mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
Split Sendable into NT and non-NT portions (#3432)
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
This commit is contained in:
Peter Johnson
@@ -8,16 +8,16 @@
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#include <string_view>
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#include <vector>
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#include <networktables/NTSendable.h>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <units/length.h>
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#include <wpi/mutex.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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#include "frc/smartdashboard/FieldObject2d.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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@@ -39,7 +39,7 @@ namespace frc {
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* also be shown by using the GetObject() function. Other objects can
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* also have multiple poses (which will show the object at multiple locations).
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*/
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class Field2d : public Sendable, public SendableHelper<Field2d> {
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class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
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public:
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using Entry = size_t;
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@@ -85,7 +85,7 @@ class Field2d : public Sendable, public SendableHelper<Field2d> {
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*/
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FieldObject2d* GetRobotObject();
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void InitSendable(SendableBuilder& builder) override;
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void InitSendable(nt::NTSendableBuilder& builder) override;
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private:
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std::shared_ptr<nt::NetworkTable> m_table;
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@@ -7,13 +7,13 @@
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#include <memory>
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#include <string>
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#include <networktables/NTSendable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <wpi/StringMap.h>
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#include <wpi/mutex.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/smartdashboard/MechanismRoot2d.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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#include "frc/util/Color8Bit.h"
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namespace frc {
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@@ -36,7 +36,8 @@ namespace frc {
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* @see MechanismLigament2d
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* @see MechanismRoot2d
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*/
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class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
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class Mechanism2d : public nt::NTSendable,
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public wpi::SendableHelper<Mechanism2d> {
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public:
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/**
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* Create a new Mechanism2d with the given dimensions and background color.
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@@ -68,7 +69,7 @@ class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
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*/
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void SetBackgroundColor(const Color8Bit& color);
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void InitSendable(SendableBuilder& builder) override;
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void InitSendable(nt::NTSendableBuilder& builder) override;
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private:
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double m_width;
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@@ -1,26 +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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#pragma once
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namespace frc {
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class SendableBuilder;
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/**
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* Interface for Sendable objects.
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*/
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class Sendable {
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public:
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virtual ~Sendable() = default;
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/**
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* Initializes this Sendable object.
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*
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* @param builder sendable builder
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*/
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virtual void InitSendable(SendableBuilder& builder) = 0;
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};
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} // namespace frc
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@@ -1,227 +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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#pragma once
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#include <functional>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <networktables/NetworkTableValue.h>
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#include <wpi/SmallVector.h>
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#include <wpi/span.h>
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namespace frc {
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class SendableBuilder {
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public:
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virtual ~SendableBuilder() = default;
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/**
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* Set the string representation of the named data type that will be used
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* by the smart dashboard for this sendable.
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*
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* @param type data type
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*/
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virtual void SetSmartDashboardType(std::string_view type) = 0;
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/**
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* Set a flag indicating if this sendable should be treated as an actuator.
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* By default this flag is false.
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*
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* @param value true if actuator, false if not
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*/
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virtual void SetActuator(bool value) = 0;
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/**
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* Set the function that should be called to set the Sendable into a safe
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* state. This is called when entering and exiting Live Window mode.
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*
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* @param func function
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*/
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virtual void SetSafeState(std::function<void()> func) = 0;
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/**
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* Set the function that should be called to update the network table
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* for things other than properties. Note this function is not passed
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* the network table object; instead it should use the entry handles
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* returned by GetEntry().
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*
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* @param func function
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*/
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virtual void SetUpdateTable(std::function<void()> func) = 0;
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/**
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* Add a property without getters or setters. This can be used to get
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* entry handles for the function called by SetUpdateTable().
