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SCRIPT Move java files
This commit is contained in:
PJ Reiniger
committed by
Peter Johnson
Peter Johnson
parent
7ca1be9bae
commit
c350c5f112
@@ -0,0 +1,685 @@
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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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package edu.wpi.first.wpilibj.smartdashboard;
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import edu.wpi.first.networktables.BooleanArrayPublisher;
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import edu.wpi.first.networktables.BooleanArraySubscriber;
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import edu.wpi.first.networktables.BooleanArrayTopic;
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import edu.wpi.first.networktables.BooleanPublisher;
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import edu.wpi.first.networktables.BooleanSubscriber;
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import edu.wpi.first.networktables.BooleanTopic;
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import edu.wpi.first.networktables.DoubleArrayPublisher;
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import edu.wpi.first.networktables.DoubleArraySubscriber;
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import edu.wpi.first.networktables.DoubleArrayTopic;
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import edu.wpi.first.networktables.DoublePublisher;
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import edu.wpi.first.networktables.DoubleSubscriber;
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import edu.wpi.first.networktables.DoubleTopic;
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import edu.wpi.first.networktables.FloatArrayPublisher;
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import edu.wpi.first.networktables.FloatArraySubscriber;
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import edu.wpi.first.networktables.FloatArrayTopic;
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import edu.wpi.first.networktables.FloatPublisher;
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import edu.wpi.first.networktables.FloatSubscriber;
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import edu.wpi.first.networktables.FloatTopic;
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import edu.wpi.first.networktables.IntegerArrayPublisher;
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import edu.wpi.first.networktables.IntegerArraySubscriber;
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import edu.wpi.first.networktables.IntegerArrayTopic;
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import edu.wpi.first.networktables.IntegerPublisher;
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import edu.wpi.first.networktables.IntegerSubscriber;
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import edu.wpi.first.networktables.IntegerTopic;
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import edu.wpi.first.networktables.NTSendableBuilder;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.PubSubOption;
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import edu.wpi.first.networktables.Publisher;
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import edu.wpi.first.networktables.RawPublisher;
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import edu.wpi.first.networktables.RawSubscriber;
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import edu.wpi.first.networktables.RawTopic;
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import edu.wpi.first.networktables.StringArrayPublisher;
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import edu.wpi.first.networktables.StringArraySubscriber;
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import edu.wpi.first.networktables.StringArrayTopic;
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import edu.wpi.first.networktables.StringPublisher;
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import edu.wpi.first.networktables.StringSubscriber;
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import edu.wpi.first.networktables.StringTopic;
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import edu.wpi.first.networktables.Subscriber;
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import edu.wpi.first.networktables.Topic;
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import edu.wpi.first.util.function.BooleanConsumer;
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import edu.wpi.first.util.function.FloatConsumer;
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import edu.wpi.first.util.function.FloatSupplier;
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import edu.wpi.first.wpilibj.RobotController;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.function.BooleanSupplier;
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import java.util.function.Consumer;
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import java.util.function.DoubleConsumer;
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import java.util.function.DoubleSupplier;
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import java.util.function.LongConsumer;
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import java.util.function.LongSupplier;
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import java.util.function.Supplier;
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/** Implementation detail for SendableBuilder. */
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public class SendableBuilderImpl implements NTSendableBuilder {
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@FunctionalInterface
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private interface TimedConsumer<T> {
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void accept(T value, long time);
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}
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private static final class Property<P extends Publisher, S extends Subscriber>
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implements AutoCloseable {
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@Override
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@SuppressWarnings("PMD.AvoidCatchingGenericException")
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public void close() {
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try {
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if (m_pub != null) {
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m_pub.close();
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}
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if (m_sub != null) {
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m_sub.close();
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}
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} catch (Exception e) {
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// ignore
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}
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}
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void update(boolean controllable, long time) {
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if (controllable && m_sub != null && m_updateLocal != null) {
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m_updateLocal.accept(m_sub);
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}
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if (m_pub != null && m_updateNetwork != null) {
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m_updateNetwork.accept(m_pub, time);
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}
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}
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P m_pub;
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S m_sub;
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TimedConsumer<P> m_updateNetwork;
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Consumer<S> m_updateLocal;
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}
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private final List<Property<?, ?>> m_properties = new ArrayList<>();
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private final List<Runnable> m_updateTables = new ArrayList<>();
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private NetworkTable m_table;
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private boolean m_controllable;
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private boolean m_actuator;
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private BooleanPublisher m_controllablePub;
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private StringPublisher m_typePub;
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private BooleanPublisher m_actuatorPub;
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private final List<AutoCloseable> m_closeables = new ArrayList<>();
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/** Default constructor. */
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public SendableBuilderImpl() {}
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@Override
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@SuppressWarnings("PMD.AvoidCatchingGenericException")
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public void close() {
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if (m_controllablePub != null) {
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m_controllablePub.close();
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}
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if (m_typePub != null) {
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m_typePub.close();
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}
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if (m_actuatorPub != null) {
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m_actuatorPub.close();
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}
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for (Property<?, ?> property : m_properties) {
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property.close();
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}
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for (AutoCloseable closeable : m_closeables) {
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try {
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closeable.close();
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} catch (Exception e) {
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// ignore
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}
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}
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}
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/**
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* Set the network table. Must be called prior to any Add* functions being called.
