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[wpilib] SendableChooser: implement Sendable instead of NTSendable (#5718)

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This commit is contained in:
Gold856
2023-10-05 00:15:34 -04:00
committed by GitHub
parent a4030c670f
commit 6576d9b474
6 changed files with 12 additions and 56 deletions
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2
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.h
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@@ -91,7 +91,7 @@ class SendableChooser : public SendableChooserBase {
*/
void OnChange(std::function<void(T)>);
void InitSendable(nt::NTSendableBuilder& builder) override;
void InitSendable(wpi::SendableBuilder& builder) override;
};
} // namespace frc

16
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
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@@ -12,7 +12,7 @@
#include <utility>
#include <vector>
#include <networktables/NTSendableBuilder.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/smartdashboard/SendableChooser.h"
@@ -58,16 +58,9 @@ void SendableChooser<T>::OnChange(std::function<void(T)> listener) {
template <class T>
requires std::copy_constructible<T> && std::default_initializable<T>
void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
void SendableChooser<T>::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("String Chooser");
{
std::scoped_lock lock(m_mutex);
m_instancePubs.emplace_back(
nt::IntegerTopic{builder.GetTopic(kInstance)}.Publish());
m_instancePubs.back().Set(m_instance);
m_activePubs.emplace_back(
nt::StringTopic{builder.GetTopic(kActive)}.Publish());
}
builder.PublishConstInteger(kInstance, m_instance);
builder.AddStringArrayProperty(
kOptions,
[=, this] {
@@ -109,9 +102,6 @@ void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
std::scoped_lock lock(m_mutex);
m_haveSelected = true;
m_selected = val;
for (auto& pub : m_activePubs) {
pub.Set(val);
}
if (m_previousVal != val && m_listener) {
choice = m_choices[val];
listener = m_listener;

9
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooserBase.h
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@@ -7,11 +7,8 @@
#include <atomic>
#include <string>
#include <networktables/IntegerTopic.h>
#include <networktables/NTSendable.h>
#include <networktables/StringTopic.h>
#include <wpi/SmallVector.h>
#include <wpi/mutex.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
namespace frc {
@@ -22,7 +19,7 @@ namespace frc {
* It contains static, non-templated variables to avoid their duplication in the
* template class.
*/
class SendableChooserBase : public nt::NTSendable,
class SendableChooserBase : public wpi::Sendable,
public wpi::SendableHelper<SendableChooserBase> {
public:
SendableChooserBase();
@@ -41,8 +38,6 @@ class SendableChooserBase : public nt::NTSendable,
std::string m_defaultChoice;
std::string m_selected;
bool m_haveSelected = false;
wpi::SmallVector<nt::IntegerPublisher, 2> m_instancePubs;
wpi::SmallVector<nt::StringPublisher, 2> m_activePubs;
wpi::mutex m_mutex;
int m_instance;
std::string m_previousVal;