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*
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* @param key property name
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* @return Network table entry
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*/
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virtual nt::NetworkTableEntry GetEntry(std::string_view key) = 0;
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/**
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* Add a boolean property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddBooleanProperty(std::string_view key,
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std::function<bool()> getter,
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std::function<void(bool)> setter) = 0;
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/**
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* Add a double property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddDoubleProperty(std::string_view key,
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std::function<double()> getter,
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std::function<void(double)> setter) = 0;
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/**
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* Add a string property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddStringProperty(
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std::string_view key, std::function<std::string()> getter,
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std::function<void(std::string_view)> setter) = 0;
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/**
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* Add a boolean array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddBooleanArrayProperty(
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std::string_view key, std::function<std::vector<int>()> getter,
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std::function<void(wpi::span<const int>)> setter) = 0;
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/**
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* Add a double array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddDoubleArrayProperty(
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std::string_view key, std::function<std::vector<double>()> getter,
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std::function<void(wpi::span<const double>)> setter) = 0;
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/**
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* Add a string array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddStringArrayProperty(
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std::string_view key, std::function<std::vector<std::string>()> getter,
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std::function<void(wpi::span<const std::string>)> setter) = 0;
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/**
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* Add a raw property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddRawProperty(std::string_view key,
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std::function<std::string()> getter,
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std::function<void(std::string_view)> setter) = 0;
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/**
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* Add a NetworkTableValue property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddValueProperty(
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std::string_view key, std::function<std::shared_ptr<nt::Value>()> getter,
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std::function<void(std::shared_ptr<nt::Value>)> setter) = 0;
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/**
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* Add a string property (SmallString form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallStringProperty(
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std::string_view key,
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std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
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std::function<void(std::string_view)> setter) = 0;
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/**
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* Add a boolean array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallBooleanArrayProperty(
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std::string_view key,
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std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)>
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getter,
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std::function<void(wpi::span<const int>)> setter) = 0;
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/**
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* Add a double array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallDoubleArrayProperty(
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std::string_view key,
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std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
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getter,
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std::function<void(wpi::span<const double>)> setter) = 0;
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/**
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* Add a string array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallStringArrayProperty(
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std::string_view key,
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std::function<
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wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
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getter,
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std::function<void(wpi::span<const std::string>)> setter) = 0;
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/**
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* Add a raw property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallRawProperty(
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std::string_view key,
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std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
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std::function<void(std::string_view)> setter) = 0;
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/**
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* Get the network table.
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* @return The network table
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*/
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virtual std::shared_ptr<nt::NetworkTable> GetTable() = 0;
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};
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} // namespace frc
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@@ -11,17 +11,16 @@
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#include <utility>
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#include <vector>
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#include <networktables/NTSendableBuilder.h>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <networktables/NetworkTableValue.h>
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#include <wpi/SmallVector.h>
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#include <wpi/span.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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namespace frc {
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class SendableBuilderImpl : public SendableBuilder {
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class SendableBuilderImpl : public nt::NTSendableBuilder {
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public:
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SendableBuilderImpl() = default;
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~SendableBuilderImpl() override = default;
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@@ -46,7 +45,7 @@ class SendableBuilderImpl : public SendableBuilder {
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* Return whether this sendable has an associated table.
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* @return True if it has a table, false if not.
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*/
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bool HasTable() const;
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bool IsPublished() const override;
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/**
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* Return whether this sendable should be treated as an actuator.
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@@ -57,7 +56,7 @@ class SendableBuilderImpl : public SendableBuilder {
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/**
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* Update the network table values by calling the getters for all properties.
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*/
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void UpdateTable();
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void Update() override;
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/**
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* Hook setters for all properties.
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@@ -84,7 +83,7 @@ class SendableBuilderImpl : public SendableBuilder {
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/**
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* Clear properties.
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*/
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void ClearProperties();
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void ClearProperties() override;
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void SetSmartDashboardType(std::string_view type) override;
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void SetActuator(bool value) override;
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@@ -10,7 +10,6 @@
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#include <wpi/StringMap.h>
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#include <wpi/deprecated.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableChooserBase.h"
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namespace frc {
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@@ -112,7 +111,7 @@ class SendableChooser : public SendableChooserBase {
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*/
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auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
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void InitSendable(SendableBuilder& builder) override;
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void InitSendable(nt::NTSendableBuilder& builder) override;
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};
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} // namespace frc
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@@ -11,6 +11,8 @@
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#include <utility>
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#include <vector>
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#include <networktables/NTSendableBuilder.h>
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#include "frc/smartdashboard/SendableChooser.h"
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namespace frc {
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@@ -44,7 +46,7 @@ auto SendableChooser<T>::GetSelected()
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}
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template <class T>
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void SendableChooser<T>::InitSendable(SendableBuilder& builder) {
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void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
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builder.SetSmartDashboardType("String Chooser");
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builder.GetEntry(kInstance).SetDouble(m_instance);
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builder.AddStringArrayProperty(
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@@ -7,12 +7,11 @@
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#include <atomic>
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#include <string>
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#include <networktables/NTSendable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <wpi/SmallVector.h>
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#include <wpi/mutex.h>
|
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|
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#include "frc/smartdashboard/Sendable.h"
|
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#include "frc/smartdashboard/SendableHelper.h"
|
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#include <wpi/sendable/SendableHelper.h>
|
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|
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namespace frc {
|
||||
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@@ -22,8 +21,8 @@ namespace frc {
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* It contains static, non-templated variables to avoid their duplication in the
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* template class.
