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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
wpilibOldCommands/src/main/native/cpp/commands/Scheduler.cpp
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@@ -20,6 +20,7 @@
#include "frc/buttons/ButtonScheduler.h"
#include "frc/commands/Command.h"
#include "frc/commands/Subsystem.h"
#include "frc/livewindow/LiveWindow.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
@@ -198,9 +199,20 @@ Scheduler::Scheduler() : m_impl(new Impl) {
HAL_Report(HALUsageReporting::kResourceType_Command,
HALUsageReporting::kCommand_Scheduler);
SendableRegistry::GetInstance().AddLW(this, "Scheduler");
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = [this] {
this->SetEnabled(false);
this->RemoveAll();
};
scheduler->disabled = [this] { this->SetEnabled(true); };
}
Scheduler::~Scheduler() {}
Scheduler::~Scheduler() {
SendableRegistry::GetInstance().Remove(this);
auto scheduler = frc::LiveWindow::GetInstance();
scheduler->enabled = nullptr;
scheduler->disabled = nullptr;
}
void Scheduler::Impl::Remove(Command* command) {
if (!commands.erase(command)) return;