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

wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/MockActuatorSendable.cpp

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "shuffleboard/MockActuatorSendable.h"
+
+using namespace frc;
+
+MockActuatorSendable::MockActuatorSendable(wpi::StringRef name)
+    : SendableBase(false) {
+  SetName(name);
+}
+
+void MockActuatorSendable::InitSendable(SendableBuilder& builder) {
+  builder.SetActuator(true);
+}

wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/ShuffleboardInstanceTest.cpp

@@ -0,0 +1,105 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/shuffleboard/ShuffleboardInstance.h"  // NOLINT(build/include_order)
+
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "frc/shuffleboard/ShuffleboardInstance.h"
+#include "gtest/gtest.h"
+#include "shuffleboard/MockActuatorSendable.h"
+
+using namespace frc;
+
+class ShuffleboardInstanceTest : public testing::Test {
+  void SetUp() override {
+    m_ntInstance = nt::NetworkTableInstance::Create();
+    m_shuffleboardInstance =
+        std::make_unique<detail::ShuffleboardInstance>(m_ntInstance);
+  }
+
+ protected:
+  nt::NetworkTableInstance m_ntInstance;
+  std::unique_ptr<detail::ShuffleboardInstance> m_shuffleboardInstance;
+};
+
+TEST_F(ShuffleboardInstanceTest, PathFluent) {
+  auto entry = m_shuffleboardInstance->GetTab("Tab Title")
+                   .GetLayout("List", "List Layout")
+                   .Add("Data", "string")
+                   .WithWidget("Text View")
+                   .GetEntry();
+
+  EXPECT_EQ("string", entry.GetString("")) << "Wrong entry value";
+  EXPECT_EQ("/Shuffleboard/Tab Title/List Layout/Data", entry.GetName())
+      << "Entry path generated incorrectly";
+}
+
+TEST_F(ShuffleboardInstanceTest, NestedLayoutsFluent) {
+  auto entry = m_shuffleboardInstance->GetTab("Tab")
+                   .GetLayout("List", "First")
+                   .GetLayout("List", "Second")
+                   .GetLayout("List", "Third")
+                   .GetLayout("List", "Fourth")
+                   .Add("Value", "string")
+                   .GetEntry();
+
+  EXPECT_EQ("string", entry.GetString("")) << "Wrong entry value";
+  EXPECT_EQ("/Shuffleboard/Tab/First/Second/Third/Fourth/Value",
+            entry.GetName())
+      << "Entry path generated incorrectly";
+}
+
+TEST_F(ShuffleboardInstanceTest, NestedLayoutsOop) {
+  ShuffleboardTab& tab = m_shuffleboardInstance->GetTab("Tab");
+  ShuffleboardLayout& first = tab.GetLayout("List", "First");
+  ShuffleboardLayout& second = first.GetLayout("List", "Second");
+  ShuffleboardLayout& third = second.GetLayout("List", "Third");
+  ShuffleboardLayout& fourth = third.GetLayout("List", "Fourth");
+  SimpleWidget& widget = fourth.Add("Value", "string");
+  auto entry = widget.GetEntry();
+
+  EXPECT_EQ("string", entry.GetString("")) << "Wrong entry value";
+  EXPECT_EQ("/Shuffleboard/Tab/First/Second/Third/Fourth/Value",
+            entry.GetName())
+      << "Entry path generated incorrectly";
+}
+
+TEST_F(ShuffleboardInstanceTest, LayoutTypeIsSet) {
+  std::string layoutType = "Type";
+  m_shuffleboardInstance->GetTab("Tab").GetLayout(layoutType, "Title");
+  m_shuffleboardInstance->Update();
+  nt::NetworkTableEntry entry = m_ntInstance.GetEntry(
+      "/Shuffleboard/.metadata/Tab/Title/PreferredComponent");
+  EXPECT_EQ(layoutType, entry.GetString("Not Set")) << "Layout type not set";
+}
+
+TEST_F(ShuffleboardInstanceTest, NestedActuatoWidgetsAreDisabled) {
+  MockActuatorSendable sendable("Actuator");
+  m_shuffleboardInstance->GetTab("Tab")
+      .GetLayout("Layout", "Title")
+      .Add(sendable);
+  auto controllableEntry =
+      m_ntInstance.GetEntry("/Shuffleboard/Tab/Title/Actuator/.controllable");
+  m_shuffleboardInstance->Update();
+
+  // Note: we use the unsafe `GetBoolean()` method because if the value is NOT
+  // a boolean, or if it is not present, then something has clearly gone very,
+  // very wrong
+  bool controllable = controllableEntry.GetValue()->GetBoolean();
+  // Sanity check
+  EXPECT_TRUE(controllable)
+      << "The nested actuator widget should be enabled by default";
+  m_shuffleboardInstance->DisableActuatorWidgets();
+  controllable = controllableEntry.GetValue()->GetBoolean();
+  EXPECT_FALSE(controllable)
+      << "The nested actuator widget should have been disabled";
+}

wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/ShuffleboardTabTest.cpp

@@ -0,0 +1,115 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <array>
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "frc/commands/InstantCommand.h"
+#include "frc/shuffleboard/ShuffleboardInstance.h"
+#include "frc/shuffleboard/ShuffleboardTab.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class ShuffleboardTabTest : public testing::Test {
+  void SetUp() override {
+    m_ntInstance = nt::NetworkTableInstance::Create();
+    m_instance = std::make_unique<detail::ShuffleboardInstance>(m_ntInstance);
+    m_tab = &(m_instance->GetTab("Tab"));
+  }
+
+ protected:
+  nt::NetworkTableInstance m_ntInstance;
+  ShuffleboardTab* m_tab;
+  std::unique_ptr<detail::ShuffleboardInstance> m_instance;
+};
+
+TEST_F(ShuffleboardTabTest, AddDouble) {
+  auto entry = m_tab->Add("Double", 1.0).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/Double", entry.GetName());
+  EXPECT_FLOAT_EQ(1.0, entry.GetValue()->GetDouble());
+}
+
+TEST_F(ShuffleboardTabTest, AddInteger) {
+  auto entry = m_tab->Add("Int", 1).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/Int", entry.GetName());
+  EXPECT_FLOAT_EQ(1.0, entry.GetValue()->GetDouble());
+}
+
+TEST_F(ShuffleboardTabTest, AddBoolean) {
+  auto entry = m_tab->Add("Bool", false).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/Bool", entry.GetName());
+  EXPECT_FALSE(entry.GetValue()->GetBoolean());
+}
+
+TEST_F(ShuffleboardTabTest, AddString) {
+  auto entry = m_tab->Add("String", "foobar").GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/String", entry.GetName());
+  EXPECT_EQ("foobar", entry.GetValue()->GetString());
+}
+
+TEST_F(ShuffleboardTabTest, AddNamedSendableWithProperties) {
+  InstantCommand sendable("Command");
+  std::string widgetType = "Command Widget";
+  wpi::StringMap<std::shared_ptr<nt::Value>> map;
+  map.try_emplace("foo", nt::Value::MakeDouble(1234));
+  map.try_emplace("bar", nt::Value::MakeString("baz"));
+  m_tab->Add(sendable).WithWidget(widgetType).WithProperties(map);
+
+  m_instance->Update();
+  std::string meta = "/Shuffleboard/.metadata/Tab/Command";
+
+  EXPECT_EQ(1234, m_ntInstance.GetEntry(meta + "/Properties/foo").GetDouble(-1))
+      << "Property 'foo' not set correctly";
+  EXPECT_EQ("baz",
+            m_ntInstance.GetEntry(meta + "/Properties/bar").GetString(""))
+      << "Property 'bar' not set correctly";
+  EXPECT_EQ(widgetType,
+            m_ntInstance.GetEntry(meta + "/PreferredComponent").GetString(""))
+      << "Preferred component not set correctly";
+}
+
+TEST_F(ShuffleboardTabTest, AddNumberArray) {
+  std::array<double, 3> expect = {1.0, 2.0, 3.0};
+  auto entry = m_tab->Add("DoubleArray", expect).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/DoubleArray", entry.GetName());
+
+  auto actual = entry.GetValue()->GetDoubleArray();
+  EXPECT_EQ(sizeof(expect), sizeof(actual));
+  for (size_t i = 0; i < sizeof(expect); i++) {
+    EXPECT_FLOAT_EQ(expect[i], actual[i]);
+  }
+}
+
+TEST_F(ShuffleboardTabTest, AddBooleanArray) {
+  std::array<bool, 2> expect = {true, false};
+  auto entry = m_tab->Add("BoolArray", expect).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/BoolArray", entry.GetName());
+
+  auto actual = entry.GetValue()->GetBooleanArray();
+  EXPECT_EQ(sizeof(expect), sizeof(actual));
+  for (size_t i = 0; i < sizeof(expect); i++) {
+    EXPECT_EQ(expect[i], actual[i]);
+  }
+}
+
+TEST_F(ShuffleboardTabTest, AddStringArray) {
+  std::array<std::string, 2> expect = {"foo", "bar"};
+  auto entry = m_tab->Add("StringArray", expect).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/StringArray", entry.GetName());
+
+  auto actual = entry.GetValue()->GetStringArray();
+  EXPECT_EQ(sizeof(expect), sizeof(actual));
+  for (size_t i = 0; i < sizeof(expect); i++) {
+    EXPECT_EQ(expect[i], actual[i]);
+  }
+}

wpilibcIntegrationTests/src/main/native/cpp/shuffleboard/ShuffleboardTest.cpp

@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/shuffleboard/Shuffleboard.h"
+#include "frc/shuffleboard/ShuffleboardTab.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class ShuffleboardTest : public testing::Test {};
+
+TEST_F(ShuffleboardTest, TabObjectsCached) {
+  ShuffleboardTab& tab1 = Shuffleboard::GetTab("testTabObjectsCached");
+  ShuffleboardTab& tab2 = Shuffleboard::GetTab("testTabObjectsCached");
+  EXPECT_EQ(&tab1, &tab2) << "Tab objects were not cached";
+}