mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-04 03:11:43 +00:00
[wpilib] Remove Shuffleboard API (#7730)
This commit is contained in:
Peter Johnson
@@ -14,7 +14,6 @@
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#include "frc/DSControlWord.h"
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#include "frc/Errors.h"
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#include "frc/livewindow/LiveWindow.h"
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#include "frc/shuffleboard/Shuffleboard.h"
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#include "frc/smartdashboard/SmartDashboard.h"
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using namespace frc;
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@@ -153,7 +152,6 @@ void IterativeRobotBase::LoopFunc() {
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} else if (m_lastMode == Mode::kTest) {
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if (m_lwEnabledInTest) {
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LiveWindow::SetEnabled(false);
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Shuffleboard::DisableActuatorWidgets();
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}
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TestExit();
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}
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@@ -171,7 +169,6 @@ void IterativeRobotBase::LoopFunc() {
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} else if (mode == Mode::kTest) {
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if (m_lwEnabledInTest) {
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LiveWindow::SetEnabled(true);
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Shuffleboard::EnableActuatorWidgets();
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}
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TestInit();
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m_watchdog.AddEpoch("TestInit()");
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@@ -206,8 +203,6 @@ void IterativeRobotBase::LoopFunc() {
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m_watchdog.AddEpoch("SmartDashboard::UpdateValues()");
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LiveWindow::UpdateValues();
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m_watchdog.AddEpoch("LiveWindow::UpdateValues()");
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Shuffleboard::Update();
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m_watchdog.AddEpoch("Shuffleboard::Update()");
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if constexpr (IsSimulation()) {
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HAL_SimPeriodicBefore();
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@@ -1,46 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/ComplexWidget.h"
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#include <memory>
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#include <wpi/sendable/Sendable.h>
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#include "frc/smartdashboard/SendableBuilderImpl.h"
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using namespace frc;
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ComplexWidget::ComplexWidget(ShuffleboardContainer& parent,
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std::string_view title, wpi::Sendable& sendable)
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: ShuffleboardValue(title),
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ShuffleboardWidget(parent, title),
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m_sendable(sendable) {}
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ComplexWidget::~ComplexWidget() = default;
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void ComplexWidget::EnableIfActuator() {
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if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
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static_cast<SendableBuilderImpl&>(*m_builder).StartLiveWindowMode();
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}
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}
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void ComplexWidget::DisableIfActuator() {
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if (m_builder && static_cast<SendableBuilderImpl&>(*m_builder).IsActuator()) {
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static_cast<SendableBuilderImpl&>(*m_builder).StopLiveWindowMode();
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}
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}
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void ComplexWidget::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
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std::shared_ptr<nt::NetworkTable> metaTable) {
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BuildMetadata(metaTable);
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if (!m_builder) {
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m_builder = std::make_unique<SendableBuilderImpl>();
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static_cast<SendableBuilderImpl&>(*m_builder)
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.SetTable(parentTable->GetSubTable(GetTitle()));
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m_sendable.InitSendable(static_cast<SendableBuilderImpl&>(*m_builder));
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static_cast<SendableBuilderImpl&>(*m_builder).StartListeners();
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}
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m_builder->Update();
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}
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@@ -1,11 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/LayoutType.h"
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using namespace frc;
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std::string_view LayoutType::GetLayoutName() const {
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return m_layoutName;
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}
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@@ -1,50 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/RecordingController.h"
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#include <string>
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#include "frc/Errors.h"
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using namespace frc;
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using namespace frc::detail;
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RecordingController::RecordingController(nt::NetworkTableInstance ntInstance) {
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m_recordingControlEntry =
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ntInstance.GetBooleanTopic("/Shuffleboard/.recording/RecordData")
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.Publish();
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m_recordingFileNameFormatEntry =
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ntInstance.GetStringTopic("/Shuffleboard/.recording/FileNameFormat")
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.Publish();
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m_eventsTable = ntInstance.GetTable("/Shuffleboard/.recording/events");
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}
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void RecordingController::StartRecording() {
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m_recordingControlEntry.Set(true);
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}
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void RecordingController::StopRecording() {
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m_recordingControlEntry.Set(false);
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}
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void RecordingController::SetRecordingFileNameFormat(std::string_view format) {
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m_recordingFileNameFormatEntry.Set(format);
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}
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void RecordingController::ClearRecordingFileNameFormat() {
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m_recordingFileNameFormatEntry.Set("");
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}
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void RecordingController::AddEventMarker(
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std::string_view name, std::string_view description,
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ShuffleboardEventImportance importance) {
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if (name.empty()) {
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FRC_ReportError(err::Error, "Shuffleboard event name was not specified");
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return;
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}
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m_eventsTable->GetSubTable(name)->GetEntry("Info").SetStringArray(
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{{std::string{description},
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std::string{ShuffleboardEventImportanceName(importance)}}});
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}
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@@ -1,32 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/SendableCameraWrapper.h"
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#include <functional>
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#include <memory>
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#include <string>
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#include <wpi/StringMap.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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namespace frc {
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namespace detail {
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std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
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std::string_view cameraName) {
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static wpi::StringMap<std::shared_ptr<SendableCameraWrapper>> wrappers;
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return wrappers[cameraName];
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}
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void AddToSendableRegistry(wpi::Sendable* sendable, std::string_view name) {
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wpi::SendableRegistry::Add(sendable, name);
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}
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} // namespace detail
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void SendableCameraWrapper::InitSendable(wpi::SendableBuilder& builder) {
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builder.AddStringProperty(
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".ShuffleboardURI", [this] { return m_uri; }, nullptr);
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}
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} // namespace frc
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@@ -1,92 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/Shuffleboard.h"
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#include <memory>
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#include <networktables/NetworkTableInstance.h>
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#include "frc/shuffleboard/ShuffleboardTab.h"
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using namespace frc;
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void Shuffleboard::Update() {
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GetInstance().Update();
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}
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ShuffleboardTab& Shuffleboard::GetTab(std::string_view title) {
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return GetInstance().GetTab(title);
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}
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void Shuffleboard::SelectTab(int index) {
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GetInstance().SelectTab(index);
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}
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void Shuffleboard::SelectTab(std::string_view title) {
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GetInstance().SelectTab(title);
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}
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void Shuffleboard::EnableActuatorWidgets() {
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GetInstance().EnableActuatorWidgets();
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}
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void Shuffleboard::DisableActuatorWidgets() {
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// Need to update to make sure the sendable builders are initialized
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Update();
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GetInstance().DisableActuatorWidgets();
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}
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void Shuffleboard::StartRecording() {
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GetRecordingController().StartRecording();
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}
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void Shuffleboard::StopRecording() {
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GetRecordingController().StopRecording();
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}
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void Shuffleboard::SetRecordingFileNameFormat(std::string_view format) {
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GetRecordingController().SetRecordingFileNameFormat(format);
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}
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void Shuffleboard::ClearRecordingFileNameFormat() {
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GetRecordingController().ClearRecordingFileNameFormat();
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}
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void Shuffleboard::AddEventMarker(std::string_view name,
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std::string_view description,
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ShuffleboardEventImportance importance) {
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GetRecordingController().AddEventMarker(name, description, importance);
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}
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void Shuffleboard::AddEventMarker(std::string_view name,
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ShuffleboardEventImportance importance) {
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AddEventMarker(name, "", importance);
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}
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static std::unique_ptr<detail::ShuffleboardInstance>& GetInstanceHolder() {
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static std::unique_ptr<detail::ShuffleboardInstance> instance =
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std::make_unique<detail::ShuffleboardInstance>(
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nt::NetworkTableInstance::GetDefault());
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return instance;
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}
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#ifndef __FRC_ROBORIO__
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namespace frc::impl {
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void ResetShuffleboardInstance() {
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GetInstanceHolder() = std::make_unique<detail::ShuffleboardInstance>(
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nt::NetworkTableInstance::GetDefault());
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}
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} // namespace frc::impl
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#endif
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detail::ShuffleboardInstance& Shuffleboard::GetInstance() {
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return *GetInstanceHolder();
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}
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detail::RecordingController& Shuffleboard::GetRecordingController() {
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static detail::RecordingController inst(
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nt::NetworkTableInstance::GetDefault());
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return inst;
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}
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@@ -1,66 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/ShuffleboardComponentBase.h"
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#include <memory>
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#include <string>
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using namespace frc;
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ShuffleboardComponentBase::ShuffleboardComponentBase(
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ShuffleboardContainer& parent, std::string_view title,
