Allowed sharing of common C++ code between RoboRIO and Simulation.

Change-Id: I8bf2bda9df389c13ae0567a62dbf0ca931ceb6f8

wpilibc/wpilibC++/src/LiveWindow/LiveWindow.cpp

@@ -0,0 +1,196 @@
+#include "LiveWindow/LiveWindow.h"
+#include "networktables/NetworkTable.h"
+#include <algorithm>
+#include <sstream>
+
+/**
+ * Get an instance of the LiveWindow main class
+ * This is a singleton to guarantee that there is only a single instance regardless of
+ * how many times GetInstance is called.
+ */
+LiveWindow * LiveWindow::GetInstance()
+{
+	static LiveWindow* instance = new LiveWindow();
+
+	return instance;
+}
+
+/**
+ * LiveWindow constructor.
+ * Allocate the necessary tables.
+ */
+LiveWindow::LiveWindow()
+{
+	m_enabled = false;
+	m_liveWindowTable = NetworkTable::GetTable("LiveWindow");
+	m_statusTable = m_liveWindowTable->GetSubTable("~STATUS~");
+	m_scheduler = Scheduler::GetInstance();
+}
+
+/**
+ * Change the enabled status of LiveWindow
+ * If it changes to enabled, start livewindow running otherwise stop it
+ */
+void LiveWindow::SetEnabled(bool enabled)
+{
+	if (m_enabled == enabled)
+		return;
+	if (enabled)
+	{
+		if (m_firstTime)
+		{
+			InitializeLiveWindowComponents();
+			m_firstTime = false;
+		}
+		m_scheduler->SetEnabled(false);
+		m_scheduler->RemoveAll();
+		for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
+				m_components.begin(); it != m_components.end(); ++it)
+		{
+			it->first->StartLiveWindowMode();
+		}
+	}
+	else
+	{
+		for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
+				m_components.begin(); it != m_components.end(); ++it)
+		{
+			it->first->StopLiveWindowMode();
+		}
+		m_scheduler->SetEnabled(true);
+	}
+	m_enabled = enabled;
+	m_statusTable->PutBoolean("LW Enabled", m_enabled);
+}
+
+LiveWindow::~LiveWindow()
+{
+}
+
+/**
+ * Add a Sensor associated with the subsystem and with call it by the given name.
+ * @param subsystem The subsystem this component is part of.
+ * @param name The name of this component.
+ * @param component A LiveWindowSendable component that represents a sensor.
+ */
+void LiveWindow::AddSensor(const char *subsystem, const char *name,
+		LiveWindowSendable *component)
+{
+	m_components[component].subsystem = subsystem;
+	m_components[component].name = name;
+	m_components[component].isSensor = true;
+}
+
+/**
+ * Add an Actuator associated with the subsystem and with call it by the given name.
+ * @param subsystem The subsystem this component is part of.
+ * @param name The name of this component.
+ * @param component A LiveWindowSendable component that represents a actuator.
+ */
+void LiveWindow::AddActuator(const char *subsystem, const char *name,
+		LiveWindowSendable *component)
+{
+	m_components[component].subsystem = subsystem;
+	m_components[component].name = name;
+	m_components[component].isSensor = false;
+}
+
+/**
+ * INTERNAL
+ */
+void LiveWindow::AddSensor(std::string type, int channel, LiveWindowSendable *component)
+{
+	std::ostringstream oss;
+	oss << type << "[" << channel << "]";
+	std::string types(oss.str());
+	char* cc = new char[types.size() + 1];
+	types.copy(cc, types.size());
+	cc[types.size()]='\0';
+	AddSensor("Ungrouped", cc, component);
+	if (std::find(m_sensors.begin(), m_sensors.end(), component) == m_sensors.end())
+		m_sensors.push_back(component);
+}
+
+/**
+ * INTERNAL
+ */
+void LiveWindow::AddActuator(std::string type, int channel, LiveWindowSendable *component)
+{
+	std::ostringstream oss;
+	oss << type << "[" << channel << "]";
+	std::string types(oss.str());
+	char* cc = new char[types.size() + 1];
+	types.copy(cc, types.size());
+	cc[types.size()]='\0';
+	AddActuator("Ungrouped", cc, component);
+}
+
+/**
+ * INTERNAL
+ */
+void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
+{
+    std::ostringstream oss;
+    oss << type << "[" << module << "," << channel << "]";
+    std::string types(oss.str());
+    char* cc = new char[types.size() + 1];
+    types.copy(cc, types.size());
+    cc[types.size()]='\0';
+    AddActuator("Ungrouped", cc, component);
+}
+
+/**
+ * Tell all the sensors to update (send) their values
+ * Actuators are handled through callbacks on their value changing from the
+ * SmartDashboard widgets.
+ */
+void LiveWindow::UpdateValues()
+{
+	for (unsigned int i = 0; i < m_sensors.size(); i++)
+	{
+		m_sensors[i]->UpdateTable();
+	}
+}
+
+/**
+ * This method is called periodically to cause the sensors to send new values
+ * to the SmartDashboard.
+ */
+void LiveWindow::Run()
+{
+	if (m_enabled)
+	{
+		UpdateValues();
+	}
+}
+
+/**
+ * Initialize all the LiveWindow elements the first time we enter LiveWindow mode.
+ * By holding off creating the NetworkTable entries, it allows them to be redefined
+ * before the first time in LiveWindow mode. This allows default sensor and actuator
+ * values to be created that are replaced with the custom names from users calling
+ * addActuator and addSensor.
+ */
+void LiveWindow::InitializeLiveWindowComponents()
+{
+	for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
+			m_components.begin(); it != m_components.end(); ++it)
+	{
+		LiveWindowSendable *component = it->first;
+		LiveWindowComponent c = it->second;
+		std::string subsystem = c.subsystem;
+		std::string name = c.name;
+		m_liveWindowTable->GetSubTable(subsystem)->PutString("~TYPE~",
+				"LW Subsystem");
+		ITable *table = m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(
+				name);
+		table->PutString("~TYPE~", component->GetSmartDashboardType());
+		table->PutString("Name", name);
+		table->PutString("Subsystem", subsystem);
+		component->InitTable(table);
+		if (c.isSensor)
+		{
+			m_sensors.push_back(component);
+		}
+	}
+}