C++ Shuffleboard fixes (#1595)

* Fix C++ ShuffleboardComponent template type * Fix `WithWidget(WidgetType&)`not being properly capitalized * Fix data members across dll boundaries by using enum for built in types
2026-07-05 03:21:42 +00:00 · 2019-02-14 23:44:30 -05:00
parent 182758c05b
commit e8b24717c7
12 changed files with 184 additions and 89 deletions
--- a/wpilibc/src/main/native/cpp/Watchdog.cpp
+++ b/wpilibc/src/main/native/cpp/Watchdog.cpp
@@ -18,7 +18,7 @@ constexpr std::chrono::milliseconds Watchdog::kMinPrintPeriod;
 class Watchdog::Thread : public wpi::SafeThread {
 public:
  template <typename T>
-  struct DerefGreater : public std::binary_function<T, T, bool> {
+  struct DerefGreater {
    constexpr bool operator()(const T& lhs, const T& rhs) const {
      return *lhs > *rhs;
    }
--- a/wpilibc/src/main/native/cpp/shuffleboard/BuiltInLayouts.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/BuiltInLayouts.cpp
@@ -1,13 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/shuffleboard/BuiltInLayouts.h"
-
-using namespace frc;
-
-const LayoutType BuiltInLayouts::kList{"List Layout"};
-const LayoutType BuiltInLayouts::kGrid{"Grid Layout"};
--- a/wpilibc/src/main/native/cpp/shuffleboard/BuiltInWidgets.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/BuiltInWidgets.cpp
@@ -1,35 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include "frc/shuffleboard/BuiltInWidgets.h"
-
-using namespace frc;
-
-const WidgetType BuiltInWidgets::kTextView{"Text View"};
-const WidgetType BuiltInWidgets::kNumberSlider{"Number Slider"};
-const WidgetType BuiltInWidgets::kNumberBar{"Number Bar"};
-const WidgetType BuiltInWidgets::kDial{"Simple Dial"};
-const WidgetType BuiltInWidgets::kGraph{"Graph"};
-const WidgetType BuiltInWidgets::kBooleanBox{"Boolean Box"};
-const WidgetType BuiltInWidgets::kToggleButton{"Toggle Button"};
-const WidgetType BuiltInWidgets::kToggleSwitch{"Toggle Switch"};
-const WidgetType BuiltInWidgets::kVoltageView{"Voltage View"};
-const WidgetType BuiltInWidgets::kPowerDistributionPanel{"PDP"};
-const WidgetType BuiltInWidgets::kComboBoxChooser{"ComboBox Chooser"};
-const WidgetType BuiltInWidgets::kSplitButtonChooser{"Split Button Chooser"};
-const WidgetType BuiltInWidgets::kEncoder{"Encoder"};
-const WidgetType BuiltInWidgets::kSpeedController{"Speed Controller"};
-const WidgetType BuiltInWidgets::kCommand{"Command"};
-const WidgetType BuiltInWidgets::kPIDCommand{"PID Command"};
-const WidgetType BuiltInWidgets::kPIDController{"PID Controller"};
-const WidgetType BuiltInWidgets::kAccelerometer{"Accelerometer"};
-const WidgetType BuiltInWidgets::k3AxisAccelerometer{"3-Axis Accelerometer"};
-const WidgetType BuiltInWidgets::kGyro{"Gyro"};
-const WidgetType BuiltInWidgets::kRelay{"Relay"};
-const WidgetType BuiltInWidgets::kDifferentialDrive{"Differential Drivebase"};
-const WidgetType BuiltInWidgets::kMecanumDrive{"Mecanum Drivebase"};
-const WidgetType BuiltInWidgets::kCameraStream{"Camera Stream"};
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
@@ -18,6 +18,12 @@

 using namespace frc;

+static constexpr const char* layoutStrings[] = {"List Layout", "Grid Layout"};
+
+static constexpr const char* GetStringFromBuiltInLayout(BuiltInLayouts layout) {
+  return layoutStrings[static_cast<int>(layout)];
+}
+
 ShuffleboardContainer::ShuffleboardContainer(const wpi::Twine& title)
    : ShuffleboardValue(title) {}

@@ -26,6 +32,11 @@ ShuffleboardContainer::GetComponents() const {
  return m_components;
 }

