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Simplify Sendable interface (#1864)

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This removes the name and subsystem from individual objects, and instead
puts this data into a new singleton class, SendableRegistry.  Much of
LiveWindow has been refactored into SendableRegistry.

In C++, a new CRTP helper class, SendableHelper, has been added to provide
move and destruction functionality.

Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added
to Command and Subsystem (both old and new), and also to SendableHelper to
prevent code breakage.

This deprecates SendableBase in preparation for future removal.
This commit is contained in:
Peter Johnson
2019-09-14 15:22:54 -05:00
committed by GitHub
parent 1d8c4d016f
commit 471f375a38
216 changed files with 2448 additions and 1433 deletions
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60
wpilibc/src/main/native/include/frc/smartdashboard/SendableBase.h
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@@ -7,74 +7,22 @@
#pragma once
#include <memory>
#include <string>
#include <wpi/deprecated.h>
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace frc {
class SendableBase : public Sendable {
class SendableBase : public Sendable, public SendableHelper<SendableBase> {
public:
/**
* Creates an instance of the sensor base.
*
* @param addLiveWindow if true, add this Sendable to LiveWindow
*/
WPI_DEPRECATED("use Sendable and SendableHelper")
explicit SendableBase(bool addLiveWindow = true);
~SendableBase() override;
SendableBase(const SendableBase&) = default;
SendableBase& operator=(const SendableBase&) = default;
SendableBase(SendableBase&&);
SendableBase& operator=(SendableBase&&);
using Sendable::SetName;
std::string GetName() const final;
void SetName(const wpi::Twine& name) final;
std::string GetSubsystem() const final;
void SetSubsystem(const wpi::Twine& subsystem) final;
protected:
/**
* Add a child component.
*
* @param child child component
*/
void AddChild(std::shared_ptr<Sendable> child);
/**
* Add a child component.
*
* @param child child component
*/
void AddChild(void* child);
/**
* Sets the name of the sensor with a channel number.
*
* @param moduleType A string that defines the module name in the label for
* the value
* @param channel The channel number the device is plugged into
*/
void SetName(const wpi::Twine& moduleType, int channel);
/**
* Sets the name of the sensor with a module and channel number.
*
* @param moduleType A string that defines the module name in the label for
* the value
* @param moduleNumber The number of the particular module type
* @param channel The channel number the device is plugged into (usually
* PWM)
*/
void SetName(const wpi::Twine& moduleType, int moduleNumber, int channel);
private:
std::string m_name;
std::string m_subsystem = "Ungrouped";
};
} // namespace frc