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std::string_view type)
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: ShuffleboardValue(title), m_parent(parent), m_type(type) {}
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void ShuffleboardComponentBase::SetType(std::string_view type) {
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m_type = type;
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m_metadataDirty = true;
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}
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void ShuffleboardComponentBase::BuildMetadata(
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std::shared_ptr<nt::NetworkTable> metaTable) {
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if (!m_metadataDirty) {
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return;
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}
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// Component type
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if (!GetType().empty()) {
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metaTable->GetEntry("PreferredComponent").SetString(GetType());
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}
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// Tile size
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if (m_width > 0 && m_height > 0) {
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metaTable->GetEntry("Size").SetDoubleArray(
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{{static_cast<double>(m_width), static_cast<double>(m_height)}});
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}
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// Tile position
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if (m_column >= 0 && m_row >= 0) {
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metaTable->GetEntry("Position")
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.SetDoubleArray(
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{{static_cast<double>(m_column), static_cast<double>(m_row)}});
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}
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// Custom properties
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if (GetProperties().size() > 0) {
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auto propTable = metaTable->GetSubTable("Properties");
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for (auto& entry : GetProperties()) {
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propTable->GetEntry(entry.first).SetValue(entry.second);
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}
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}
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m_metadataDirty = false;
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}
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ShuffleboardContainer& ShuffleboardComponentBase::GetParent() {
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return m_parent;
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}
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const std::string& ShuffleboardComponentBase::GetType() const {
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return m_type;
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}
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const wpi::StringMap<nt::Value>& ShuffleboardComponentBase::GetProperties()
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const {
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return m_properties;
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}
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@@ -1,404 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/shuffleboard/ShuffleboardContainer.h"
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#include <memory>
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#include <string>
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#include <utility>
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#include <vector>
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#include <ntcore_cpp.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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#include "frc/shuffleboard/ComplexWidget.h"
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#include "frc/shuffleboard/ShuffleboardComponent.h"
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#include "frc/shuffleboard/ShuffleboardLayout.h"
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#include "frc/shuffleboard/SimpleWidget.h"
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using namespace frc;
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static constexpr const char* layoutStrings[] = {"List Layout", "Grid Layout"};
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static constexpr const char* GetStringFromBuiltInLayout(BuiltInLayouts layout) {
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return layoutStrings[static_cast<int>(layout)];
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}
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ShuffleboardContainer::ShuffleboardContainer(std::string_view title)
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: ShuffleboardValue(title) {}
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const std::vector<std::unique_ptr<ShuffleboardComponentBase>>&
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ShuffleboardContainer::GetComponents() const {
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return m_components;
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}
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ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title,
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BuiltInLayouts type) {
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return GetLayout(title, GetStringFromBuiltInLayout(type));
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}
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ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title,
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const LayoutType& type) {
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return GetLayout(title, type.GetLayoutName());
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}
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ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title,
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std::string_view type) {
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if (m_layouts.count(title) == 0) {
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auto layout = std::make_unique<ShuffleboardLayout>(*this, title, type);
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auto ptr = layout.get();
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m_components.emplace_back(std::move(layout));
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m_layouts.insert(std::pair{title, ptr});
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}
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return *m_layouts[title];
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}
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ShuffleboardLayout& ShuffleboardContainer::GetLayout(std::string_view title) {
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if (m_layouts.count(title) == 0) {
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throw FRC_MakeError(err::InvalidParameter,
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"No layout with title {} has been defined", title);
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}
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return *m_layouts[title];
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}
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ComplexWidget& ShuffleboardContainer::Add(std::string_view title,
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wpi::Sendable& sendable) {
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CheckTitle(title);
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auto widget = std::make_unique<ComplexWidget>(*this, title, sendable);
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auto ptr = widget.get();
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m_components.emplace_back(std::move(widget));
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return *ptr;
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}
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ComplexWidget& ShuffleboardContainer::Add(wpi::Sendable& sendable) {
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auto name = wpi::SendableRegistry::GetName(&sendable);
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if (name.empty()) {
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FRC_ReportError(err::Error, "Sendable must have a name");
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}
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return Add(name, sendable);
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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const nt::Value& defaultValue) {
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CheckTitle(title);
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auto widget = std::make_unique<SimpleWidget>(*this, title);
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auto ptr = widget.get();
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m_components.emplace_back(std::move(widget));
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ptr->GetEntry(nt::GetStringFromType(defaultValue.type()))
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->SetDefault(defaultValue);
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return *ptr;
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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bool defaultValue) {
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return Add(title, nt::Value::MakeBoolean(defaultValue));
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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double defaultValue) {
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return Add(title, nt::Value::MakeDouble(defaultValue));
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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float defaultValue) {
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return Add(title, nt::Value::MakeFloat(defaultValue));
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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int defaultValue) {
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return Add(title, nt::Value::MakeInteger(defaultValue));
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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std::string_view defaultValue) {
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return Add(title, nt::Value::MakeString(defaultValue));
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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const char* defaultValue) {
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return Add(title, nt::Value::MakeString(defaultValue));
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}
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SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
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std::span<const bool> defaultValue) {
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return Add(title, nt::Value::MakeBooleanArray(defaultValue));
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}
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||||
|
||||
SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
|
||||
std::span<const double> defaultValue) {
|
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return Add(title, nt::Value::MakeDoubleArray(defaultValue));
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}
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||||
|
||||
SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
|
||||
std::span<const float> defaultValue) {
|
||||
return Add(title, nt::Value::MakeFloatArray(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::Add(
|
||||
std::string_view title, std::span<const int64_t> defaultValue) {
|
||||
return Add(title, nt::Value::MakeIntegerArray(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::Add(
|
||||
std::string_view title, std::span<const std::string> defaultValue) {
|
||||
return Add(title, nt::Value::MakeStringArray(defaultValue));
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::string>& ShuffleboardContainer::AddString(
|
||||
std::string_view title, std::function<std::string()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry, std::string value) {
|
||||
entry.SetString(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::string>>(
|
||||
*this, title, "string", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<double>& ShuffleboardContainer::AddNumber(
|
||||
std::string_view title, std::function<double()> supplier) {
|
||||
return AddDouble(title, std::move(supplier));
|
||||
}
|
||||
|
||||
SuppliedValueWidget<double>& ShuffleboardContainer::AddDouble(
|
||||
std::string_view title, std::function<double()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry, double value) {
|
||||
entry.SetDouble(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<double>>(
|
||||
*this, title, "double", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<float>& ShuffleboardContainer::AddFloat(
|
||||
std::string_view title, std::function<float()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry, float value) {
|
||||
entry.SetFloat(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<float>>(
|
||||
*this, title, "float", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<int64_t>& ShuffleboardContainer::AddInteger(
|
||||
std::string_view title, std::function<int64_t()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry, int64_t value) {
|
||||
entry.SetInteger(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<int64_t>>(
|
||||
*this, title, "int", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<bool>& ShuffleboardContainer::AddBoolean(
|
||||
std::string_view title, std::function<bool()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry, bool value) {
|
||||
entry.SetBoolean(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<bool>>(
|
||||
*this, title, "boolean", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<std::string>>&
|
||||
ShuffleboardContainer::AddStringArray(
|
||||
std::string_view title,
|
||||
std::function<std::vector<std::string>()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry,
|
||||
std::vector<std::string> value) {
|
||||
entry.SetStringArray(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::vector<std::string>>>(
|
||||
*this, title, "string[]", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<double>>& ShuffleboardContainer::AddNumberArray(
|
||||
std::string_view title, std::function<std::vector<double>()> supplier) {
|
||||
return AddDoubleArray(title, std::move(supplier));
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<double>>& ShuffleboardContainer::AddDoubleArray(
|
||||
std::string_view title, std::function<std::vector<double>()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry,
|
||||
std::vector<double> value) {
|
||||
entry.SetDoubleArray(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::vector<double>>>(
|
||||
*this, title, "double[]", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<float>>& ShuffleboardContainer::AddFloatArray(
|
||||
std::string_view title, std::function<std::vector<float>()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry,
|
||||
std::vector<float> value) {
|
||||
entry.SetFloatArray(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::vector<float>>>(
|
||||
*this, title, "float[]", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<int64_t>>&
|
||||
ShuffleboardContainer::AddIntegerArray(
|
||||
std::string_view title, std::function<std::vector<int64_t>()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry,
|
||||
std::vector<int64_t> value) {
|
||||
entry.SetIntegerArray(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::vector<int64_t>>>(
|
||||
*this, title, "int[]", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<int>>& ShuffleboardContainer::AddBooleanArray(
|
||||
std::string_view title, std::function<std::vector<int>()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry, std::vector<int> value) {
|
||||
entry.SetBooleanArray(value);
|
||||
};
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::vector<int>>>(
|
||||
*this, title, "boolean[]", supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<uint8_t>>& ShuffleboardContainer::AddRaw(
|
||||
std::string_view title, std::function<std::vector<uint8_t>()> supplier) {
|
||||
return AddRaw(title, "raw", std::move(supplier));
|
||||
}
|
||||
|
||||
SuppliedValueWidget<std::vector<uint8_t>>& ShuffleboardContainer::AddRaw(
|
||||
std::string_view title, std::string_view typeString,
|
||||
std::function<std::vector<uint8_t>()> supplier) {
|
||||
static auto setter = [](nt::GenericPublisher& entry,
|
||||
std::vector<uint8_t> value) { entry.SetRaw(value); };
|
||||
|
||||
CheckTitle(title);
|
||||
auto widget = std::make_unique<SuppliedValueWidget<std::vector<uint8_t>>>(
|
||||
*this, title, typeString, supplier, setter);
|
||||
auto ptr = widget.get();
|
||||
m_components.emplace_back(std::move(widget));
|
||||
return *ptr;
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, const nt::Value& defaultValue) {
|
||||
auto& widget = Add(title, defaultValue);
|
||||
widget.GetEntry(nt::GetStringFromType(defaultValue.type()))
|
||||
->GetTopic()
|
||||
.SetPersistent(true);
|
||||