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*/
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class SendableChooserBase : public Sendable,
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public SendableHelper<SendableChooserBase> {
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class SendableChooserBase : public nt::NTSendable,
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public wpi::SendableHelper<SendableChooserBase> {
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public:
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SendableChooserBase();
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~SendableChooserBase() override = default;
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@@ -1,176 +0,0 @@
|
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// 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>
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||||
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||||
#include <wpi/deprecated.h>
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||||
|
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#include "frc/smartdashboard/SendableRegistry.h"
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|
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namespace frc {
|
||||
|
||||
/**
|
||||
* A helper class for use with objects that add themselves to SendableRegistry.
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* It takes care of properly calling Move() and Remove() on move and
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* destruction. No action is taken if the object is copied.
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* Use public inheritance with CRTP when using this class.
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* @tparam CRTP derived class
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*/
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template <typename Derived>
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class SendableHelper {
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public:
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SendableHelper(const SendableHelper& rhs) = default;
|
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SendableHelper& operator=(const SendableHelper& rhs) = default;
|
||||
|
||||
SendableHelper(SendableHelper&& rhs) {
|
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// it is safe to call Move() multiple times with the same rhs
|
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SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
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||||
static_cast<Derived*>(&rhs));
|
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}
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||||
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||||
SendableHelper& operator=(SendableHelper&& rhs) {
|
||||
// it is safe to call Move() multiple times with the same rhs
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||||
SendableRegistry::GetInstance().Move(static_cast<Derived*>(this),
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||||
static_cast<Derived*>(&rhs));
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||||
return *this;
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||||
}
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||||
|
||||
/**
|
||||
* Gets the name of this Sendable object.
|
||||
*
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||||
* @deprecated use SendableRegistry::GetName()
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||||
*
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||||
* @return Name
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||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::GetName()")
|
||||
std::string GetName() const {
|
||||
return SendableRegistry::GetInstance().GetName(
|
||||
static_cast<const Derived*>(this));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the name of this Sendable object.
|
||||
*
|
||||
* @deprecated use SendableRegistry::SetName()
|
||||
*
|
||||
* @param name name
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::SetName()")
|
||||
void SetName(std::string_view name) {
|
||||
SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this), name);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets both the subsystem name and device name of this Sendable object.
|
||||
*
|
||||
* @deprecated use SendableRegistry::SetName()
|
||||
*
|
||||
* @param subsystem subsystem name
|
||||
* @param name device name
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::SetName()")
|
||||
void SetName(std::string_view subsystem, std::string_view name) {
|
||||
SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
|
||||
subsystem, name);
|
||||
}
|
||||
|
||||
/**
|
||||
* Gets the subsystem name of this Sendable object.
|
||||
*
|
||||
* @deprecated use SendableRegistry::GetSubsystem().
|
||||
*
|
||||
* @return Subsystem name
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::GetSubsystem()")
|
||||
std::string GetSubsystem() const {
|
||||
return SendableRegistry::GetInstance().GetSubsystem(
|
||||
static_cast<const Derived*>(this));
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the subsystem name of this Sendable object.
|
||||
*
|
||||
* @deprecated use SendableRegistry::SetSubsystem()
|
||||
*
|
||||
* @param subsystem subsystem name
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::SetSubsystem()")
|
||||
void SetSubsystem(std::string_view subsystem) {
|
||||
SendableRegistry::GetInstance().SetSubsystem(static_cast<Derived*>(this),
|
||||
subsystem);
|
||||
}
|
||||
|
||||
protected:
|
||||
/**
|
||||
* Add a child component.
|
||||
*
|
||||
* @deprecated use SendableRegistry::AddChild()
|
||||
*
|
||||
* @param child child component
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::AddChild()")
|
||||
void AddChild(std::shared_ptr<Sendable> child) {
|
||||
SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
|
||||
child.get());
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a child component.
