[wpilib] Move Field2d to SmartDashboard

wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h

@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2020 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <initializer_list>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <networktables/NetworkTableEntry.h>
+#include <units/length.h>
+#include <wpi/ArrayRef.h>
+#include <wpi/SmallVector.h>
+#include <wpi/mutex.h>
+
+#include "frc/geometry/Pose2d.h"
+#include "frc/geometry/Rotation2d.h"
+
+namespace frc {
+
+class Field2d;
+
+/**
+ * Game field object on a Field2d.
+ */
+class FieldObject2d {
+  friend class Field2d;
+  struct private_init {};
+
+ public:
+  FieldObject2d(std::string&& name, const private_init&)
+      : m_name{std::move(name)} {}
+
+  /**
+   * Set the pose from a Pose object.
+   *
+   * @param pose 2D pose
+   */
+  void SetPose(const Pose2d& pose);
+
+  /**
+   * Set the pose from x, y, and rotation.
+   *
+   * @param x X location
+   * @param y Y location
+   * @param rotation rotation
+   */
+  void SetPose(units::meter_t x, units::meter_t y, Rotation2d rotation);
+
+  /**
+   * Get the pose.
+   *
+   * @return 2D pose, or 0,0,0 if unknown / does not exist
+   */
+  Pose2d GetPose() const;
+
+  /**
+   * Set multiple poses from an array of Pose objects.
+   * The total number of poses is limited to 85.
+   *
+   * @param poses array of 2D poses
+   */
+  void SetPoses(wpi::ArrayRef<Pose2d> poses);
+
+  /**
+   * Set multiple poses from an array of Pose objects.
+   * The total number of poses is limited to 85.
+   *
+   * @param obj Object entry
+   * @param poses array of 2D poses
+   */
+  void SetPoses(std::initializer_list<Pose2d> poses);
+
+  /**
+   * Get multiple poses.
+   *
+   * @param obj Object entry
+   * @return vector of 2D poses
+   */
+  std::vector<Pose2d> GetPoses() const;
+
+  /**
+   * Get multiple poses.
+   *
+   * @param obj Object entry
+   * @param out output SmallVector to hold 2D poses
+   * @return ArrayRef referring to output SmallVector
+   */
+  wpi::ArrayRef<Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
+
+ private:
+  void UpdateEntry(bool setDefault = false);
+  void UpdateFromEntry() const;
+
+  mutable wpi::mutex m_mutex;
+  std::string m_name;
+  nt::NetworkTableEntry m_entry;
+  mutable wpi::SmallVector<Pose2d, 1> m_poses;
+};
+
+}  // namespace frc