mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
Move CameraServer and WPILib headers into their own folder
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
31ced30c1e
commit
d89b7dd412
@@ -0,0 +1,372 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/smartdashboard/SendableBuilderImpl.h"
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#include <ntcore_cpp.h>
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#include <wpi/SmallString.h>
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using namespace frc;
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void SendableBuilderImpl::SetTable(std::shared_ptr<nt::NetworkTable> table) {
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m_table = table;
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}
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std::shared_ptr<nt::NetworkTable> SendableBuilderImpl::GetTable() {
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return m_table;
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}
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void SendableBuilderImpl::UpdateTable() {
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uint64_t time = nt::Now();
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for (auto& property : m_properties) {
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if (property.update) property.update(property.entry, time);
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}
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if (m_updateTable) m_updateTable();
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}
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void SendableBuilderImpl::StartListeners() {
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for (auto& property : m_properties) property.StartListener();
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}
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void SendableBuilderImpl::StopListeners() {
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for (auto& property : m_properties) property.StopListener();
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}
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void SendableBuilderImpl::StartLiveWindowMode() {
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if (m_safeState) m_safeState();
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StartListeners();
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}
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void SendableBuilderImpl::StopLiveWindowMode() {
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StopListeners();
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if (m_safeState) m_safeState();
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}
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void SendableBuilderImpl::SetSmartDashboardType(const wpi::Twine& type) {
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m_table->GetEntry(".type").SetString(type);
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}
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void SendableBuilderImpl::SetSafeState(std::function<void()> func) {
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m_safeState = func;
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}
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void SendableBuilderImpl::SetUpdateTable(std::function<void()> func) {
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m_updateTable = func;
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}
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nt::NetworkTableEntry SendableBuilderImpl::GetEntry(const wpi::Twine& key) {
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return m_table->GetEntry(key);
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}
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void SendableBuilderImpl::AddBooleanProperty(const wpi::Twine& key,
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std::function<bool()> getter,
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std::function<void(bool)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeBoolean(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsBoolean()) return;
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setter(event.value->GetBoolean());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddDoubleProperty(
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const wpi::Twine& key, std::function<double()> getter,
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std::function<void(double)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeDouble(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsDouble()) return;
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setter(event.value->GetDouble());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddStringProperty(
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const wpi::Twine& key, std::function<std::string()> getter,
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std::function<void(wpi::StringRef)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeString(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsString()) return;
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setter(event.value->GetString());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddBooleanArrayProperty(
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const wpi::Twine& key, std::function<std::vector<int>()> getter,
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std::function<void(wpi::ArrayRef<int>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeBooleanArray(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsBooleanArray()) return;
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setter(event.value->GetBooleanArray());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddDoubleArrayProperty(
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const wpi::Twine& key, std::function<std::vector<double>()> getter,
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std::function<void(wpi::ArrayRef<double>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeDoubleArray(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsDoubleArray()) return;
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setter(event.value->GetDoubleArray());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddStringArrayProperty(
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const wpi::Twine& key, std::function<std::vector<std::string>()> getter,
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std::function<void(wpi::ArrayRef<std::string>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeStringArray(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsStringArray()) return;
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setter(event.value->GetStringArray());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddRawProperty(
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const wpi::Twine& key, std::function<std::string()> getter,
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std::function<void(wpi::StringRef)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(nt::Value::MakeRaw(getter(), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsRaw()) return;
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setter(event.value->GetRaw());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddValueProperty(
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const wpi::Twine& key, std::function<std::shared_ptr<nt::Value>()> getter,
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std::function<void(std::shared_ptr<nt::Value>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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entry.SetValue(getter());
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) { setter(event.value); },
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddSmallStringProperty(
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const wpi::Twine& key,
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std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
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std::function<void(wpi::StringRef)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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wpi::SmallString<128> buf;
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entry.SetValue(nt::Value::MakeString(getter(buf), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsString()) return;
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setter(event.value->GetString());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddSmallBooleanArrayProperty(
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const wpi::Twine& key,
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std::function<wpi::ArrayRef<int>(wpi::SmallVectorImpl<int>& buf)> getter,
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std::function<void(wpi::ArrayRef<int>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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wpi::SmallVector<int, 16> buf;
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entry.SetValue(nt::Value::MakeBooleanArray(getter(buf), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsBooleanArray()) return;
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setter(event.value->GetBooleanArray());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddSmallDoubleArrayProperty(
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const wpi::Twine& key,
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std::function<wpi::ArrayRef<double>(wpi::SmallVectorImpl<double>& buf)>
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getter,
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std::function<void(wpi::ArrayRef<double>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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wpi::SmallVector<double, 16> buf;
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entry.SetValue(nt::Value::MakeDoubleArray(getter(buf), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsDoubleArray()) return;
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setter(event.value->GetDoubleArray());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddSmallStringArrayProperty(
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const wpi::Twine& key,
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std::function<
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wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
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getter,
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std::function<void(wpi::ArrayRef<std::string>)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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wpi::SmallVector<std::string, 16> buf;
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entry.SetValue(nt::Value::MakeStringArray(getter(buf), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsStringArray()) return;
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setter(event.value->GetStringArray());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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void SendableBuilderImpl::AddSmallRawProperty(
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const wpi::Twine& key,
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std::function<wpi::StringRef(wpi::SmallVectorImpl<char>& buf)> getter,
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std::function<void(wpi::StringRef)> setter) {
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m_properties.emplace_back(*m_table, key);
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if (getter) {
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m_properties.back().update = [=](nt::NetworkTableEntry entry,
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uint64_t time) {
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wpi::SmallVector<char, 128> buf;
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entry.SetValue(nt::Value::MakeRaw(getter(buf), time));
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};
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}
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if (setter) {
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m_properties.back().createListener =
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[=](nt::NetworkTableEntry entry) -> NT_EntryListener {
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return entry.AddListener(
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[=](const nt::EntryNotification& event) {
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if (!event.value->IsRaw()) return;
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setter(event.value->GetRaw());
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},
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NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
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};
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}
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}
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