& name,
+                     const wpi::Twine& type);
+
+  void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
+                 std::shared_ptr<nt::NetworkTable> metaTable) override;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardRoot.h

@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/StringRef.h>
+
+namespace frc {
+
+class ShuffleboardTab;
+
+/**
+ * The root of the data placed in Shuffleboard. It contains the tabs, but no
+ * data is placed directly in the root.
+ *
+ * This class is package-private to minimize API surface area.
+ */
+class ShuffleboardRoot {
+ public:
+  /**
+   * Gets the tab with the given title, creating it if it does not already
+   * exist.
+   *
+   * @param title the title of the tab
+   * @return the tab with the given title
+   */
+  virtual ShuffleboardTab& GetTab(wpi::StringRef title) = 0;
+
+  /**
+   * Updates all tabs.
+   */
+  virtual void Update() = 0;
+
+  /**
+   * Enables all widgets in Shuffleboard that offer user control over actuators.
+   */
+  virtual void EnableActuatorWidgets() = 0;
+
+  /**
+   * Disables all widgets in Shuffleboard that offer user control over
+   * actuators.
+   */
+  virtual void DisableActuatorWidgets() = 0;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardTab.h

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <wpi/StringRef.h>
+
+#include "frc/shuffleboard/ShuffleboardContainer.h"
+#include "frc/smartdashboard/Sendable.h"
+
+namespace frc {
+
+class ShuffleboardRoot;
+
+/**
+ * Represents a tab in the Shuffleboard dashboard. Widgets can be added to the
+ * tab with {@link #add(Sendable)}, {@link #add(String, Object)}, and
+ * {@link #add(String, Sendable)}. Widgets can also be added to layouts with
+ * {@link #getLayout(String, String)}; layouts can be nested arbitrarily deep
+ * (note that too many levels may make deeper components unusable).
+ */
+class ShuffleboardTab final : public ShuffleboardContainer {
+ public:
+  ShuffleboardTab(ShuffleboardRoot& root, wpi::StringRef title);
+
+  ShuffleboardRoot& GetRoot();
+
+  void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
+                 std::shared_ptr<nt::NetworkTable> metaTable) override;
+
+ private:
+  ShuffleboardRoot& m_root;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardValue.h

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTable.h>
+#include <wpi/SmallVector.h>
+#include <wpi/StringRef.h>
+
+namespace frc {
+
+class ShuffleboardValue {
+ public:
+  explicit ShuffleboardValue(const wpi::Twine& title) {
+    wpi::SmallVector<char, 16> storage;
+    m_title = title.toStringRef(storage);
+  }
+
+  virtual ~ShuffleboardValue() = default;
+
+  /**
+   * Gets the title of this Shuffleboard value.
+   */
+  wpi::StringRef GetTitle() const { return m_title; }
+
+  /**
+   * Builds the entries for this value.
+   *
+   * @param parentTable The table containing all the data for the parent. Values
+   *                    that require a complex entry or table structure should
+   *                    call {@code parentTable.getSubtable(getTitle())} to get
+   *                    the table to put data into. Values that only use a
+   *                    single entry should call
+   *                    {@code parentTable.getEntry(getTitle())} to get that
+   *                    entry.
+   * @param metaTable   The table containing all the metadata for this value and
+   *                    its sub-values
+   */
+  virtual void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
+                         std::shared_ptr<nt::NetworkTable> metaTable) = 0;
+
+  /**
+   * Enables user control of this widget in the Shuffleboard application.
+   *
+   * This method is package-private to prevent users from enabling control
+   * themselves. Has no effect if the sendable is not marked as an actuator with
+   * {@link SendableBuilder#setActuator}.
+   */
+  virtual void EnableIfActuator() {}
+
+  /**
+   * Disables user control of this widget in the Shuffleboard application.
+   *
+   * This method is package-private to prevent users from enabling control
+   * themselves. Has no effect if the sendable is not marked as an actuator with
+   * {@link SendableBuilder#setActuator}.
+   */
+  virtual void DisableIfActuator() {}
+
+ private:
+  std::string m_title;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardComponent.h"
+
+namespace frc {
+
+class ShuffleboardContainer;
+
+/**
+ * Abstract superclass for widgets.
+ *
+ * <p>This class is package-private to minimize API surface area.
+ *
+ * @tparam Derived the self type
+ */
+template <typename Derived>
+class ShuffleboardWidget
+    : public ShuffleboardComponent<ShuffleboardWidget<Derived>> {
+ public:
+  ShuffleboardWidget(ShuffleboardContainer& parent, const wpi::Twine& title)
+      : ShuffleboardValue(title),
+        ShuffleboardComponent<ShuffleboardWidget<Derived>>(parent, title) {}
+
+  /**
+   * Sets the type of widget used to display the data. If not set, the default
+   * widget type will be used.
+   *
+   * @param widgetType the type of the widget used to display the data
+   * @return this widget object
+   */
+  Derived& WithWidget(const wpi::Twine& widgetType) {
+    this->SetType(widgetType);
+    return *static_cast<Derived*>(this);
+  }
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/shuffleboard/SimpleWidget.h

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <networktables/NetworkTable.h>
+#include <networktables/NetworkTableEntry.h>
+#include <wpi/Twine.h>
+
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+
+namespace frc {
+
+class ShuffleboardContainer;
+
+/**
+ * A Shuffleboard widget that handles a single data point such as a number or
+ * string.
+ */
+class SimpleWidget final : public ShuffleboardWidget<SimpleWidget> {
+ public:
+  SimpleWidget(ShuffleboardContainer& parent, const wpi::Twine& title);
+
+  /**
+   * Gets the NetworkTable entry that contains the data for this widget.
+   */
+  nt::NetworkTableEntry GetEntry();
+
+  void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
+                 std::shared_ptr<nt::NetworkTable> metaTable) override;
+
+ private:
+  nt::NetworkTableEntry m_entry;
+  bool m_entryInitialized = false;
+
+  void ForceGenerate();
+};
+
+}  // namespace frc