|
||||
*
|
||||
* @deprecated use SendableRegistry::AddChild()
|
||||
*
|
||||
* @param child child component
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::AddChild()")
|
||||
void AddChild(void* child) {
|
||||
SendableRegistry::GetInstance().AddChild(static_cast<Derived*>(this),
|
||||
child);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the name of the sensor with a channel number.
|
||||
*
|
||||
* @deprecated use SendableRegistry::SetName()
|
||||
*
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::SetName()")
|
||||
void SetName(std::string_view moduleType, int channel) {
|
||||
SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
|
||||
moduleType, channel);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sets the name of the sensor with a module and channel number.
|
||||
*
|
||||
* @deprecated use SendableRegistry::SetName()
|
||||
*
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param moduleNumber The number of the particular module type
|
||||
* @param channel The channel number the device is plugged into (usually
|
||||
* PWM)
|
||||
*/
|
||||
WPI_DEPRECATED("use SendableRegistry::SetName()")
|
||||
void SetName(std::string_view moduleType, int moduleNumber, int channel) {
|
||||
SendableRegistry::GetInstance().SetName(static_cast<Derived*>(this),
|
||||
moduleType, moduleNumber, channel);
|
||||
}
|
||||
|
||||
protected:
|
||||
SendableHelper() = default;
|
||||
|
||||
~SendableHelper() {
|
||||
// it is safe to call Remove() multiple times with the same object
|
||||
SendableRegistry::GetInstance().Remove(static_cast<Derived*>(this));
|
||||
}
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -1,338 +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 <wpi/function_ref.h>
|
||||
|
||||
namespace frc {
|
||||
|
||||
class Sendable;
|
||||
class SendableBuilderImpl;
|
||||
|
||||
/**
|
||||
* The SendableRegistry class is the public interface for registering sensors
|
||||
* and actuators for use on dashboards and LiveWindow.
|
||||
*/
|
||||
class SendableRegistry {
|
||||
public:
|
||||
SendableRegistry(const SendableRegistry&) = delete;
|
||||
SendableRegistry& operator=(const SendableRegistry&) = delete;
|
||||
|
||||
using UID = size_t;
|
||||
|
||||
/**
|
||||
* Gets an instance of the SendableRegistry class.
|
||||
*
|
||||
* This is a singleton to guarantee that there is only a single instance
|
||||
* regardless of how many times GetInstance is called.
|
||||
*/
|
||||
static SendableRegistry& GetInstance();
|
||||
|
||||
/**
|
||||
* Adds an object to the registry.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param name component name
|
||||
*/
|
||||
void Add(Sendable* sendable, std::string_view name);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
void Add(Sendable* sendable, std::string_view moduleType, int channel);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param moduleNumber The number of the particular module type
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
void Add(Sendable* sendable, std::string_view moduleType, int moduleNumber,
|
||||
int channel);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param subsystem subsystem name
|
||||
* @param name component name
|
||||
*/
|
||||
void Add(Sendable* sendable, std::string_view subsystem,
|
||||
std::string_view name);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry and LiveWindow.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param name component name
|
||||
*/
|
||||
void AddLW(Sendable* sendable, std::string_view name);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry and LiveWindow.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
void AddLW(Sendable* sendable, std::string_view moduleType, int channel);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry and LiveWindow.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param moduleNumber The number of the particular module type
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
void AddLW(Sendable* sendable, std::string_view moduleType, int moduleNumber,
|
||||
int channel);
|
||||
|
||||
/**
|
||||
* Adds an object to the registry and LiveWindow.
|
||||
*
|
||||
* @param sendable object to add
|
||||
* @param subsystem subsystem name
|
||||
* @param name component name
|
||||
*/
|
||||
void AddLW(Sendable* sendable, std::string_view subsystem,
|
||||
std::string_view name);
|
||||
|
||||
/**
|
||||
* Adds a child object to an object. Adds the child object to the registry
|
||||
* if it's not already present.
|
||||
*
|
||||
* @param parent parent object
|
||||
* @param child child object
|
||||
*/
|
||||
void AddChild(Sendable* parent, Sendable* child);
|
||||
|
||||
/**
|
||||
* Adds a child object to an object. Adds the child object to the registry
|
||||
* if it's not already present.