return widget;
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(std::string_view title,
|
||||
bool defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeBoolean(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(std::string_view title,
|
||||
double defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeDouble(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(std::string_view title,
|
||||
float defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeFloat(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(std::string_view title,
|
||||
int defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeInteger(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, std::string_view defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeString(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, std::span<const bool> defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeBooleanArray(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, std::span<const double> defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeDoubleArray(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, std::span<const float> defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeFloatArray(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, std::span<const int64_t> defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeIntegerArray(defaultValue));
|
||||
}
|
||||
|
||||
SimpleWidget& ShuffleboardContainer::AddPersistent(
|
||||
std::string_view title, std::span<const std::string> defaultValue) {
|
||||
return AddPersistent(title, nt::Value::MakeStringArray(defaultValue));
|
||||
}
|
||||
|
||||
void ShuffleboardContainer::EnableIfActuator() {
|
||||
for (auto& component : GetComponents()) {
|
||||
component->EnableIfActuator();
|
||||
}
|
||||
}
|
||||
|
||||
void ShuffleboardContainer::DisableIfActuator() {
|
||||
for (auto& component : GetComponents()) {
|
||||
component->DisableIfActuator();
|
||||
}
|
||||
}
|
||||
|
||||
void ShuffleboardContainer::CheckTitle(std::string_view title) {
|
||||
std::string titleStr{title};
|
||||
if (m_usedTitles.count(titleStr) > 0) {
|
||||
FRC_ReportError(err::Error, "Title is already in use: {}", title);
|
||||
return;
|
||||
}
|
||||
m_usedTitles.insert(titleStr);
|
||||
}
|
||||
@@ -1,94 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardInstance.h"
|
||||
|
||||
#include <memory>
|
||||
#include <string>
|
||||
|
||||
#include <hal/FRCUsageReporting.h>
|
||||
#include <networktables/NetworkTable.h>
|
||||
#include <networktables/NetworkTableInstance.h>
|
||||
#include <wpi/SmallVector.h>
|
||||
#include <wpi/StringMap.h>
|
||||
|
||||
#include "frc/shuffleboard/Shuffleboard.h"
|
||||
|
||||
using namespace frc::detail;
|
||||
|
||||
struct ShuffleboardInstance::Impl {
|
||||
wpi::StringMap<ShuffleboardTab> tabs;
|
||||
|
||||
bool tabsChanged = false;
|
||||
std::shared_ptr<nt::NetworkTable> rootTable;
|
||||
std::shared_ptr<nt::NetworkTable> rootMetaTable;
|
||||
nt::StringPublisher selectedTabPub;
|
||||
};
|
||||
|
||||
ShuffleboardInstance::ShuffleboardInstance(nt::NetworkTableInstance ntInstance)
|
||||
: m_impl(new Impl) {
|
||||
m_impl->rootTable = ntInstance.GetTable(Shuffleboard::kBaseTableName);
|
||||
m_impl->rootMetaTable = m_impl->rootTable->GetSubTable(".metadata");
|
||||
m_impl->selectedTabPub =
|
||||
m_impl->rootMetaTable->GetStringTopic("Selected")
|
||||
.Publish(nt::PubSubOptions{.keepDuplicates = true});
|
||||
}
|
||||
|
||||
ShuffleboardInstance::~ShuffleboardInstance() = default;
|
||||
|
||||
static bool gReported = false;
|
||||
|
||||
frc::ShuffleboardTab& ShuffleboardInstance::GetTab(std::string_view title) {
|
||||
if (!gReported) {
|
||||
HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
|
||||
gReported = true;
|
||||
}
|
||||
auto [it, added] = m_impl->tabs.try_emplace(title, *this, title);
|
||||
if (added) {
|
||||
m_impl->tabsChanged = true;
|
||||
}
|
||||
return it->second;
|
||||
}
|
||||
|
||||
void ShuffleboardInstance::Update() {
|
||||
if (m_impl->tabsChanged) {
|
||||
wpi::SmallVector<std::string, 16> tabTitles;
|
||||
for (auto& entry : m_impl->tabs) {
|
||||
tabTitles.emplace_back(entry.second.GetTitle());
|
||||
}
|
||||
m_impl->rootMetaTable->GetEntry("Tabs").SetStringArray(tabTitles);
|
||||
m_impl->tabsChanged = false;
|
||||
}
|
||||
for (auto& entry : m_impl->tabs) {
|
||||
auto& tab = entry.second;
|
||||
tab.BuildInto(m_impl->rootTable,
|
||||
m_impl->rootMetaTable->GetSubTable(tab.GetTitle()));
|
||||
}
|
||||
}
|
||||
|
||||
void ShuffleboardInstance::EnableActuatorWidgets() {
|
||||
for (auto& entry : m_impl->tabs) {
|
||||
auto& tab = entry.second;
|
||||
for (auto& component : tab.GetComponents()) {
|
||||
component->EnableIfActuator();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ShuffleboardInstance::DisableActuatorWidgets() {
|
||||
for (auto& entry : m_impl->tabs) {
|
||||
auto& tab = entry.second;
|
||||
for (auto& component : tab.GetComponents()) {
|
||||
component->DisableIfActuator();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ShuffleboardInstance::SelectTab(int index) {
|
||||
m_impl->selectedTabPub.Set(std::to_string(index));
|
||||
}
|
||||
|
||||
void ShuffleboardInstance::SelectTab(std::string_view title) {
|
||||
m_impl->selectedTabPub.Set(title);
|
||||
}
|
||||
@@ -1,35 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardLayout.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include <wpi/json.h>
|
||||
|
||||
using namespace frc;
|
||||
|
||||
static constexpr std::string_view kSmartDashboardType = "ShuffleboardLayout";
|
||||
|
||||
ShuffleboardLayout::ShuffleboardLayout(ShuffleboardContainer& parent,
|
||||
std::string_view title,
|
||||
std::string_view type)
|
||||
: ShuffleboardValue(title),
|
||||
ShuffleboardComponent(parent, title, type),
|
||||
ShuffleboardContainer(title) {
|
||||
m_isLayout = true;
|
||||
}
|
||||
|
||||
void ShuffleboardLayout::BuildInto(
|
||||
std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) {
|
||||
BuildMetadata(metaTable);
|
||||
auto table = parentTable->GetSubTable(GetTitle());
|
||||
table->GetEntry(".type").SetString(kSmartDashboardType);
|
||||
table->GetEntry(".type").GetTopic().SetProperty("SmartDashboard",
|
||||
kSmartDashboardType);
|
||||
for (auto& component : GetComponents()) {
|
||||
component->BuildInto(table, metaTable->GetSubTable(component->GetTitle()));
|
||||
}
|
||||
}
|
||||
@@ -1,32 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardTab.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include <wpi/json.h>
|
||||
|
||||
using namespace frc;
|
||||
|
||||
static constexpr std::string_view kSmartDashboardType = "ShuffleboardLayout";
|
||||
|
||||
ShuffleboardTab::ShuffleboardTab(ShuffleboardRoot& root, std::string_view title)
|
||||
: ShuffleboardValue(title), ShuffleboardContainer(title), m_root(root) {}
|
||||
|
||||
ShuffleboardRoot& ShuffleboardTab::GetRoot() {
|
||||
return m_root;
|
||||
}
|
||||
|
||||
void ShuffleboardTab::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) {
|
||||
auto tabTable = parentTable->GetSubTable(GetTitle());
|
||||
tabTable->GetEntry(".type").SetString(kSmartDashboardType);
|
||||
tabTable->GetEntry(".type").GetTopic().SetProperty("SmartDashboard",
|
||||
kSmartDashboardType);
|
||||
for (auto& component : GetComponents()) {
|
||||
component->BuildInto(tabTable,
|
||||
metaTable->GetSubTable(component->GetTitle()));
|
||||
}
|
||||
}
|
||||
@@ -1,39 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardWidget.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
static constexpr const char* widgetStrings[] = {
|
||||
"Text View",
|
||||
"Number Slider",
|
||||
"Number Bar",
|
||||
"Simple Dial",
|
||||
"Graph",
|
||||
"Boolean Box",
|
||||
"Toggle Button",
|
||||
"Toggle Switch",
|
||||
"Voltage View",
|
||||
"PDP",
|
||||
"ComboBox Chooser",
|
||||
"Split Button Chooser",
|
||||
"Encoder",
|
||||
"Motor Controller",
|
||||
"Command",
|
||||
"PID Command",
|
||||
"PID Controller",
|
||||
"Accelerometer",
|
||||
"3-Axis Accelerometer",
|
||||
"Gyro",
|
||||
"Relay",
|
||||
"Differential Drivebase",
|
||||
"Mecanum Drivebase",
|
||||
"Camera Stream",
|
||||
"Field",
|
||||
};
|
||||
|
||||
const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
|
||||
return widgetStrings[static_cast<int>(type)];
|
||||
}
|
||||
@@ -1,51 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc/shuffleboard/SimpleWidget.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include "frc/shuffleboard/Shuffleboard.h"
|
||||
#include "frc/shuffleboard/ShuffleboardLayout.h"
|
||||
#include "frc/shuffleboard/ShuffleboardTab.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
SimpleWidget::SimpleWidget(ShuffleboardContainer& parent,
|
||||
std::string_view title)
|
||||
: ShuffleboardValue(title), ShuffleboardWidget(parent, title), m_entry() {}
|
||||
|
||||
nt::GenericEntry* SimpleWidget::GetEntry() {
|
||||
if (!m_entry) {
|
||||
ForceGenerate();
|
||||
}
|
||||
return &m_entry;
|
||||
}
|
||||
|
||||
nt::GenericEntry* SimpleWidget::GetEntry(std::string_view typeString) {
|
||||
if (!m_entry) {
|
||||
m_typeString = typeString;
|
||||
ForceGenerate();
|
||||
}
|
||||
return &m_entry;
|
||||
}
|
||||
|
||||
void SimpleWidget::BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) {
|
||||
BuildMetadata(metaTable);
|
||||
if (!m_entry) {
|
||||
m_entry = parentTable->GetTopic(GetTitle()).GetGenericEntry(m_typeString);
|
||||
}
|
||||
}
|
||||
|
||||
void SimpleWidget::ForceGenerate() {
|
||||
ShuffleboardContainer* parent = &GetParent();
|
||||
|
||||
while (parent->m_isLayout) {
|
||||
parent = &(static_cast<ShuffleboardLayout*>(parent)->GetParent());
|
||||
}
|
||||
|
||||
auto& tab = *static_cast<ShuffleboardTab*>(parent);
|
||||
tab.GetRoot().Update();
|
||||
}
|
||||
@@ -1,11 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#include "frc/shuffleboard/WidgetType.h"
|
||||
|
||||
using namespace frc;
|
||||
|
||||
std::string_view WidgetType::GetWidgetName() const {
|
||||
return m_widgetName;
|
||||
}
|
||||
@@ -1,49 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "frc/shuffleboard/LayoutType.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* The types of layouts bundled with Shuffleboard.
|
||||
*
|
||||
* <pre>{@code
|
||||
* ShuffleboardLayout myList = Shuffleboard::GetTab("My Tab")
|
||||
* .GetLayout(BuiltinLayouts::kList, "My List");
|
||||
* }</pre>
|
||||
*/
|
||||
enum class BuiltInLayouts {
|
||||
/**
|
||||
* Groups components in a vertical list. New widgets added to the layout will
|
||||
* be placed at the bottom of the list. <br>Custom properties: <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Label position</td><td>String</td><td>"BOTTOM"</td>
|
||||
* <td>The position of component labels inside the grid. One of
|
||||
* {@code ["TOP", "LEFT", "BOTTOM", "RIGHT", "HIDDEN"}</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kList,
|
||||
|
||||
/**
|
||||
* Groups components in an <i>n</i> x <i>m</i> grid. Grid layouts default to
|
||||
* 3x3. <br>Custom properties: <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Number of columns</td><td>Number</td><td>3</td><td>Must be in the
|
||||
* range [1,15]</td>
|
||||
* </tr>
|
||||
* <tr><td>Number of rows</td><td>Number</td><td>3</td><td>Must be in the
|
||||
* range [1,15]</td></tr> <tr> <td>Label position</td> <td>String</td>
|
||||
* <td>"BOTTOM"</td>
|
||||
* <td>The position of component labels inside the grid.
|
||||
* One of {@code ["TOP", "LEFT", "BOTTOM", "RIGHT", "HIDDEN"}</td>
|
||||
* </tr>
|
||||
* </table>
|
||||
*/
|
||||
kGrid
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,385 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "frc/shuffleboard/WidgetType.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* The types of the widgets bundled with Shuffleboard.
|
||||
*
|
||||
* <p>For example, setting a number to be displayed with a slider:
|
||||
* <pre>{@code
|
||||
* NetworkTableEntry example = Shuffleboard.getTab("My Tab")
|
||||
* .add("My Number", 0)
|
||||
* .withWidget(BuiltInWidgets.kNumberSlider)
|
||||
* .getEntry();
|
||||
* }</pre>
|
||||
*
|
||||
* <p>Each value in this enum goes into detail on what data types that widget
|
||||
* can support, as well as the custom properties that widget uses.
|
||||
*/
|
||||
enum class BuiltInWidgets {
|
||||
/**
|
||||
* Displays a value with a simple text field.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>String</li>
|
||||
* <li>Number</li>
|
||||
* <li>Boolean</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kTextView,
|
||||
/**
|
||||
* Displays a number with a controllable slider.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Number</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Min</td><td>Number</td><td>-1.0</td><td>The minimum value of the
|
||||
* slider</td></tr> <tr><td>Max</td><td>Number</td><td>1.0</td><td>The maximum
|
||||
* value of the slider</td></tr> <tr><td>Block
|
||||
* increment</td><td>Number</td><td>0.0625</td> <td>How much to move the
|
||||
* slider by with the arrow keys</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kNumberSlider,
|
||||
/**
|
||||
* Displays a number with a view-only bar.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Number</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Min</td><td>Number</td><td>-1.0</td><td>The minimum value of the
|
||||
* bar</td></tr> <tr><td>Max</td><td>Number</td><td>1.0</td><td>The maximum
|
||||
* value of the bar</td></tr>
|
||||
* <tr><td>Center</td><td>Number</td><td>0</td><td>The center ("zero") value
|
||||
* of the bar</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kNumberBar,
|
||||
/**
|
||||
* Displays a number with a view-only dial. Displayed values are rounded to
|
||||
* the nearest integer. <br>Supported types: <ul> <li>Number</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Min</td><td>Number</td><td>0</td><td>The minimum value of the
|
||||
* dial</td></tr> <tr><td>Max</td><td>Number</td><td>100</td><td>The maximum
|
||||
* value of the dial</td></tr> <tr><td>Show
|
||||
* value</td><td>Boolean</td><td>true</td> <td>Whether or not to show the
|
||||
* value as text</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kDial,
|
||||
/**
|
||||
* Displays a number with a graph. <strong>NOTE:</strong> graphs can be taxing
|
||||
* on the computer running the dashboard. Keep the number of visible data
|
||||
* points to a minimum. Making the widget smaller also helps with performance,
|
||||
* but may cause the graph to become difficult to read. <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Number</li>
|
||||
* <li>Number array</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Visible time</td><td>Number</td><td>30</td>
|
||||
* <td>How long, in seconds, should past data be visible for</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kGraph,
|
||||
/**
|
||||
* Displays a boolean value as a large colored box.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Boolean</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Color when true</td><td>Color</td><td>"green"</td>
|
||||
* <td>Can be specified as a string ({@code "#00FF00"}) or a rgba integer
|
||||
* ({@code 0x00FF0000})
|
||||
* </td></tr>
|
||||
* <tr><td>Color when false</td><td>Color</td><td>"red"</td>
|
||||
* <td>Can be specified as a string or a number</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kBooleanBox,
|
||||
/**
|
||||
* Displays a boolean with a large interactive toggle button.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Boolean</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kToggleButton,
|
||||
/**
|
||||
* Displays a boolean with a fixed-size toggle switch.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Boolean</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kToggleSwitch,
|
||||
/**
|
||||
* Displays an analog input or a raw number with a number bar.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Number</li>
|
||||
* <li>AnalogInput</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Min</td><td>Number</td><td>0</td><td>The minimum value of the
|
||||
* bar</td></tr> <tr><td>Max</td><td>Number</td><td>5</td><td>The maximum
|
||||
* value of the bar</td></tr>
|
||||
* <tr><td>Center</td><td>Number</td><td>0</td><td>The center ("zero") value
|
||||
* of the bar</td></tr>
|
||||
* <tr><td>Orientation</td><td>String</td><td>"HORIZONTAL"</td>
|
||||
* <td>The orientation of the bar. One of {@code ["HORIZONTAL",
|
||||
* "VERTICAL"]}</td></tr> <tr><td>Number of tick
|
||||
* marks</td><td>Number</td><td>5</td> <td>The number of discrete ticks on the
|
||||
* bar</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kVoltageView,
|
||||
/**
|
||||
* Displays a PowerDistribution. <br>Supported types: <ul> <li>
|
||||
* PowerDistribution</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Show voltage and current values</td><td>Boolean</td><td>true</td>
|
||||
* <td>Whether or not to display the voltage and current draw</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kPowerDistribution,
|
||||
/**
|
||||
* Displays a SendableChooser with a dropdown combo box with a list of
|
||||
* options.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>SendableChooser</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kComboBoxChooser,
|
||||
/**
|
||||
* Displays a SendableChooserwith a toggle button for each available option.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>SendableChooser</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kSplitButtonChooser,
|
||||
/**
|
||||
* Displays an Encoder displaying its speed,
|
||||
* total traveled distance, and its distance per tick. <br>Supported types:
|
||||
* <ul>
|
||||
* <li>Encoder</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kEncoder,
|
||||
/**
|
||||
* Displays a MotorController.
