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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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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;