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Add callback handlers for LiveWindow (#2053)

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Fixes #2223
This commit is contained in:
Thad House
2020-01-12 22:37:24 -08:00
committed by Peter Johnson
parent 73302f6162
commit cb66bcca3c
7 changed files with 75 additions and 3 deletions
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14
wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
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@@ -9,6 +9,7 @@
#include <frc/RobotState.h>
#include <frc/WPIErrors.h>
#include <frc/livewindow/LiveWindow.h>
#include <frc/smartdashboard/SendableBuilder.h>
#include <frc/smartdashboard/SendableRegistry.h>
#include <hal/FRCUsageReporting.h>
@@ -67,9 +68,20 @@ CommandScheduler::CommandScheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand2_Scheduler);
frc::SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
this->Disable();
this->CancelAll();
};
scheduler->disabled = [this] { this->Enable(); };
}
CommandScheduler::~CommandScheduler() {}
CommandScheduler::~CommandScheduler() {
frc::SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;
}
CommandScheduler& CommandScheduler::GetInstance() {
static CommandScheduler scheduler;