|
||||
* The motor controller will be controllable from the dashboard when test mode
|
||||
* is enabled, but will otherwise be view-only. <br>Supported types: <ul>
|
||||
* <li>PWMMotorController</li>
|
||||
* <li>DMC60</li>
|
||||
* <li>Jaguar</li>
|
||||
* <li>PWMTalonSRX</li>
|
||||
* <li>PWMVictorSPX</li>
|
||||
* <li>SD540</li>
|
||||
* <li>Spark</li>
|
||||
* <li>Talon</li>
|
||||
* <li>Victor</li>
|
||||
* <li>VictorSP</li>
|
||||
* <li>MotorControllerGroup</li>
|
||||
* <li>Any custom subclass of {@code SpeedContorller}</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Orientation</td><td>String</td><td>"HORIZONTAL"</td>
|
||||
* <td>One of {@code ["HORIZONTAL", "VERTICAL"]}</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kMotorController,
|
||||
/**
|
||||
* Displays a command with a toggle button. Pressing the button will start the
|
||||
* command, and the button will automatically release when the command
|
||||
* completes. <br>Supported types: <ul> <li>Command</li> <li>CommandGroup</li>
|
||||
* <li>Any custom subclass of {@code Command} or {@code CommandGroup}</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kCommand,
|
||||
/**
|
||||
* Displays a PID command with a checkbox and an editor for the PIDF
|
||||
* constants. Selecting the checkbox will start the command, and the checkbox
|
||||
* will automatically deselect when the command completes. <br>Supported
|
||||
* types: <ul> <li>PIDCommand</li>
|
||||
* <li>Any custom subclass of {@code PIDCommand}</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kPIDCommand,
|
||||
/**
|
||||
* Displays a PID controller with an editor for the PIDF constants and a
|
||||
* toggle switch for enabling and disabling the controller. <br>Supported
|
||||
* types: <ul> <li>PIDController</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kPIDController,
|
||||
/**
|
||||
* Displays an accelerometer with a number bar displaying the magnitude of the
|
||||
* acceleration and text displaying the exact value. <br>Supported types: <ul>
|
||||
* <li>AnalogAccelerometer</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Min</td><td>Number</td><td>-1</td>
|
||||
* <td>The minimum acceleration value to display</td></tr>
|
||||
* <tr><td>Max</td><td>Number</td><td>1</td>
|
||||
* <td>The maximum acceleration value to display</td></tr>
|
||||
* <tr><td>Show text</td><td>Boolean</td><td>true</td>
|
||||
* <td>Show or hide the acceleration values</td></tr>
|
||||
* <tr><td>Precision</td><td>Number</td><td>2</td>
|
||||
* <td>How many numbers to display after the decimal point</td></tr>
|
||||
* <tr><td>Show tick marks</td><td>Boolean</td><td>false</td>
|
||||
* <td>Show or hide the tick marks on the number bars</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kAccelerometer,
|
||||
/**
|
||||
* Displays a 3-axis accelerometer with a number bar for each axis'
|
||||
* acceleration. <br>Supported types: <ul> <li>ADXL345_I2C</li> <li>
|
||||
* ADXL345_SPI</li> <li>ADXL362</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Range</td><td>Range</td><td>k16G</td><td>The accelerometer
|
||||
* range</td></tr> <tr><td>Show value</td><td>Boolean</td><td>true</td>
|
||||
* <td>Show or hide the acceleration values</td></tr>
|
||||
* <tr><td>Precision</td><td>Number</td><td>2</td>
|
||||
* <td>How many numbers to display after the decimal point</td></tr>
|
||||
* <tr><td>Show tick marks</td><td>Boolean</td><td>false</td>
|
||||
* <td>Show or hide the tick marks on the number bars</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
k3AxisAccelerometer,
|
||||
/**
|
||||
* Displays a gyro with a dial from 0 to 360 degrees.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>ADXRS450_Gyro</li>
|
||||
* <li>AnalogGyro</li>
|
||||
* <li>Any custom subclass of {@code GyroBase} (such as a MXP gyro)</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Major tick
|
||||
* spacing</td><td>Number</td><td>45</td><td>Degrees</td></tr>
|
||||
* <tr><td>Starting angle</td><td>Number</td><td>180</td>
|
||||
* <td>How far to rotate the entire dial, in degrees</td></tr>
|
||||
* <tr><td>Show tick mark ring</td><td>Boolean</td><td>true</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kGyro,
|
||||
/**
|
||||
* Displays a relay with toggle buttons for each supported mode (off, on,
|
||||
* forward, reverse). <br>Supported types: <ul> <li>Relay</li>
|
||||
* </ul>
|
||||
* <br>This widget has no custom properties.
|
||||
*/
|
||||
kRelay,
|
||||
/**
|
||||
* Displays a differential drive with a widget that displays the speed of each
|
||||
* side of the drivebase and a vector for the direction and rotation of the
|
||||
* drivebase. The widget will be controllable if the robot is in test mode.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>DifferentialDrive</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Number of wheels</td><td>Number</td><td>4</td><td>Must be a
|
||||
* positive even integer
|
||||
* </td></tr>
|
||||
* <tr><td>Wheel diameter</td><td>Number</td><td>80</td><td>Pixels</td></tr>
|
||||
* <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kDifferentialDrive,
|
||||
/**
|
||||
* Displays a mecanum drive with a widget that displays the speed of each
|
||||
* wheel, and vectors for the direction and rotation of the drivebase. The
|
||||
* widget will be controllable if the robot is in test mode. <br>Supported
|
||||
* types: <ul> <li>MecanumDrive</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kMecanumDrive,
|
||||
/**
|
||||
* Displays a camera stream.
|
||||
* <br>Supported types:
|
||||
* <ul>
|
||||
* <li>VideoSource (as long as it is streaming on an MJPEG server)</li>
|
||||
* </ul>
|
||||
* <br>Custom properties:
|
||||
* <table>
|
||||
* <tr><th>Name</th><th>Type</th><th>Default Value</th><th>Notes</th></tr>
|
||||
* <tr><td>Show crosshair</td><td>Boolean</td><td>true</td>
|
||||
* <td>Show or hide a crosshair on the image</td></tr>
|
||||
* <tr><td>Crosshair color</td><td>Color</td><td>"white"</td>
|
||||
* <td>Can be a string or a rgba integer</td></tr>
|
||||
* <tr><td>Show controls</td><td>Boolean</td><td>true</td><td>Show or hide the
|
||||
* stream controls
|
||||
* </td></tr>
|
||||
* <tr><td>Rotation</td><td>String</td><td>"NONE"</td>
|
||||
* <td>Rotates the displayed image. One of {@code ["NONE", "QUARTER_CW",
|
||||
* "QUARTER_CCW", "HALF"]}
|
||||
* </td></tr>
|
||||
* </table>
|
||||
*/
|
||||
kCameraStream,
|
||||
/**
|
||||
* Displays a field2d object.<br>
|
||||
* Supported types:
|
||||
*
|
||||
* <ul>
|
||||
* <li>Field2d
|
||||
* </ul>
|
||||
*/
|
||||
kField,
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,46 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardWidget.h"
|
||||
|
||||
namespace wpi {
|
||||
class Sendable;
|
||||
class SendableBuilder;
|
||||
} // namespace wpi
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardContainer;
|
||||
|
||||
/**
|
||||
* A Shuffleboard widget that handles a Sendable object such as a motor
|
||||
* controller or sensor.
|
||||
*/
|
||||
class ComplexWidget final : public ShuffleboardWidget<ComplexWidget> {
|
||||
public:
|
||||
ComplexWidget(ShuffleboardContainer& parent, std::string_view title,
|
||||
wpi::Sendable& sendable);
|
||||
|
||||
~ComplexWidget() override;
|
||||
|
||||
void EnableIfActuator() override;
|
||||
|
||||
void DisableIfActuator() override;
|
||||
|
||||
void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) override;
|
||||
|
||||
private:
|
||||
wpi::Sendable& m_sendable;
|
||||
std::unique_ptr<wpi::SendableBuilder> m_builder;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,34 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* Represents the type of a layout in Shuffleboard. Using this is preferred over
|
||||
* specifying raw strings, to avoid typos and having to know or look up the
|
||||
* exact string name for a desired layout.
|
||||
*
|
||||
* @see BuiltInLayouts the built-in layout types
|
||||
*/
|
||||
class LayoutType {
|
||||
public:
|
||||
explicit constexpr LayoutType(const char* layoutName)
|
||||
: m_layoutName(layoutName) {}
|
||||
~LayoutType() = default;
|
||||
|
||||
/**
|
||||
* Gets the string type of the layout as defined by that layout in
|
||||
* Shuffleboard.