|
||||
*
|
||||
* @param parent parent object
|
||||
* @param child child object
|
||||
*/
|
||||
void AddChild(Sendable* parent, void* child);
|
||||
|
||||
/**
|
||||
* Removes an object from the registry.
|
||||
*
|
||||
* @param sendable object to remove
|
||||
* @return true if the object was removed; false if it was not present
|
||||
*/
|
||||
bool Remove(Sendable* sendable);
|
||||
|
||||
/**
|
||||
* Moves an object in the registry (for use in move constructors/assignments).
|
||||
*
|
||||
* @param to new object
|
||||
* @param from old object
|
||||
*/
|
||||
void Move(Sendable* to, Sendable* from);
|
||||
|
||||
/**
|
||||
* Determines if an object is in the registry.
|
||||
*
|
||||
* @param sendable object to check
|
||||
* @return True if in registry, false if not.
|
||||
*/
|
||||
bool Contains(const Sendable* sendable) const;
|
||||
|
||||
/**
|
||||
* Gets the name of an object.
|
||||
*
|
||||
* @param sendable object
|
||||
* @return Name (empty if object is not in registry)
|
||||
*/
|
||||
std::string GetName(const Sendable* sendable) const;
|
||||
|
||||
/**
|
||||
* Sets the name of an object.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param name name
|
||||
*/
|
||||
void SetName(Sendable* sendable, std::string_view name);
|
||||
|
||||
/**
|
||||
* Sets the name of an object with a channel number.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
void SetName(Sendable* sendable, std::string_view moduleType, int channel);
|
||||
|
||||
/**
|
||||
* Sets the name of an object with a module and channel number.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param moduleType A string that defines the module name in the label for
|
||||
* the value
|
||||
* @param moduleNumber The number of the particular module type
|
||||
* @param channel The channel number the device is plugged into
|
||||
*/
|
||||
void SetName(Sendable* sendable, std::string_view moduleType,
|
||||
int moduleNumber, int channel);
|
||||
|
||||
/**
|
||||
* Sets both the subsystem name and device name of an object.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param subsystem subsystem name
|
||||
* @param name device name
|
||||
*/
|
||||
void SetName(Sendable* sendable, std::string_view subsystem,
|
||||
std::string_view name);
|
||||
|
||||
/**
|
||||
* Gets the subsystem name of an object.
|
||||
*
|
||||
* @param sendable object
|
||||
* @return Subsystem name (empty if object is not in registry)
|
||||
*/
|
||||
std::string GetSubsystem(const Sendable* sendable) const;
|
||||
|
||||
/**
|
||||
* Sets the subsystem name of an object.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param subsystem subsystem name
|
||||
*/
|
||||
void SetSubsystem(Sendable* sendable, std::string_view subsystem);
|
||||
|
||||
/**
|
||||
* Gets a unique handle for setting/getting data with SetData() and GetData().
|
||||
*
|
||||
* @return Handle
|
||||
*/
|
||||
int GetDataHandle();
|
||||
|
||||
/**
|
||||
* Associates arbitrary data with an object in the registry.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param handle data handle returned by GetDataHandle()
|
||||
* @param data data to set
|
||||
* @return Previous data (may be null)
|
||||
*/
|
||||
std::shared_ptr<void> SetData(Sendable* sendable, int handle,
|
||||
std::shared_ptr<void> data);
|
||||
|
||||
/**
|
||||
* Gets arbitrary data associated with an object in the registry.
|
||||
*
|
||||
* @param sendable object
|
||||
* @param handle data handle returned by GetDataHandle()
|
||||
* @return data (may be null if none associated)
|
||||
*/
|
||||
std::shared_ptr<void> GetData(Sendable* sendable, int handle);
|
||||
|
||||
/**
|
||||
* Enables LiveWindow for an object.
|
||||
*
|
||||
* @param sendable object
|
||||
*/
|
||||
void EnableLiveWindow(Sendable* sendable);
|
||||
|
||||
/**
|
||||
* Disables LiveWindow for an object.
|
||||
*
|
||||
* @param sendable object
|
||||
*/
|
||||
void DisableLiveWindow(Sendable* sendable);
|
||||
|
||||
/**
|
||||
* Get unique id for an object. Since objects can move, use this instead
|
||||
* of storing Sendable* directly if ownership is in question.