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*
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* @param table Network table
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*/
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public void setTable(NetworkTable table) {
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m_table = table;
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m_controllablePub = table.getBooleanTopic(".controllable").publish();
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m_controllablePub.setDefault(false);
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}
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/**
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* Get the network table.
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*
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* @return The network table
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*/
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@Override
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public NetworkTable getTable() {
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return m_table;
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}
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/**
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* Return whether this sendable has an associated table.
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*
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* @return True if it has a table, false if not.
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*/
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@Override
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public boolean isPublished() {
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return m_table != null;
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}
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/**
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* Return whether this sendable should be treated as an actuator.
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*
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* @return True if actuator, false if not.
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*/
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public boolean isActuator() {
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return m_actuator;
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}
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/** Update the network table values by calling the getters for all properties. */
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@Override
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public void update() {
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long time = RobotController.getTime();
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for (Property<?, ?> property : m_properties) {
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property.update(m_controllable, time);
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}
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for (Runnable updateTable : m_updateTables) {
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updateTable.run();
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}
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}
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/** Hook setters for all properties. */
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public void startListeners() {
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m_controllable = true;
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if (m_controllablePub != null) {
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m_controllablePub.set(true);
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}
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}
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/** Unhook setters for all properties. */
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public void stopListeners() {
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m_controllable = false;
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if (m_controllablePub != null) {
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m_controllablePub.set(false);
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}
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}
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/** Clear properties. */
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@Override
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public void clearProperties() {
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stopListeners();
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for (Property<?, ?> property : m_properties) {
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property.close();
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}
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m_properties.clear();
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}
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@Override
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public void addCloseable(AutoCloseable closeable) {
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m_closeables.add(closeable);
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}
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/**
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* Set the string representation of the named data type that will be used by the smart dashboard
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* for this sendable.
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*
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* @param type data type
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*/
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@Override
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public void setSmartDashboardType(String type) {
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if (m_typePub == null) {
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m_typePub =
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m_table
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.getStringTopic(".type")
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.publishEx(StringTopic.kTypeString, "{\"SmartDashboard\":\"" + type + "\"}");
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}
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m_typePub.set(type);
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}
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/**
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* Set a flag indicating if this sendable should be treated as an actuator. By default, this flag
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* 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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@Override
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public void setActuator(boolean value) {
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if (m_actuatorPub == null) {
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m_actuatorPub = m_table.getBooleanTopic(".actuator").publish();
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}
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m_actuatorPub.set(value);
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m_actuator = value;
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}
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/**
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* Set the function that should be called to update the network table for things other than
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* properties. Note this function is not passed the network table object; instead it should use
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* the topics returned by getTopic().