|
||||
*/
|
||||
std::string_view GetLayoutName() const;
|
||||
|
||||
private:
|
||||
const char* m_layoutName;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,40 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/BooleanTopic.h>
|
||||
#include <networktables/NetworkTable.h>
|
||||
#include <networktables/NetworkTableInstance.h>
|
||||
#include <networktables/StringTopic.h>
|
||||
#include <wpi/SmallVector.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardEventImportance.h"
|
||||
|
||||
namespace frc::detail {
|
||||
|
||||
class RecordingController final {
|
||||
public:
|
||||
explicit RecordingController(nt::NetworkTableInstance ntInstance);
|
||||
virtual ~RecordingController() = default;
|
||||
|
||||
void StartRecording();
|
||||
void StopRecording();
|
||||
void SetRecordingFileNameFormat(std::string_view format);
|
||||
void ClearRecordingFileNameFormat();
|
||||
|
||||
void AddEventMarker(std::string_view name, std::string_view description,
|
||||
ShuffleboardEventImportance importance);
|
||||
|
||||
private:
|
||||
nt::BooleanPublisher m_recordingControlEntry;
|
||||
nt::StringPublisher m_recordingFileNameFormatEntry;
|
||||
std::shared_ptr<nt::NetworkTable> m_eventsTable;
|
||||
};
|
||||
|
||||
} // namespace frc::detail
|
||||
@@ -1,136 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <span>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#ifndef DYNAMIC_CAMERA_SERVER
|
||||
#include <cscore_oo.h>
|
||||
#include <fmt/format.h>
|
||||
#include <networktables/NetworkTable.h>
|
||||
#include <networktables/NetworkTableInstance.h>
|
||||
#else
|
||||
namespace cs {
|
||||
class VideoSource;
|
||||
} // namespace cs
|
||||
using CS_Handle = int; // NOLINT
|
||||
using CS_Source = CS_Handle; // NOLINT
|
||||
#endif
|
||||
|
||||
#include <networktables/StringArrayTopic.h>
|
||||
#include <wpi/sendable/Sendable.h>
|
||||
#include <wpi/sendable/SendableHelper.h>
|
||||
|
||||
namespace frc {
|
||||
|
||||
class SendableCameraWrapper;
|
||||
|
||||
namespace detail {
|
||||
constexpr const char* kProtocol = "camera_server://";
|
||||
std::shared_ptr<SendableCameraWrapper>& GetSendableCameraWrapper(
|
||||
std::string_view cameraName);
|
||||
void AddToSendableRegistry(wpi::Sendable* sendable, std::string_view name);
|
||||
} // namespace detail
|
||||
|
||||
/**
|
||||
* A wrapper to make video sources sendable and usable from Shuffleboard.
|
||||
*/
|
||||
class SendableCameraWrapper
|
||||
: public wpi::Sendable,
|
||||
public wpi::SendableHelper<SendableCameraWrapper> {
|
||||
private:
|
||||
struct private_init {};
|
||||
|
||||
public:
|
||||
/**
|
||||
* Creates a new sendable wrapper. Private constructor to avoid direct
|
||||
* instantiation with multiple wrappers floating around for the same camera.
|
||||
*
|
||||
* @param cameraName the name of the camera to wrap
|
||||
*/
|
||||
SendableCameraWrapper(std::string_view cameraName, const private_init&);
|
||||
|
||||
/**
|
||||
* Creates a new sendable wrapper. Private constructor to avoid direct
|
||||
* instantiation with multiple wrappers floating around for the same camera.
|
||||
*
|
||||
* @param cameraName the name of the camera to wrap
|
||||
* @param cameraUrls camera URLs
|
||||
*/
|
||||
SendableCameraWrapper(std::string_view cameraName,
|
||||
std::span<const std::string> cameraUrls,
|
||||
const private_init&);
|
||||
|
||||
/**
|
||||
* Gets a sendable wrapper object for the given video source, creating the
|
||||
* wrapper if one does not already exist for the source.
|
||||
*
|
||||
* @param source the video source to wrap
|
||||
* @return a sendable wrapper object for the video source, usable in
|
||||
* Shuffleboard via ShuffleboardTab::Add() and ShuffleboardLayout::Add()
|
||||
*/
|
||||
static SendableCameraWrapper& Wrap(const cs::VideoSource& source);
|
||||
static SendableCameraWrapper& Wrap(CS_Source source);
|
||||
|
||||
static SendableCameraWrapper& Wrap(std::string_view cameraName,
|
||||
std::span<const std::string> cameraUrls);
|
||||
|
||||
void InitSendable(wpi::SendableBuilder& builder) override;
|
||||
|
||||
private:
|
||||
std::string m_uri;
|
||||
nt::StringArrayPublisher m_streams;
|
||||
};
|
||||
|
||||
#ifndef DYNAMIC_CAMERA_SERVER
|
||||
inline SendableCameraWrapper::SendableCameraWrapper(std::string_view name,
|
||||
const private_init&)
|
||||
: m_uri(detail::kProtocol) {
|
||||
detail::AddToSendableRegistry(this, name);
|
||||
m_uri += name;
|
||||
}
|
||||
|
||||
inline SendableCameraWrapper::SendableCameraWrapper(
|
||||
std::string_view cameraName, std::span<const std::string> cameraUrls,
|
||||
const private_init&)
|
||||
: SendableCameraWrapper(cameraName, private_init{}) {
|
||||
m_streams = nt::NetworkTableInstance::GetDefault()
|
||||
.GetStringArrayTopic(
|
||||
fmt::format("/CameraPublisher/{}/streams", cameraName))
|
||||
.Publish();
|
||||
m_streams.Set(cameraUrls);
|
||||
}
|
||||
|
||||
inline SendableCameraWrapper& SendableCameraWrapper::Wrap(
|
||||
const cs::VideoSource& source) {
|
||||
return Wrap(source.GetHandle());
|
||||
}
|
||||
|
||||
inline SendableCameraWrapper& SendableCameraWrapper::Wrap(CS_Source source) {
|
||||
CS_Status status = 0;
|
||||
auto name = cs::GetSourceName(source, &status);
|
||||
auto& wrapper = detail::GetSendableCameraWrapper(name);
|
||||
if (!wrapper) {
|
||||
wrapper = std::make_shared<SendableCameraWrapper>(name, private_init{});
|
||||
}
|
||||
return *wrapper;
|
||||
}
|
||||
|
||||
inline SendableCameraWrapper& SendableCameraWrapper::Wrap(
|
||||
std::string_view cameraName, std::span<const std::string> cameraUrls) {
|
||||
auto& wrapper = detail::GetSendableCameraWrapper(cameraName);
|
||||
if (!wrapper) {
|
||||
wrapper = std::make_shared<SendableCameraWrapper>(cameraName, cameraUrls,
|
||||
private_init{});
|
||||
}
|
||||
return *wrapper;
|
||||
}
|
||||
#endif
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,196 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
#include "frc/shuffleboard/RecordingController.h"
|
||||
#include "frc/shuffleboard/ShuffleboardEventImportance.h"
|
||||
#include "frc/shuffleboard/ShuffleboardInstance.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardTab;
|
||||
|
||||
/**
|
||||
* The Shuffleboard class provides a mechanism with which data can be added and
|
||||
* laid out in the Shuffleboard dashboard application from a robot program. Tabs
|
||||
* and layouts can be specified, as well as choosing which widgets to display
|
||||
* with and setting properties of these widgets; for example, programmers can
|
||||
* specify a specific {@code boolean} value to be displayed with a toggle button
|
||||
* instead of the default colored box, or set custom colors for that box.
|
||||
*
|
||||
* For example, displaying a boolean entry with a toggle button:
|
||||
* <pre>{@code
|
||||
* NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
|
||||
* .add("My Boolean", false)
|
||||
* .withWidget("Toggle Button")
|
||||
* .getEntry();
|
||||
* }</pre>
|
||||
*
|
||||
* Changing the colors of the boolean box:
|
||||
* <pre>{@code
|
||||
* NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
|
||||
* .add("My Boolean", false)
|
||||
* .withWidget("Boolean Box")
|
||||
* .withProperties(Map.of("colorWhenTrue", "green", "colorWhenFalse",
|
||||
* "maroon")) .getEntry();
|
||||
* }</pre>
|
||||
*
|
||||
* Specifying a parent layout. Note that the layout type must <i>always</i> be
|
||||
* specified, even if the layout has already been generated by a previously
|
||||
* defined entry.
|
||||
* <pre>{@code
|
||||
* NetworkTableEntry myBoolean = Shuffleboard.getTab("Example Tab")
|
||||
* .getLayout("List", "Example List")
|
||||
* .add("My Boolean", false)
|
||||
* .withWidget("Toggle Button")
|
||||
* .getEntry();
|
||||
* }</pre>
|
||||
* </p>
|
||||
*
|
||||
* Teams are encouraged to set up shuffleboard layouts at the start of the robot
|
||||
* program.
|
||||
*/
|
||||
class Shuffleboard final {
|
||||
public:
|
||||
/**
|
||||
* The name of the base NetworkTable into which all Shuffleboard data will be
|
||||
* added.
|
||||
*/
|
||||
static constexpr const char* kBaseTableName = "/Shuffleboard";
|
||||
|
||||
/**
|
||||
* Updates all the values in Shuffleboard. Iterative and timed robots are
|
||||
* pre-configured to call this method in the main robot loop; teams using
|
||||
* custom robot base classes, or subclass SampleRobot, should make sure to
|
||||
* call this repeatedly to keep data on the dashboard up to date.
|
||||
*/
|
||||
static void Update();
|
||||
|
||||
/**
|
||||
* Gets the Shuffleboard tab with the given title, creating it if it does not
|
||||
* already exist.
|
||||
*
|
||||
* @param title the title of the tab
|
||||
* @return the tab with the given title
|
||||
*/
|
||||
static ShuffleboardTab& GetTab(std::string_view title);
|
||||
|
||||
/**
|
||||
* Selects the tab in the dashboard with the given index in the range
|
||||
* [0..n-1], where <i>n</i> is the number of tabs in the dashboard at the time
|
||||
* this method is called.
|
||||
*
|
||||
* @param index the index of the tab to select
|
||||
*/
|
||||
static void SelectTab(int index);
|
||||
|
||||
/**
|
||||
* Selects the tab in the dashboard with the given title.
|
||||
*
|
||||
* @param title the title of the tab to select
|
||||
*/
|
||||
static void SelectTab(std::string_view title);
|
||||
|
||||
/**
|
||||
* Enables user control of widgets containing actuators: motor controllers,
|
||||
* relays, etc. This should only be used when the robot is in test mode.
|
||||
* IterativeRobotBase and SampleRobot are both configured to call this method
|
||||
* when entering test mode; most users should not need to use this method
|
||||
* directly.
|
||||
*/
|
||||
static void EnableActuatorWidgets();
|
||||
|
||||
/**
|
||||
* Disables user control of widgets containing actuators. For safety reasons,
|
||||
* actuators should only be controlled while in test mode. IterativeRobotBase
|
||||
* and SampleRobot are both configured to call this method when exiting in
|
||||
* test mode; most users should not need to use this method directly.
|
||||
*/
|
||||
static void DisableActuatorWidgets();
|
||||
|
||||
/**
|
||||
* Starts data recording on the dashboard. Has no effect if recording is
|
||||
* already in progress.
|
||||
*/
|
||||
static void StartRecording();
|
||||
|
||||
/**
|
||||
* Stops data recording on the dashboard. Has no effect if no recording is in
|
||||
* progress.
|
||||
*/
|
||||
static void StopRecording();
|
||||
|
||||
/**
|
||||
* Sets the file name format for new recording files to use. If recording is
|
||||
* in progress when this method is called, it will continue to use the same
|
||||
* file. New recordings will use the format.
|
||||
*
|
||||
* <p>To avoid recording files overwriting each other, make sure to use unique
|
||||
* recording file names. File name formats accept templates for inserting the
|
||||
* date and time when the recording started with the {@code ${date}} and
|
||||
* {@code ${time}} templates, respectively. For example, the default format is
|
||||
* {@code "recording-${time}"} and recording files created with it will have
|
||||
* names like {@code "recording-2018.01.15.sbr"}. Users are
|
||||
* <strong>strongly</strong> recommended to use the {@code ${time}} template
|
||||
* to ensure unique file names.
