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wpilibj/src/main/java/org/wpilib/smartdashboard/MechanismObject2d.java

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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.
+
+package edu.wpi.first.wpilibj.smartdashboard;
+
+import edu.wpi.first.networktables.NetworkTable;
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * Common base class for all Mechanism2d node types.
+ *
+ * <p>To append another node, call {@link #append(MechanismObject2d)}. Objects that aren't appended
+ * to a published {@link Mechanism2d} container are nonfunctional.
+ *
+ * @see Mechanism2d
+ */
+public abstract class MechanismObject2d implements AutoCloseable {
+  /** Relative to parent. */
+  private final String m_name;
+
+  private NetworkTable m_table;
+  private final Map<String, MechanismObject2d> m_objects = new HashMap<>(1);
+
+  /**
+   * Create a new Mechanism node object.
+   *
+   * @param name the node's name, must be unique.
+   */
+  protected MechanismObject2d(String name) {
+    m_name = name;
+  }
+
+  @Override
+  public void close() {
+    for (MechanismObject2d obj : m_objects.values()) {
+      obj.close();
+    }
+  }
+
+  /**
+   * Append a Mechanism object that is based on this one.
+   *
+   * @param <T> The object type.
+   * @param object the object to add.
+   * @return the object given as a parameter, useful for variable assignments and call chaining.
+   * @throws UnsupportedOperationException if the object's name is already used - object names must
+   *     be unique.
+   */
+  public final synchronized <T extends MechanismObject2d> T append(T object) {
+    if (m_objects.containsKey(object.getName())) {
+      throw new UnsupportedOperationException("Mechanism object names must be unique!");
+    }
+    m_objects.put(object.getName(), object);
+    if (m_table != null) {
+      object.update(m_table.getSubTable(object.getName()));
+    }
+    return object;
+  }
+
+  final synchronized void update(NetworkTable table) {
+    m_table = table;
+    updateEntries(m_table);
+    for (MechanismObject2d obj : m_objects.values()) {
+      obj.update(m_table.getSubTable(obj.m_name));
+    }
+  }
+
+  /**
+   * Update this object's entries with new ones from a new table.
+   *
+   * @param table the new table.
+   */
+  protected abstract void updateEntries(NetworkTable table);
+
+  /**
+   * Retrieve the object's name.
+   *
+   * @return the object's name relative to its parent.
+   */
+  public final String getName() {
+    return m_name;
+  }
+}