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Simplify Sendable interface (#1864)
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
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 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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#pragma once
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#include <memory>
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#include <string>
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#include <wpi/STLExtras.h>
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#include <wpi/Twine.h>
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namespace frc {
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class Sendable;
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/**
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* The SendableRegistry class is the public interface for registering sensors
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* and actuators for use on dashboards and LiveWindow.
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*/
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class SendableRegistry {
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public:
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SendableRegistry(const SendableRegistry&) = delete;
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SendableRegistry& operator=(const SendableRegistry&) = delete;
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/**
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* Gets an instance of the SendableRegistry class.
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*
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* This is a singleton to guarantee that there is only a single instance
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* regardless of how many times GetInstance is called.
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*/
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static SendableRegistry& GetInstance();
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param name component name
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*/
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void Add(Sendable* sendable, const wpi::Twine& name);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param channel The channel number the device is plugged into
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*/
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void Add(Sendable* sendable, const wpi::Twine& moduleType, int channel);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into
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*/
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void Add(Sendable* sendable, const wpi::Twine& moduleType, int moduleNumber,
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int channel);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param subsystem subsystem name
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* @param name component name
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*/
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void Add(Sendable* sendable, const wpi::Twine& subsystem,
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const wpi::Twine& name);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param name component name
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*/
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void AddLW(Sendable* sendable, const wpi::Twine& name);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param channel The channel number the device is plugged into
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*/
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void AddLW(Sendable* sendable, const wpi::Twine& moduleType, int channel);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into
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*/
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void AddLW(Sendable* sendable, const wpi::Twine& moduleType, int moduleNumber,
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int channel);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param subsystem subsystem name
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* @param name component name
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*/
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void AddLW(Sendable* sendable, const wpi::Twine& subsystem,
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const wpi::Twine& name);
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/**
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* Adds a child object to an object. Adds the child object to the registry
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* if it's not already present.
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*
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* @param parent parent object
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* @param child child object
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*/
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void AddChild(Sendable* parent, void* child);
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/**
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* Removes an object from the registry.
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*
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* @param sendable object to remove
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* @return true if the object was removed; false if it was not present
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*/
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bool Remove(Sendable* sendable);
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/**
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* Moves an object in the registry (for use in move constructors/assignments).
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*
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* @param to new object
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* @param from old object
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*/
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void Move(Sendable* to, Sendable* from);
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/**
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* Determines if an object is in the registry.
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*
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* @param sendable object to check
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* @return True if in registry, false if not.
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*/
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bool Contains(const Sendable* sendable) const;
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/**
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* Gets the name of an object.
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*
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* @param sendable object
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* @return Name (empty if object is not in registry)
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*/
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std::string GetName(const Sendable* sendable) const;
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/**
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* Sets the name of an object.
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*
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* @param sendable object
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* @param name name
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*/
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void SetName(Sendable* sendable, const wpi::Twine& name);
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/**
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* Sets the name of an object with a channel number.
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*
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* @param sendable object
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param channel The channel number the device is plugged into
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*/
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void SetName(Sendable* sendable, const wpi::Twine& moduleType, int channel);
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/**
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* Sets the name of an object with a module and channel number.
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*
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* @param sendable object
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into
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*/
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void SetName(Sendable* sendable, const wpi::Twine& moduleType,
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int moduleNumber, int channel);
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/**
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* Sets both the subsystem name and device name of an object.
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*
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* @param sendable object
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* @param subsystem subsystem name
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* @param name device name
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*/
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void SetName(Sendable* sendable, const wpi::Twine& subsystem,
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const wpi::Twine& name);
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/**
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* Gets the subsystem name of an object.
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*
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* @param sendable object
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* @return Subsystem name (empty if object is not in registry)
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*/
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std::string GetSubsystem(const Sendable* sendable) const;
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/**
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* Sets the subsystem name of an object.
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*
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* @param sendable object
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* @param subsystem subsystem name
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*/
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void SetSubsystem(Sendable* sendable, const wpi::Twine& subsystem);
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/**
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* Gets a unique handle for setting/getting data with SetData() and GetData().
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*
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* @return Handle
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*/
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int GetDataHandle();
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/**
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* Associates arbitrary data with an object in the registry.
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*
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* @param sendable object
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* @param handle data handle returned by GetDataHandle()
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* @param data data to set
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* @return Previous data (may be null)
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*/
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std::shared_ptr<void> SetData(Sendable* sendable, int handle,
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std::shared_ptr<void> data);
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/**
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* Gets arbitrary data associated with an object in the registry.
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*
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* @param sendable object
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* @param handle data handle returned by GetDataHandle()
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* @return data (may be null if none associated)
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*/
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std::shared_ptr<void> GetData(Sendable* sendable, int handle);
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/**
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* Enables LiveWindow for an object.
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*
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* @param sendable object
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*/
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void EnableLiveWindow(Sendable* sendable);
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/**
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* Disables LiveWindow for an object.
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*
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* @param sendable object
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*/
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void DisableLiveWindow(Sendable* sendable);
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/**
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* Iterates over LiveWindow-enabled objects in the registry.
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* It is *not* safe to call other SendableRegistry functions from the
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* callback (this will likely deadlock).
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*
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* @param dataHandle data handle to get data pointer passed to callback
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* @param callback function to call for each object
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*/
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void ForeachLiveWindow(
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int dataHandle,
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wpi::function_ref<void(Sendable* sendable, wpi::StringRef name,
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wpi::StringRef subsystem, Sendable* parent,
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std::shared_ptr<void>& data)>
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callback) const;
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private:
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SendableRegistry();
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struct Impl;
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std::unique_ptr<Impl> m_impl;
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};
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} // namespace frc
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