|
||||
* </p>
|
||||
*
|
||||
* @param format the format for the
|
||||
*/
|
||||
static void SetRecordingFileNameFormat(std::string_view format);
|
||||
|
||||
/**
|
||||
* Clears the custom name format for recording files. New recordings will use
|
||||
* the default format.
|
||||
*
|
||||
* @see SetRecordingFileNameFormat(std::string_view)
|
||||
*/
|
||||
static void ClearRecordingFileNameFormat();
|
||||
|
||||
/**
|
||||
* Notifies Shuffleboard of an event. Events can range from as trivial as a
|
||||
* change in a command state to as critical as a total power loss or component
|
||||
* failure. If Shuffleboard is recording, the event will also be recorded.
|
||||
*
|
||||
* <p>If {@code name} is {@code null} or empty, no event will be sent and an
|
||||
* error will be printed to the driver station.
|
||||
*
|
||||
* @param name the name of the event
|
||||
* @param description a description of the event
|
||||
* @param importance the importance of the event
|
||||
*/
|
||||
static void AddEventMarker(std::string_view name,
|
||||
std::string_view description,
|
||||
ShuffleboardEventImportance importance);
|
||||
|
||||
/**
|
||||
* Notifies Shuffleboard of an event. Events can range from as trivial as a
|
||||
* change in a command state to as critical as a total power loss or component
|
||||
* failure. If Shuffleboard is recording, the event will also be recorded.
|
||||
*
|
||||
* <p>If {@code name} is {@code null} or empty, no event will be sent and an
|
||||
* error will be printed to the driver station.
|
||||
*
|
||||
* @param name the name of the event
|
||||
* @param importance the importance of the event
|
||||
*/
|
||||
static void AddEventMarker(std::string_view name,
|
||||
ShuffleboardEventImportance importance);
|
||||
|
||||
private:
|
||||
static detail::ShuffleboardInstance& GetInstance();
|
||||
static detail::RecordingController& GetRecordingController();
|
||||
|
||||
// TODO usage reporting
|
||||
|
||||
Shuffleboard() = default;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
|
||||
// Make use of references returned by member functions usable
|
||||
#include "frc/shuffleboard/ShuffleboardTab.h"
|
||||
@@ -1,89 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
#include <networktables/NetworkTableValue.h>
|
||||
#include <wpi/StringMap.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardComponentBase.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardContainer;
|
||||
|
||||
/**
|
||||
* A generic component in Shuffleboard.
|
||||
*
|
||||
* @tparam Derived the self type
|
||||
*/
|
||||
template <typename Derived>
|
||||
class ShuffleboardComponent : public ShuffleboardComponentBase {
|
||||
public:
|
||||
/**
|
||||
* Constructs a ShuffleboardComponent.
|
||||
*
|
||||
* @param parent The parent container.
|
||||
* @param title The component title.
|
||||
* @param type The component type.
|
||||
*/
|
||||
ShuffleboardComponent(ShuffleboardContainer& parent, std::string_view title,
|
||||
std::string_view type = "")
|
||||
: ShuffleboardValue(title),
|
||||
ShuffleboardComponentBase(parent, title, type) {}
|
||||
|
||||
/**
|
||||
* Sets custom properties for this component. Property names are
|
||||
* case-sensitive and whitespace-insensitive (capitalization and spaces do not
|
||||
* matter).
|
||||
*
|
||||
* @param properties the properties for this component
|
||||
* @return this component
|
||||
*/
|
||||
Derived& WithProperties(const wpi::StringMap<nt::Value>& properties) {
|
||||
m_properties = properties;
|
||||
m_metadataDirty = true;
|
||||
return *static_cast<Derived*>(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the position of this component in the tab. This has no effect if this
|
||||
* component is inside a layout.
|
||||
*
|
||||
* If the position of a single component is set, it is recommended to set the
|
||||
* positions of <i>all</i> components inside a tab to prevent Shuffleboard
|
||||
* from automatically placing another component there before the one with the
|
||||
* specific position is sent.
|
||||
*
|
||||
* @param columnIndex the column in the tab to place this component
|
||||
* @param rowIndex the row in the tab to place this component
|
||||
* @return this component
|
||||
*/
|
||||
Derived& WithPosition(int columnIndex, int rowIndex) {
|
||||
m_column = columnIndex;
|
||||
m_row = rowIndex;
|
||||
m_metadataDirty = true;
|
||||
return *static_cast<Derived*>(this);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the size of this component in the tab. This has no effect if this
|
||||
* component is inside a layout.
|
||||
*
|
||||
* @param width how many columns wide the component should be
|
||||
* @param height how many rows high the component should be
|
||||
* @return this component
|
||||
*/
|
||||
Derived& WithSize(int width, int height) {
|
||||
m_width = width;
|
||||
m_height = height;
|
||||
m_metadataDirty = true;
|
||||
return *static_cast<Derived*>(this);
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,55 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
#include <networktables/NetworkTableValue.h>
|
||||
#include <wpi/StringMap.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardValue.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardContainer;
|
||||
|
||||
/**
|
||||
* A shim class to allow storing ShuffleboardComponents in arrays.
|
||||
*/
|
||||
class ShuffleboardComponentBase : public virtual ShuffleboardValue {
|
||||
public:
|
||||
ShuffleboardComponentBase(ShuffleboardContainer& parent,
|
||||
std::string_view title, std::string_view type = "");
|
||||
|
||||
void SetType(std::string_view type);
|
||||
|
||||
void BuildMetadata(std::shared_ptr<nt::NetworkTable> metaTable);
|
||||
|
||||
ShuffleboardContainer& GetParent();
|
||||
|
||||
const std::string& GetType() const;
|
||||
|
||||
protected:
|
||||
wpi::StringMap<nt::Value> m_properties;
|
||||
bool m_metadataDirty = true;
|
||||
int m_column = -1;
|
||||
int m_row = -1;
|
||||
int m_width = -1;
|
||||
int m_height = -1;
|
||||
|
||||
private:
|
||||
ShuffleboardContainer& m_parent;
|
||||
std::string m_type;
|
||||
|
||||
/**
|
||||
* Gets the custom properties for this component. May be null.
|
||||
*/
|
||||
const wpi::StringMap<nt::Value>& GetProperties() const;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,727 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <span>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
#include <vector>
|
||||
|
||||
#include <networktables/NetworkTableEntry.h>
|
||||
#include <networktables/NetworkTableValue.h>
|
||||
#include <wpi/SmallSet.h>
|
||||
#include <wpi/StringMap.h>
|
||||
|
||||
#include "frc/shuffleboard/BuiltInLayouts.h"
|
||||
#include "frc/shuffleboard/LayoutType.h"
|
||||
#include "frc/shuffleboard/ShuffleboardComponentBase.h"
|
||||
#include "frc/shuffleboard/ShuffleboardValue.h"
|
||||
#include "frc/shuffleboard/SuppliedValueWidget.h"
|
||||
|
||||
namespace cs {
|
||||
class VideoSource;
|
||||
} // namespace cs
|
||||
|
||||
namespace wpi {
|
||||
class Sendable;
|
||||
} // namespace wpi
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ComplexWidget;
|
||||
class ShuffleboardLayout;
|
||||
class SimpleWidget;
|
||||
|
||||
/**
|
||||
* Common interface for objects that can contain shuffleboard components.
|
||||
*/
|
||||
class ShuffleboardContainer : public virtual ShuffleboardValue {
|
||||
public:
|
||||
explicit ShuffleboardContainer(std::string_view title);
|
||||
|
||||
ShuffleboardContainer(ShuffleboardContainer&& rhs) = default;
|
||||
|
||||
~ShuffleboardContainer() override = default;
|
||||
|
||||
/**
|
||||
* Gets the components that are direct children of this container.
|
||||
*/
|
||||
const std::vector<std::unique_ptr<ShuffleboardComponentBase>>& GetComponents()
|
||||
const;
|
||||
|
||||
/**
|
||||
* Gets the layout with the given type and title, creating it if it does not
|
||||
* already exist at the time this method is called.
|
||||
*
|
||||
* @param title the title of the layout
|
||||
* @param type the type of the layout, eg "List" or "Grid"
|
||||
* @return the layout
|
||||
*/
|
||||
ShuffleboardLayout& GetLayout(std::string_view title, BuiltInLayouts type);
|
||||
|
||||
/**
|
||||
* Gets the layout with the given type and title, creating it if it does not
|
||||
* already exist at the time this method is called.
|
||||
*
|
||||
* @param title the title of the layout
|
||||
* @param type the type of the layout, eg "List" or "Grid"
|
||||
* @return the layout
|
||||
*/
|
||||
ShuffleboardLayout& GetLayout(std::string_view title, const LayoutType& type);
|
||||
|
||||
/**
|
||||
* Gets the layout with the given type and title, creating it if it does not
|
||||
* already exist at the time this method is called. Note: this method should
|
||||
* only be used to use a layout type that is not already built into
|
||||
* Shuffleboard. To use a layout built into Shuffleboard, use
|
||||
* GetLayout(std::string_view, const LayoutType&) and the layouts in
|
||||
* BuiltInLayouts.
|
||||
*
|
||||
* @param title the title of the layout
|
||||
* @param type the type of the layout, eg "List Layout" or "Grid Layout"
|
||||
* @return the layout
|
||||
* @see GetLayout(std::string_view, const LayoutType&)
|
||||
*/
|
||||
ShuffleboardLayout& GetLayout(std::string_view title, std::string_view type);
|
||||
|
||||
/**
|
||||
* Gets the already-defined layout in this container with the given title.
|
||||
*
|
||||
* <pre>{@code
|
||||
* Shuffleboard::GetTab("Example Tab")->getLayout("My Layout",
|
||||
* &BuiltInLayouts.kList);
|
||||
*
|
||||
* // Later...
|
||||
* Shuffleboard::GetTab("Example Tab")->GetLayout("My Layout");
|
||||
* }</pre>
|
||||
*
|
||||
* @param title the title of the layout to get
|
||||
* @return the layout with the given title
|
||||
* @throws if no layout has yet been defined with the given title
|
||||
*/
|
||||
ShuffleboardLayout& GetLayout(std::string_view title);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given sendable.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param sendable the sendable to display
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
*/
|
||||
ComplexWidget& Add(std::string_view title, wpi::Sendable& sendable);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given video stream.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param video the video stream to display
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
*/
|
||||
ComplexWidget& Add(std::string_view title, const cs::VideoSource& video);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a video stream.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param cameraName the name of the streamed camera
|
||||
* @param cameraUrls the URLs with which the dashboard can access the camera
|
||||
* stream
|
||||
* @return a widget to display the camera stream
|
||||
*/
|
||||
ComplexWidget& AddCamera(std::string_view title, std::string_view cameraName,
|
||||
std::span<const std::string> cameraUrls);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given sendable.
|
||||
*
|
||||
* @param sendable the sendable to display
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title, or if the sendable's name has not been
|
||||
* specified
|
||||
*/
|
||||
ComplexWidget& Add(wpi::Sendable& sendable);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given video stream.