|
||||
*
|
||||
* @param sendable object
|
||||
* @return unique id
|
||||
*/
|
||||
UID GetUniqueId(Sendable* sendable);
|
||||
|
||||
/**
|
||||
* Get sendable object for a given unique id.
|
||||
*
|
||||
* @param uid unique id
|
||||
* @return sendable object (may be null)
|
||||
*/
|
||||
Sendable* GetSendable(UID uid);
|
||||
|
||||
/**
|
||||
* Publishes an object in the registry to a network table.
|
||||
*
|
||||
* @param sendableUid sendable unique id
|
||||
* @param table network table
|
||||
*/
|
||||
void Publish(UID sendableUid, std::shared_ptr<nt::NetworkTable> table);
|
||||
|
||||
/**
|
||||
* Updates network table information from an object.
|
||||
*
|
||||
* @param sendableUid sendable unique id
|
||||
*/
|
||||
void Update(UID sendableUid);
|
||||
|
||||
/**
|
||||
* Data passed to ForeachLiveWindow() callback function
|
||||
*/
|
||||
struct CallbackData {
|
||||
CallbackData(Sendable* sendable_, std::string_view name_,
|
||||
std::string_view subsystem_, Sendable* parent_,
|
||||
std::shared_ptr<void>& data_, SendableBuilderImpl& builder_)
|
||||
: sendable(sendable_),
|
||||
name(name_),
|
||||
subsystem(subsystem_),
|
||||
parent(parent_),
|
||||
data(data_),
|
||||
builder(builder_) {}
|
||||
|
||||
Sendable* sendable;
|
||||
std::string_view name;
|
||||
std::string_view subsystem;
|
||||
Sendable* parent;
|
||||
std::shared_ptr<void>& data;
|
||||
SendableBuilderImpl& builder;
|
||||
};
|
||||
|
||||
/**
|
||||
* Iterates over LiveWindow-enabled objects in the registry.
|
||||
* It is *not* safe to call other SendableRegistry functions from the
|
||||
* callback (this will likely deadlock).
|
||||
*
|
||||
* @param dataHandle data handle to get data pointer passed to callback
|
||||
* @param callback function to call for each object
|
||||
*/
|
||||
void ForeachLiveWindow(
|
||||
int dataHandle,
|
||||
wpi::function_ref<void(CallbackData& cbdata)> callback) const;
|
||||
|
||||
private:
|
||||
SendableRegistry();
|
||||
|
||||
struct Impl;
|
||||
std::unique_ptr<Impl> m_impl;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
@@ -11,15 +11,16 @@
|
||||
|
||||
#include <networktables/NetworkTableEntry.h>
|
||||
#include <networktables/NetworkTableValue.h>
|
||||
#include <wpi/sendable/Sendable.h>
|
||||
#include <wpi/sendable/SendableHelper.h>
|
||||
#include <wpi/span.h>
|
||||
|
||||
#include "frc/smartdashboard/ListenerExecutor.h"
|
||||
#include "frc/smartdashboard/Sendable.h"
|
||||
#include "frc/smartdashboard/SendableHelper.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
|
||||
class SmartDashboard : public wpi::Sendable,
|
||||
public wpi::SendableHelper<SmartDashboard> {
|
||||
public:
|
||||
static void init();
|
||||
|
||||
@@ -115,7 +116,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
|
||||
* @param keyName the key
|
||||
* @param value the value
|
||||
*/
|
||||
static void PutData(std::string_view key, Sendable* data);
|
||||
static void PutData(std::string_view key, wpi::Sendable* data);
|
||||
|
||||
/**
|
||||
* Maps the specified key (where the key is the name of the Sendable)
|
||||
@@ -129,7 +130,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
|
||||
*
|
||||
* @param value the value
|
||||
*/
|
||||
static void PutData(Sendable* value);
|
||||
static void PutData(wpi::Sendable* value);
|
||||
|
||||
/**
|
||||
* Returns the value at the specified key.
|
||||
@@ -137,7 +138,7 @@ class SmartDashboard : public Sendable, public SendableHelper<SmartDashboard> {
|
||||
* @param keyName the key
|
||||
* @return the value
|
||||
*/
|
||||
static Sendable* GetData(std::string_view keyName);
|
||||
static wpi::Sendable* GetData(std::string_view keyName);
|
||||
|
||||
/**
|
||||
* Maps the specified key to the specified value in this table.
|
||||
|
||||
Reference in New Issue
Block a user