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https://github.com/wpilibsuite/allwpilib
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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
346
wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
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346
wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
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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 "wpi/function_ref.h"
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namespace wpi {
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class Sendable;
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class SendableBuilder;
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/**
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* The SendableRegistry class is the public interface for registering sensors
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* and actuators for use on dashboards and LiveWindow.
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*/
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class SendableRegistry {
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public:
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SendableRegistry(const SendableRegistry&) = delete;
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SendableRegistry& operator=(const SendableRegistry&) = delete;
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using UID = size_t;
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/**
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* Gets an instance of the SendableRegistry class.
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*
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* This is a singleton to guarantee that there is only a single instance
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* regardless of how many times GetInstance is called.
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*/
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static SendableRegistry& GetInstance();
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/**
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* Sets the factory for LiveWindow builders.
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*
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* @param factory factory function
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*/
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void SetLiveWindowBuilderFactory(
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std::function<std::unique_ptr<SendableBuilder>()> factory);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param name component name
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*/
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void Add(Sendable* sendable, std::string_view name);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param channel The channel number the device is plugged into
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*/
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void Add(Sendable* sendable, std::string_view moduleType, int channel);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into
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*/
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void Add(Sendable* sendable, std::string_view moduleType, int moduleNumber,
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int channel);
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/**
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* Adds an object to the registry.
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*
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* @param sendable object to add
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* @param subsystem subsystem name
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* @param name component name
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*/
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void Add(Sendable* sendable, std::string_view subsystem,
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std::string_view name);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param name component name
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*/
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void AddLW(Sendable* sendable, std::string_view name);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param channel The channel number the device is plugged into
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*/
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void AddLW(Sendable* sendable, std::string_view moduleType, int channel);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into
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*/
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void AddLW(Sendable* sendable, std::string_view moduleType, int moduleNumber,
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int channel);
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/**
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* Adds an object to the registry and LiveWindow.
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*
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* @param sendable object to add
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* @param subsystem subsystem name
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* @param name component name
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*/
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void AddLW(Sendable* sendable, std::string_view subsystem,
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std::string_view name);
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/**
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* Adds a child object to an object. Adds the child object to the registry
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* if it's not already present.
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*
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* @param parent parent object
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* @param child child object
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*/
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void AddChild(Sendable* parent, Sendable* child);
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/**
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* Adds a child object to an object. Adds the child object to the registry
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* if it's not already present.
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*
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* @param parent parent object
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* @param child child object
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*/
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void AddChild(Sendable* parent, void* child);
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/**
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* Removes an object from the registry.
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*
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* @param sendable object to remove
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* @return true if the object was removed; false if it was not present
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*/
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bool Remove(Sendable* sendable);
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/**
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* Moves an object in the registry (for use in move constructors/assignments).
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*
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* @param to new object
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* @param from old object
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*/
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void Move(Sendable* to, Sendable* from);
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/**
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* Determines if an object is in the registry.
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*
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* @param sendable object to check
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* @return True if in registry, false if not.
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*/
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bool Contains(const Sendable* sendable) const;
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/**
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* Gets the name of an object.
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*
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* @param sendable object
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* @return Name (empty if object is not in registry)
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*/
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std::string GetName(const Sendable* sendable) const;
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/**
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* Sets the name of an object.
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*
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* @param sendable object
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* @param name name
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*/
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void SetName(Sendable* sendable, std::string_view name);
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/**
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* Sets the name of an object with a channel number.
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*
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* @param sendable object
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param channel The channel number the device is plugged into
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*/
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void SetName(Sendable* sendable, std::string_view moduleType, int channel);
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/**
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* Sets the name of an object with a module and channel number.
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*
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* @param sendable object
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into
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*/
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void SetName(Sendable* sendable, std::string_view moduleType,
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int moduleNumber, int channel);
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/**
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* Sets both the subsystem name and device name of an object.
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*
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* @param sendable object
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* @param subsystem subsystem name
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* @param name device name
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*/
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void SetName(Sendable* sendable, std::string_view subsystem,
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std::string_view name);
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/**
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* Gets the subsystem name of an object.
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*
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* @param sendable object
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* @return Subsystem name (empty if object is not in registry)
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*/
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std::string GetSubsystem(const Sendable* sendable) const;
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/**
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* Sets the subsystem name of an object.
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*
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* @param sendable object
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* @param subsystem subsystem name
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*/
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void SetSubsystem(Sendable* sendable, std::string_view subsystem);
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/**
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* Gets a unique handle for setting/getting data with SetData() and GetData().
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*
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* @return Handle
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*/
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int GetDataHandle();
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/**
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* Associates arbitrary data with an object in the registry.
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*
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* @param sendable object
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* @param handle data handle returned by GetDataHandle()
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* @param data data to set
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* @return Previous data (may be null)
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*/
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std::shared_ptr<void> SetData(Sendable* sendable, int handle,
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std::shared_ptr<void> data);
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/**
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* Gets arbitrary data associated with an object in the registry.
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*
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* @param sendable object
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* @param handle data handle returned by GetDataHandle()
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* @return data (may be null if none associated)
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*/
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std::shared_ptr<void> GetData(Sendable* sendable, int handle);
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/**
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* Enables LiveWindow for an object.
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*
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* @param sendable object
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*/
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void EnableLiveWindow(Sendable* sendable);
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/**
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* Disables LiveWindow for an object.
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*
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* @param sendable object
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*/
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void DisableLiveWindow(Sendable* sendable);
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/**
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* Get unique id for an object. Since objects can move, use this instead
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* of storing Sendable* directly if ownership is in question.
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*
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* @param sendable object
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* @return unique id
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*/
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UID GetUniqueId(Sendable* sendable);
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/**
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* Get sendable object for a given unique id.
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*
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* @param uid unique id
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* @return sendable object (may be null)
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*/
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Sendable* GetSendable(UID uid);
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/**
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* Publishes an object in the registry.
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*
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* @param sendableUid sendable unique id
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* @param builder publisher backend
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*/
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void Publish(UID sendableUid, std::unique_ptr<SendableBuilder> builder);
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/**
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* Updates published information from an object.
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*
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* @param sendableUid sendable unique id
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*/
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void Update(UID sendableUid);
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/**
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* Data passed to ForeachLiveWindow() callback function
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*/
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struct CallbackData {
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CallbackData(Sendable* sendable_, std::string_view name_,
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std::string_view subsystem_, wpi::Sendable* parent_,
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std::shared_ptr<void>& data_, SendableBuilder& builder_)
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: sendable(sendable_),
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name(name_),
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subsystem(subsystem_),
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parent(parent_),
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data(data_),
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builder(builder_) {}
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Sendable* sendable;
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std::string_view name;
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std::string_view subsystem;
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Sendable* parent;
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std::shared_ptr<void>& data;
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SendableBuilder& builder;
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};
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/**
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* Iterates over LiveWindow-enabled objects in the registry.
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* It is *not* safe to call other SendableRegistry functions from the
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* callback (this will likely deadlock).
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*
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* @param dataHandle data handle to get data pointer passed to callback
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* @param callback function to call for each object
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*/
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void ForeachLiveWindow(
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int dataHandle,
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wpi::function_ref<void(CallbackData& cbdata)> callback) const;
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private:
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SendableRegistry();
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struct Impl;
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std::unique_ptr<Impl> m_impl;
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};
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} // namespace wpi
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