|
||||
*
|
||||
* @param video the video to display
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the same title as the video source
|
||||
*/
|
||||
ComplexWidget& Add(const cs::VideoSource& video);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::shared_ptr<nt::Value>)
|
||||
* Add(std::string_view title, std::shared_ptr<nt::Value> defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, const nt::Value& defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, bool)
|
||||
* Add(std::string_view title, bool defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, bool defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, double)
|
||||
* Add(std::string_view title, double defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, double defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, double)
|
||||
* Add(std::string_view title, double defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, float defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, int)
|
||||
* Add(std::string_view title, int defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, int defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::string_view)
|
||||
* Add(std::string_view title, std::string_view defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, std::string_view defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, const char*)
|
||||
* Add(std::string_view title, const char* defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, const char* defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::span<const bool>)
|
||||
* Add(std::string_view title, std::span<const bool> defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title, std::span<const bool> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::span<const double>)
|
||||
* Add(std::string_view title, std::span<const double> defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title,
|
||||
std::span<const double> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::span<const double>)
|
||||
* Add(std::string_view title, std::span<const double> defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title,
|
||||
std::span<const float> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::span<const double>)
|
||||
* Add(std::string_view title, std::span<const double> defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title,
|
||||
std::span<const int64_t> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display the given data.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @throws IllegalArgumentException if a widget already exists in this
|
||||
* container with the given title
|
||||
* @see AddPersistent(std::string_view, std::span<const std::string>)
|
||||
* Add(std::string_view title, std::span<const std::string> defaultValue)
|
||||
*/
|
||||
SimpleWidget& Add(std::string_view title,
|
||||
std::span<const std::string> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::string>& AddString(
|
||||
std::string_view title, std::function<std::string()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<double>& AddNumber(std::string_view title,
|
||||
std::function<double()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<double>& AddDouble(std::string_view title,
|
||||
std::function<double()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<float>& AddFloat(std::string_view title,
|
||||
std::function<float()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<int64_t>& AddInteger(std::string_view title,
|
||||
std::function<int64_t()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<bool>& AddBoolean(std::string_view title,
|
||||
std::function<bool()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<std::string>>& AddStringArray(
|
||||
std::string_view title,
|
||||
std::function<std::vector<std::string>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<double>>& AddNumberArray(
|
||||
std::string_view title, std::function<std::vector<double>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<double>>& AddDoubleArray(
|
||||
std::string_view title, std::function<std::vector<double>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<float>>& AddFloatArray(
|
||||
std::string_view title, std::function<std::vector<float>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<int64_t>>& AddIntegerArray(
|
||||
std::string_view title, std::function<std::vector<int64_t>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<int>>& AddBooleanArray(
|
||||
std::string_view title, std::function<std::vector<int>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<uint8_t>>& AddRaw(
|
||||
std::string_view title, std::function<std::vector<uint8_t>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container. The widget will display the data provided
|
||||
* by the value supplier. Changes made on the dashboard will not propagate to
|
||||
* the widget object, and will be overridden by values from the value
|
||||
* supplier.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param typeString the NT type string
|
||||
* @param supplier the supplier for values
|
||||
* @return a widget to display data
|
||||
*/
|
||||
SuppliedValueWidget<std::vector<uint8_t>>& AddRaw(
|
||||
std::string_view title, std::string_view typeString,
|
||||
std::function<std::vector<uint8_t>()> supplier);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::shared_ptr<nt::Value>), the value in the
|
||||
* widget will be saved on the robot and will be used when the robot program
|
||||
* next starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(stdd::string_view, std::shared_ptr<nt::Value>)
|
||||
* Add(std::string_view title, std::shared_ptr<nt::Value> defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
const nt::Value& defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, bool), the value in the widget will be saved
|
||||
* on the robot and will be used when the robot program next starts rather
|
||||
* than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, bool)
|
||||
* Add(std::string_view title, bool defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title, bool defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, double), the value in the widget will be saved
|
||||
* on the robot and will be used when the robot program next starts rather
|
||||
* than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, double)
|
||||
* Add(std::string_view title, double defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title, double defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, float), the value in the widget will be saved
|
||||
* on the robot and will be used when the robot program next starts rather
|
||||
* than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, float)
|
||||
* Add(std::string_view title, float defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title, float defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, int64_t), the value in the widget will be
|
||||
* saved on the robot and will be used when the robot program next starts
|
||||
* rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std:string_view, int64_t)
|
||||
* Add(std::string_view title, int64_t defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title, int defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::string_view), the value in the widget
|
||||
* will be saved on the robot and will be used when the robot program next
|
||||
* starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, std::string_view)
|
||||
* Add(std::string_view title, std::string_view defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
std::string_view defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::span<const bool>), the value in the
|
||||
* widget will be saved on the robot and will be used when the robot program
|
||||
* next starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, std::span<const bool>)
|
||||
* Add(std::string_view title, std::span<const bool> defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
std::span<const bool> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::span<const double>), the value in the
|
||||
* widget will be saved on the robot and will be used when the robot program
|
||||
* next starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, std::span<const double>)
|
||||
* Add(std::string_view title, std::span<const double> defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
std::span<const double> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::span<const float>), the value in the
|
||||
* widget will be saved on the robot and will be used when the robot program
|
||||
* next starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, std::span<const float>)
|
||||
* Add(std::string_view title, std::span<const float> defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
std::span<const float> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::span<const int64_t>), the value in the
|
||||
* widget will be saved on the robot and will be used when the robot program
|
||||
* next starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, std::span<const int64_t>)
|
||||
* Add(std::string_view title, std::span<const int64_t> defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
std::span<const int64_t> defaultValue);
|
||||
|
||||
/**
|
||||
* Adds a widget to this container to display a simple piece of data.
|
||||
*
|
||||
* Unlike Add(std::string_view, std::span<const std::string>), the value in
|
||||
* the widget will be saved on the robot and will be used when the robot
|
||||
* program next starts rather than {@code defaultValue}.
|
||||
*
|
||||
* @param title the title of the widget
|
||||
* @param defaultValue the default value of the widget
|
||||
* @return a widget to display the sendable data
|
||||
* @see Add(std::string_view, std::span<const std::string>)
|
||||
* Add(std::string_view title, std::span<const std::string> defaultValue)
|
||||
*/
|
||||
SimpleWidget& AddPersistent(std::string_view title,
|
||||
std::span<const std::string> defaultValue);
|
||||
|
||||
void EnableIfActuator() override;
|
||||
|
||||
void DisableIfActuator() override;
|
||||
|
||||
protected:
|
||||
bool m_isLayout = false;
|
||||
|
||||
private:
|
||||
wpi::SmallSet<std::string, 32> m_usedTitles;
|
||||
std::vector<std::unique_ptr<ShuffleboardComponentBase>> m_components;
|
||||
wpi::StringMap<ShuffleboardLayout*> m_layouts;
|
||||
|
||||
/**
|
||||
* Adds title to internal set if it hasn't already.
|
||||
*
|
||||
* @return True if title isn't in use; false otherwise.
|
||||
*/
|
||||
void CheckTitle(std::string_view title);
|
||||
|
||||
friend class SimpleWidget;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
|
||||
// Make use of references returned by member functions usable
|
||||
#include "frc/shuffleboard/ComplexWidget.h"
|
||||
#include "frc/shuffleboard/ShuffleboardLayout.h"
|
||||
#include "frc/shuffleboard/SimpleWidget.h"
|
||||
|
||||
#ifndef DYNAMIC_CAMERA_SERVER
|
||||
#include "frc/shuffleboard/SendableCameraWrapper.h"
|
||||
|
||||
inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
|
||||
const cs::VideoSource& video) {
|
||||
return Add(frc::SendableCameraWrapper::Wrap(video));
|
||||
}
|
||||
|
||||
inline frc::ComplexWidget& frc::ShuffleboardContainer::Add(
|
||||
std::string_view title, const cs::VideoSource& video) {
|
||||
return Add(title, frc::SendableCameraWrapper::Wrap(video));
|
||||
}
|
||||
|
||||
inline frc::ComplexWidget& frc::ShuffleboardContainer::AddCamera(
|
||||
std::string_view title, std::string_view cameraName,
|
||||
std::span<const std::string> cameraUrls) {
|
||||
return Add(title, frc::SendableCameraWrapper::Wrap(cameraName, cameraUrls));
|
||||
}
|
||||
#endif
|
||||
@@ -1,40 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
namespace frc {
|
||||
|
||||
// Maintainer note: this enum is mirrored in WPILibJ and in Shuffleboard
|
||||
// Modifying the enum or enum strings requires a corresponding change to the
|
||||
// Java enum and the enum in Shuffleboard
|
||||
|
||||
enum ShuffleboardEventImportance { kTrivial, kLow, kNormal, kHigh, kCritical };
|
||||
|
||||
/**
|
||||
* Returns name of the given enum.
|
||||
*
|
||||
* @return Name of the given enum.
|
||||
*/
|
||||
inline std::string_view ShuffleboardEventImportanceName(
|
||||
ShuffleboardEventImportance importance) {
|
||||
switch (importance) {
|
||||
case kTrivial:
|
||||
return "TRIVIAL";
|
||||
case kLow:
|
||||
return "LOW";
|
||||
case kNormal:
|
||||
return "NORMAL";
|
||||
case kHigh:
|
||||
return "HIGH";
|
||||
case kCritical:
|
||||
return "CRITICAL";
|
||||
default:
|
||||
return "NORMAL";
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,40 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string_view>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardRoot.h"
|
||||
#include "frc/shuffleboard/ShuffleboardTab.h"
|
||||
|
||||
namespace frc::detail {
|
||||
|
||||
class ShuffleboardInstance final : public ShuffleboardRoot {
|
||||
public:
|
||||
explicit ShuffleboardInstance(nt::NetworkTableInstance ntInstance);
|
||||
virtual ~ShuffleboardInstance();
|
||||
|
||||
ShuffleboardInstance(ShuffleboardInstance&&) = default;
|
||||
ShuffleboardInstance& operator=(ShuffleboardInstance&&) = default;
|
||||
|
||||
frc::ShuffleboardTab& GetTab(std::string_view title) override;
|
||||
|
||||
void Update() override;
|
||||
|
||||
void EnableActuatorWidgets() override;
|
||||
|
||||
void DisableActuatorWidgets() override;
|
||||
|
||||
void SelectTab(int index) override;
|
||||
|
||||
void SelectTab(std::string_view) override;
|
||||
|
||||
private:
|
||||
struct Impl;
|
||||
std::unique_ptr<Impl> m_impl;
|
||||
};
|
||||
|
||||
} // namespace frc::detail
|
||||
@@ -1,40 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardComponent.h"
|
||||
#include "frc/shuffleboard/ShuffleboardContainer.h"
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(push)
|
||||
#pragma warning(disable : 4250)
|
||||
#endif
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* A layout in a Shuffleboard tab. Layouts can contain widgets and other
|
||||
* layouts.
|
||||
*/
|
||||
class ShuffleboardLayout : public ShuffleboardComponent<ShuffleboardLayout>,
|
||||
public ShuffleboardContainer {
|
||||
public:
|
||||
ShuffleboardLayout(ShuffleboardContainer& parent, std::string_view name,
|
||||
std::string_view type);
|
||||
|
||||
void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) override;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
|
||||
#ifdef _WIN32
|
||||
#pragma warning(pop)
|
||||
#endif
|
||||
@@ -1,63 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardTab;
|
||||
|
||||
/**
|
||||
* The root of the data placed in Shuffleboard. It contains the tabs, but no
|
||||
* data is placed directly in the root.
|
||||
*
|
||||
* This class is package-private to minimize API surface area.
|
||||
*/
|
||||
class ShuffleboardRoot {
|
||||
public:
|
||||
/**
|
||||
* Gets the tab with the given title, creating it if it does not already
|
||||
* exist.