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*
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* @param func function
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*/
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@Override
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public void setUpdateTable(Runnable func) {
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m_updateTables.add(func);
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}
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/**
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* Add a property without getters or setters. This can be used to get entry handles for the
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* 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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@Override
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public Topic getTopic(String key) {
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return m_table.getTopic(key);
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}
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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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@Override
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public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter) {
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Property<BooleanPublisher, BooleanSubscriber> property = new Property<>();
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BooleanTopic topic = m_table.getBooleanTopic(key);
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if (getter != null) {
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property.m_pub = topic.publish();
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property.m_updateNetwork = (pub, time) -> pub.set(getter.getAsBoolean(), time);
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}
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if (setter != null) {
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property.m_sub = topic.subscribe(false, PubSubOption.excludePublisher(property.m_pub));
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property.m_updateLocal =
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sub -> {
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for (boolean val : sub.readQueueValues()) {
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setter.accept(val);
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}
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};
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}
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m_properties.add(property);
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}
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@Override
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public void publishConstBoolean(String key, boolean value) {
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Property<BooleanPublisher, BooleanSubscriber> property = new Property<>();
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BooleanTopic topic = m_table.getBooleanTopic(key);
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property.m_pub = topic.publish();
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property.m_pub.set(value);
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m_properties.add(property);
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}
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/**
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* Add an integer 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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@Override
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public void addIntegerProperty(String key, LongSupplier getter, LongConsumer setter) {
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Property<IntegerPublisher, IntegerSubscriber> property = new Property<>();
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IntegerTopic topic = m_table.getIntegerTopic(key);
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if (getter != null) {
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property.m_pub = topic.publish();
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property.m_updateNetwork = (pub, time) -> pub.set(getter.getAsLong(), time);
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}
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if (setter != null) {
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property.m_sub = topic.subscribe(0, PubSubOption.excludePublisher(property.m_pub));
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property.m_updateLocal =
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sub -> {
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for (long val : sub.readQueueValues()) {
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setter.accept(val);
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}
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};
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}
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m_properties.add(property);
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}
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@Override
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public void publishConstInteger(String key, long value) {
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Property<IntegerPublisher, IntegerSubscriber> property = new Property<>();
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IntegerTopic topic = m_table.getIntegerTopic(key);
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property.m_pub = topic.publish();
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property.m_pub.set(value);
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m_properties.add(property);
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}
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/**
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* Add a float 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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@Override
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public void addFloatProperty(String key, FloatSupplier getter, FloatConsumer setter) {
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Property<FloatPublisher, FloatSubscriber> property = new Property<>();
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FloatTopic topic = m_table.getFloatTopic(key);
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if (getter != null) {
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property.m_pub = topic.publish();
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property.m_updateNetwork = (pub, time) -> pub.set(getter.getAsFloat(), time);
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}
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if (setter != null) {
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property.m_sub = topic.subscribe(0.0f, PubSubOption.excludePublisher(property.m_pub));
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property.m_updateLocal =
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sub -> {
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for (float val : sub.readQueueValues()) {
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setter.accept(val);
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}
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};
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}
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m_properties.add(property);
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}
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@Override
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public void publishConstFloat(String key, float value) {
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Property<FloatPublisher, FloatSubscriber> property = new Property<>();
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FloatTopic topic = m_table.getFloatTopic(key);
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property.m_pub = topic.publish();
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property.m_pub.set(value);
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m_properties.add(property);
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}
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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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@Override
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public void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter) {
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Property<DoublePublisher, DoubleSubscriber> property = new Property<>();
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DoubleTopic topic = m_table.getDoubleTopic(key);
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if (getter != null) {
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property.m_pub = topic.publish();
