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[ntcore] NetworkTables 4 (#3217)

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This commit is contained in:
Peter Johnson
2022-10-08 10:01:31 -07:00
committed by GitHub
parent 90cfa00115
commit 77301b126c
380 changed files with 34573 additions and 22095 deletions
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15
wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
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@@ -5,13 +5,14 @@
#include "frc/smartdashboard/Mechanism2d.h"
#include <cstdio>
#include <string_view>
#include <networktables/NTSendableBuilder.h>
using namespace frc;
static constexpr char kBackgroundColor[] = "backgroundColor";
static constexpr char kDims[] = "dims";
static constexpr std::string_view kBackgroundColor = "backgroundColor";
static constexpr std::string_view kDims = "dims";
Mechanism2d::Mechanism2d(double width, double height,
const Color8Bit& backgroundColor)
@@ -35,8 +36,8 @@ MechanismRoot2d* Mechanism2d::GetRoot(std::string_view name, double x,
void Mechanism2d::SetBackgroundColor(const Color8Bit& color) {
m_color = color.HexString();
if (m_table) {
m_table->GetEntry(kBackgroundColor).SetString(m_color);
if (m_colorPub) {
m_colorPub.Set(m_color);
}
}
@@ -45,8 +46,10 @@ void Mechanism2d::InitSendable(nt::NTSendableBuilder& builder) {
std::scoped_lock lock(m_mutex);
m_table = builder.GetTable();
m_table->GetEntry(kDims).SetDoubleArray({m_width, m_height});
m_table->GetEntry(kBackgroundColor).SetString(m_color);
m_dimsPub = m_table->GetDoubleArrayTopic(kDims).Publish();
m_dimsPub.Set({{m_width, m_height}});
m_colorPub = m_table->GetStringTopic(kBackgroundColor).Publish();
m_colorPub.Set(m_color);
for (const auto& entry : m_roots) {
const auto& root = entry.getValue().get();
root->Update(m_table->GetSubTable(entry.getKey()));