|
||||
*
|
||||
* @param title the title of the tab
|
||||
* @return the tab with the given title
|
||||
*/
|
||||
virtual ShuffleboardTab& GetTab(std::string_view title) = 0;
|
||||
|
||||
/**
|
||||
* Updates all tabs.
|
||||
*/
|
||||
virtual void Update() = 0;
|
||||
|
||||
/**
|
||||
* Enables all widgets in Shuffleboard that offer user control over actuators.
|
||||
*/
|
||||
virtual void EnableActuatorWidgets() = 0;
|
||||
|
||||
/**
|
||||
* Disables all widgets in Shuffleboard that offer user control over
|
||||
* actuators.
|
||||
*/
|
||||
virtual void DisableActuatorWidgets() = 0;
|
||||
|
||||
/**
|
||||
* Selects the tab in the dashboard with the given index in the range
|
||||
* [0..n-1], where <i>n</i> is the number of tabs in the dashboard at the time
|
||||
* this method is called.
|
||||
*
|
||||
* @param index the index of the tab to select
|
||||
*/
|
||||
virtual void SelectTab(int index) = 0;
|
||||
|
||||
/**
|
||||
* Selects the tab in the dashboard with the given title.
|
||||
*
|
||||
* @param title the title of the tab to select
|
||||
*/
|
||||
virtual void SelectTab(std::string_view title) = 0;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,39 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardContainer.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardRoot;
|
||||
|
||||
/**
|
||||
* Represents a tab in the Shuffleboard dashboard. Widgets can be added to the
|
||||
* tab with Add(Sendable), Add(std::string_view, Object), and
|
||||
* Add(String, Sendable). Widgets can also be added to layouts with
|
||||
* GetLayout(std::string_view, std::string_view); layouts can be nested
|
||||
* arbitrarily deep (note that too many levels may make deeper components
|
||||
* unusable).
|
||||
*/
|
||||
class ShuffleboardTab final : public ShuffleboardContainer {
|
||||
public:
|
||||
ShuffleboardTab(ShuffleboardRoot& root, std::string_view title);
|
||||
|
||||
ShuffleboardRoot& GetRoot();
|
||||
|
||||
void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) override;
|
||||
|
||||
private:
|
||||
ShuffleboardRoot& m_root;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,67 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/NetworkTable.h>
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardValue {
|
||||
public:
|
||||
explicit ShuffleboardValue(std::string_view title) : m_title(title) {}
|
||||
|
||||
virtual ~ShuffleboardValue() = default;
|
||||
|
||||
ShuffleboardValue(const ShuffleboardValue&) = delete;
|
||||
ShuffleboardValue& operator=(const ShuffleboardValue&) = delete;
|
||||
|
||||
/**
|
||||
* Gets the title of this Shuffleboard value.
|
||||
*/
|
||||
const std::string& GetTitle() const { return m_title; }
|
||||
|
||||
/**
|
||||
* Builds the entries for this value.
|
||||
*
|
||||
* @param parentTable The table containing all the data for the parent. Values
|
||||
* that require a complex entry or table structure should
|
||||
* call {@code parentTable.getSubtable(getTitle())} to get
|
||||
* the table to put data into. Values that only use a
|
||||
* single entry should call
|
||||
* {@code parentTable.getEntry(getTitle())} to get that
|
||||
* entry.
|
||||
* @param metaTable The table containing all the metadata for this value and
|
||||
* its sub-values
|
||||
*/
|
||||
virtual void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) = 0;
|
||||
|
||||
/**
|
||||
* Enables user control of this widget in the Shuffleboard application.
|
||||
*
|
||||
* This method is package-private to prevent users from enabling control
|
||||
* themselves. Has no effect if the sendable is not marked as an actuator with
|
||||
* SendableBuilder::SetActuator().
|
||||
*/
|
||||
virtual void EnableIfActuator() {}
|
||||
|
||||
/**
|
||||
* Disables user control of this widget in the Shuffleboard application.
|
||||
*
|
||||
* This method is package-private to prevent users from enabling control
|
||||
* themselves. Has no effect if the sendable is not marked as an actuator with
|
||||
* SendableBuilder::SetActuator().
|
||||
*/
|
||||
virtual void DisableIfActuator() {}
|
||||
|
||||
private:
|
||||
std::string m_title;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,74 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
#include "frc/shuffleboard/BuiltInWidgets.h"
|
||||
#include "frc/shuffleboard/ShuffleboardComponent.h"
|
||||
#include "frc/shuffleboard/WidgetType.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardContainer;
|
||||
|
||||
namespace detail {
|
||||
const char* GetStringForWidgetType(BuiltInWidgets type);
|
||||
} // namespace detail
|
||||
|
||||
/**
|
||||
* Abstract superclass for widgets.
|
||||
*
|
||||
* <p>This class is package-private to minimize API surface area.
|
||||
*
|
||||
* @tparam Derived the self type
|
||||
*/
|
||||
template <typename Derived>
|
||||
class ShuffleboardWidget : public ShuffleboardComponent<Derived> {
|
||||
public:
|
||||
ShuffleboardWidget(ShuffleboardContainer& parent, std::string_view title)
|
||||
: ShuffleboardValue(title),
|
||||
ShuffleboardComponent<Derived>(parent, title) {}
|
||||
|
||||
/**
|
||||
* Sets the type of widget used to display the data. If not set, the default
|
||||
* widget type will be used.
|
||||
*
|
||||
* @param widgetType the type of the widget used to display the data
|
||||
* @return this widget object
|
||||
* @see BuiltInWidgets
|
||||
*/
|
||||
Derived& WithWidget(BuiltInWidgets widgetType) {
|
||||
return WithWidget(detail::GetStringForWidgetType(widgetType));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the type of widget used to display the data. If not set, the default
|
||||
* widget type will be used.
|
||||
*
|
||||
* @param widgetType the type of the widget used to display the data
|
||||
* @return this widget object
|
||||
*/
|
||||
Derived& WithWidget(const WidgetType& widgetType) {
|
||||
return WithWidget(widgetType.GetWidgetName());
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the type of widget used to display the data. If not set, the default
|
||||
* widget type will be used. This method should only be used to use a widget
|
||||
* that does not come built into Shuffleboard (i.e. one that comes with a
|
||||
* custom or third-party plugin). To use a widget that is built into
|
||||
* Shuffleboard, use WithWidget(WidgetType) and BuiltInWidgets.
|
||||
*
|
||||
* @param widgetType the type of the widget used to display the data
|
||||
* @return this widget object
|
||||
*/
|
||||
Derived& WithWidget(std::string_view widgetType) {
|
||||
this->SetType(widgetType);
|
||||
return *static_cast<Derived*>(this);
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,54 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/GenericEntry.h>
|
||||
#include <networktables/NetworkTable.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardWidget.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class ShuffleboardContainer;
|
||||
|
||||
/**
|
||||
* A Shuffleboard widget that handles a single data point such as a number or
|
||||
* string.
|
||||
*/
|
||||
class SimpleWidget final : public ShuffleboardWidget<SimpleWidget> {
|
||||
public:
|
||||
SimpleWidget(ShuffleboardContainer& parent, std::string_view title);
|
||||
|
||||
/**
|
||||
* Gets the NetworkTable entry that contains the data for this widget.
|
||||
* The widget owns the entry; the returned pointer's lifetime is the same as
|
||||
* that of the widget.
|
||||
*/
|
||||
nt::GenericEntry* GetEntry();
|
||||
|
||||
/**
|
||||
* Gets the NetworkTable entry that contains the data for this widget.
|
||||
* The widget owns the entry; the returned pointer's lifetime is the same as
|
||||
* that of the widget.
|
||||
*
|
||||
* @param typeString NT type string
|
||||
*/
|
||||
nt::GenericEntry* GetEntry(std::string_view typeString);
|
||||
|
||||
void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) override;
|
||||
|
||||
private:
|
||||
nt::GenericEntry m_entry;
|
||||
std::string m_typeString;
|
||||
|
||||
void ForceGenerate();
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,58 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <string_view>
|
||||
|
||||
#include <networktables/BooleanTopic.h>
|
||||
#include <networktables/GenericEntry.h>
|
||||
#include <networktables/NetworkTable.h>
|
||||
|
||||
#include "frc/shuffleboard/ShuffleboardComponent.h"
|
||||
#include "frc/shuffleboard/ShuffleboardComponentBase.h"
|
||||
#include "frc/shuffleboard/ShuffleboardWidget.h"
|
||||
|
||||
namespace frc {
|
||||
class ShuffleboardContainer;
|
||||
|
||||
template <typename T>
|
||||
class SuppliedValueWidget : public ShuffleboardWidget<SuppliedValueWidget<T>> {
|
||||
public:
|
||||
SuppliedValueWidget(ShuffleboardContainer& parent, std::string_view title,
|
||||
std::string_view typeString, std::function<T()> supplier,
|
||||
std::function<void(nt::GenericPublisher&, T)> setter)
|
||||
: ShuffleboardValue(title),
|
||||
ShuffleboardWidget<SuppliedValueWidget<T>>(parent, title),
|
||||
m_typeString(typeString),
|
||||
m_supplier(supplier),
|
||||
m_setter(setter) {}
|
||||
|
||||
void BuildInto(std::shared_ptr<nt::NetworkTable> parentTable,
|
||||
std::shared_ptr<nt::NetworkTable> metaTable) override {
|
||||
this->BuildMetadata(metaTable);
|
||||
if (!m_controllablePub) {
|
||||
m_controllablePub =
|
||||
nt::BooleanTopic{metaTable->GetTopic("Controllable")}.Publish();
|
||||
m_controllablePub.Set(false);
|
||||
}
|
||||
|
||||
if (!m_entry) {
|
||||
m_entry =
|
||||
parentTable->GetTopic(this->GetTitle()).GenericPublish(m_typeString);
|
||||
}
|
||||
m_setter(m_entry, m_supplier());
|
||||
}
|
||||
|
||||
private:
|
||||
std::string m_typeString;
|
||||
std::function<T()> m_supplier;
|
||||
std::function<void(nt::GenericPublisher&, T)> m_setter;
|
||||
nt::BooleanPublisher m_controllablePub;
|
||||
nt::GenericPublisher m_entry;
|
||||
};
|
||||
} // namespace frc
|
||||
@@ -1,34 +0,0 @@
|
||||
// Copyright (c) FIRST and other WPILib contributors.
|
||||
// Open Source Software; you can modify and/or share it under the terms of
|
||||
// the WPILib BSD license file in the root directory of this project.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <string_view>
|
||||
|
||||
namespace frc {
|
||||
|
||||
/**
|
||||
* Represents the type of a widget in Shuffleboard. Using this is preferred over
|
||||
* specifying raw strings, to avoid typos and having to know or look up the
|
||||
* exact string name for a desired widget.
|
||||
*
|
||||
* @see BuiltInWidgets the built-in widget types
|
||||
*/
|
||||
class WidgetType {
|
||||
public:
|
||||
explicit constexpr WidgetType(const char* widgetName)
|
||||
: m_widgetName(widgetName) {}
|
||||
~WidgetType() = default;
|
||||
|
||||
/**
|
||||
* Gets the string type of the widget as defined by that widget in
|
||||
* Shuffleboard.
|
||||
*/
|
||||
std::string_view GetWidgetName() const;
|
||||
|
||||
private:
|
||||
const char* m_widgetName;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
Reference in New Issue
Block a user