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property.m_updateNetwork = (pub, time) -> pub.set(getter.getAsDouble(), time);
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}
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if (setter != null) {
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property.m_sub = topic.subscribe(0.0, PubSubOption.excludePublisher(property.m_pub));
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property.m_updateLocal =
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sub -> {
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for (double val : sub.readQueueValues()) {
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setter.accept(val);
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}
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};
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}
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m_properties.add(property);
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}
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@Override
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public void publishConstDouble(String key, double value) {
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Property<DoublePublisher, DoubleSubscriber> property = new Property<>();
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DoubleTopic topic = m_table.getDoubleTopic(key);
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property.m_pub = topic.publish();
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property.m_pub.set(value);
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m_properties.add(property);
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}
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||||
/**
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* Add a string property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
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||||
public void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter) {
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||||
Property<StringPublisher, StringSubscriber> property = new Property<>();
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||||
StringTopic topic = m_table.getStringTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish();
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||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub = topic.subscribe("", PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (String val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
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||||
m_properties.add(property);
|
||||
}
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||||
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||||
@Override
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||||
public void publishConstString(String key, String value) {
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||||
Property<StringPublisher, StringSubscriber> property = new Property<>();
|
||||
StringTopic topic = m_table.getStringTopic(key);
|
||||
property.m_pub = topic.publish();
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a boolean array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
|
||||
public void addBooleanArrayProperty(
|
||||
String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter) {
|
||||
Property<BooleanArrayPublisher, BooleanArraySubscriber> property = new Property<>();
|
||||
BooleanArrayTopic topic = m_table.getBooleanArrayTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish();
|
||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub =
|
||||
topic.subscribe(new boolean[] {}, PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (boolean[] val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void publishConstBooleanArray(String key, boolean[] value) {
|
||||
Property<BooleanArrayPublisher, BooleanArraySubscriber> property = new Property<>();
|
||||
BooleanArrayTopic topic = m_table.getBooleanArrayTopic(key);
|
||||
property.m_pub = topic.publish();
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add an integer array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
|
||||
public void addIntegerArrayProperty(
|
||||
String key, Supplier<long[]> getter, Consumer<long[]> setter) {
|
||||
Property<IntegerArrayPublisher, IntegerArraySubscriber> property = new Property<>();
|
||||
IntegerArrayTopic topic = m_table.getIntegerArrayTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish();
|
||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub =
|
||||
topic.subscribe(new long[] {}, PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (long[] val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void publishConstIntegerArray(String key, long[] value) {
|
||||
Property<IntegerArrayPublisher, IntegerArraySubscriber> property = new Property<>();
|
||||
IntegerArrayTopic topic = m_table.getIntegerArrayTopic(key);
|
||||
property.m_pub = topic.publish();
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a float array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
|
||||
public void addFloatArrayProperty(
|
||||
String key, Supplier<float[]> getter, Consumer<float[]> setter) {
|
||||
Property<FloatArrayPublisher, FloatArraySubscriber> property = new Property<>();
|
||||
FloatArrayTopic topic = m_table.getFloatArrayTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish();
|
||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub =
|
||||
topic.subscribe(new float[] {}, PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (float[] val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void publishConstFloatArray(String key, float[] value) {
|
||||
Property<FloatArrayPublisher, FloatArraySubscriber> property = new Property<>();
|
||||
FloatArrayTopic topic = m_table.getFloatArrayTopic(key);
|
||||
property.m_pub = topic.publish();
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a double array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
|
||||
public void addDoubleArrayProperty(
|
||||
String key, Supplier<double[]> getter, Consumer<double[]> setter) {
|
||||
Property<DoubleArrayPublisher, DoubleArraySubscriber> property = new Property<>();
|
||||
DoubleArrayTopic topic = m_table.getDoubleArrayTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish();
|
||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub =
|
||||
topic.subscribe(new double[] {}, PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (double[] val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void publishConstDoubleArray(String key, double[] value) {
|
||||
Property<DoubleArrayPublisher, DoubleArraySubscriber> property = new Property<>();
|
||||
DoubleArrayTopic topic = m_table.getDoubleArrayTopic(key);
|
||||
property.m_pub = topic.publish();
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a string array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
|
||||
public void addStringArrayProperty(
|
||||
String key, Supplier<String[]> getter, Consumer<String[]> setter) {
|
||||
Property<StringArrayPublisher, StringArraySubscriber> property = new Property<>();
|
||||
StringArrayTopic topic = m_table.getStringArrayTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish();
|
||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub =
|
||||
topic.subscribe(new String[] {}, PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (String[] val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void publishConstStringArray(String key, String[] value) {
|
||||
Property<StringArrayPublisher, StringArraySubscriber> property = new Property<>();
|
||||
StringArrayTopic topic = m_table.getStringArrayTopic(key);
|
||||
property.m_pub = topic.publish();
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
/**
|
||||
* Add a raw property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param typeString type string
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
@Override
|
||||
public void addRawProperty(
|
||||
String key, String typeString, Supplier<byte[]> getter, Consumer<byte[]> setter) {
|
||||
Property<RawPublisher, RawSubscriber> property = new Property<>();
|
||||
RawTopic topic = m_table.getRawTopic(key);
|
||||
if (getter != null) {
|
||||
property.m_pub = topic.publish(typeString);
|
||||
property.m_updateNetwork = (pub, time) -> pub.set(getter.get(), time);
|
||||
}
|
||||
if (setter != null) {
|
||||
property.m_sub =
|
||||
topic.subscribe(typeString, new byte[] {}, PubSubOption.excludePublisher(property.m_pub));
|
||||
property.m_updateLocal =
|
||||
sub -> {
|
||||
for (byte[] val : sub.readQueueValues()) {
|
||||
setter.accept(val);
|
||||
}
|
||||
};
|
||||
}
|
||||
m_properties.add(property);
|
||||
}
|
||||
|
||||
@Override
|
||||
public void publishConstRaw(String key, String typestring, byte[] value) {
|
||||
Property<RawPublisher, RawSubscriber> property = new Property<>();
|
||||
RawTopic topic = m_table.getRawTopic(key);
|
||||
property.m_pub = topic.publish(typestring);
|
||||
property.m_pub.set(value);
|
||||
m_properties.add(property);
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user