+ShuffleboardLayout& ShuffleboardContainer::GetLayout(const wpi::Twine& title,
+                                                     BuiltInLayouts type) {
+  return GetLayout(title, GetStringFromBuiltInLayout(type));
+}
+
 ShuffleboardLayout& ShuffleboardContainer::GetLayout(const wpi::Twine& title,
                                                     const LayoutType& type) {
  return GetLayout(title, type.GetLayoutName());
--- a/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
+++ b/wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardWidget.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+
+using namespace frc;
+
+static constexpr const char* widgetStrings[] = {
+    "Text View",
+    "Number Slider",
+    "Number Bar",
+    "Simple Dial",
+    "Graph",
+    "Boolean Box",
+    "Toggle Button",
+    "Toggle Switch",
+    "Voltage View",
+    "PDP",
+    "ComboBox Chooser",
+    "Split Button Chooser",
+    "Encoder",
+    "Speed Controller",
+    "Command",
+    "PID Command",
+    "PID Controller",
+    "Accelerometer",
+    "3-Axis Accelerometer",
+    "Gyro",
+    "Relay",
+    "Differential Drivebase",
+    "Mecanum Drivebase",
+    "Camera Stream",
+};
+
+const char* detail::GetStringForWidgetType(BuiltInWidgets type) {
+  return widgetStrings[static_cast<int>(type)];
+}
--- a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInLayouts.h
@@ -19,8 +19,7 @@ namespace frc {
 *   .GetLayout(BuiltinLayouts::kList, "My List");
 * }</pre>
 */
-class BuiltInLayouts {
- public:
+enum class BuiltInLayouts {
  /**
   * Groups components in a vertical list. New widgets added to the layout will
   * be placed at the bottom of the list. <br>Custom properties: <table>
@@ -30,7 +29,7 @@ class BuiltInLayouts {
   * {@code ["TOP", "LEFT", "BOTTOM", "RIGHT", "HIDDEN"}</td></tr>
   * </table>
   */
-  static const LayoutType kList;
+  kList,

  /**
   * Groups components in an <i>n</i> x <i>m</i> grid. Grid layouts default to
@@ -47,7 +46,7 @@ class BuiltInLayouts {
   * </tr>
   * </table>
   */
-  static const LayoutType kGrid;
+  kGrid
 };

 }  // namespace frc
--- a/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/BuiltInWidgets.h
@@ -25,8 +25,7 @@ namespace frc {
 * <p>Each value in this enum goes into detail on what data types that widget
 * can support, as well as the custom properties that widget uses.
 */
-class BuiltInWidgets {
- public:
+enum class BuiltInWidgets {
  /**
   * Displays a value with a simple text field.
   * <br>Supported types:
@@ -37,7 +36,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kTextView;
+  kTextView,
  /**
   * Displays a number with a controllable slider.
   * <br>Supported types:
@@ -54,7 +53,7 @@ class BuiltInWidgets {
   * slider by with the arrow keys</td></tr>
   * </table>
   */
-  static const WidgetType kNumberSlider;
+  kNumberSlider,
  /**
   * Displays a number with a view-only bar.
   * <br>Supported types:
@@ -71,7 +70,7 @@ class BuiltInWidgets {
   * of the bar</td></tr>
   * </table>
   */
-  static const WidgetType kNumberBar;
+  kNumberBar,
  /**
   * Displays a number with a view-only dial. Displayed values are rounded to
   * the nearest integer. <br>Supported types: <ul> <li>Number</li>
@@ -86,7 +85,7 @@ class BuiltInWidgets {
   * value as text</td></tr>
   * </table>
   */
-  static const WidgetType kDial;
+  kDial,
  /**
   * Displays a number with a graph. <strong>NOTE:</strong> graphs can be taxing
   * on the computer running the dashboard. Keep the number of visible data
@@ -103,7 +102,7 @@ class BuiltInWidgets {
   * <td>How long, in seconds, should past data be visible for</td></tr>
   * </table>
   */
-  static const WidgetType kGraph;
+  kGraph,
  /**
   * Displays a boolean value as a large colored box.
   * <br>Supported types:
@@ -121,7 +120,7 @@ class BuiltInWidgets {
   * <td>Can be specified as a string or a number</td></tr>
   * </table>
   */
-  static const WidgetType kBooleanBox;
+  kBooleanBox,
  /**
   * Displays a boolean with a large interactive toggle button.
   * <br>Supported types:
@@ -130,7 +129,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kToggleButton;
+  kToggleButton,
  /**
   * Displays a boolean with a fixed-size toggle switch.
   * <br>Supported types:
@@ -139,7 +138,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kToggleSwitch;
+  kToggleSwitch,
  /**
   * Displays an analog input or a raw number with a number bar.
   * <br>Supported types:
@@ -162,7 +161,7 @@ class BuiltInWidgets {
   * bar</td></tr>
   * </table>
   */
-  static const WidgetType kVoltageView;
+  kVoltageView,
  /**
   * Displays a {@link edu.wpi.first.wpilibj.PowerDistributionPanel
   * PowerDistributionPanel}. <br>Supported types: <ul> <li>{@link
@@ -175,7 +174,7 @@ class BuiltInWidgets {
   * <td>Whether or not to display the voltage and current draw</td></tr>
   * </table>
   */
-  static const WidgetType kPowerDistributionPanel;
+  kPowerDistributionPanel,
  /**
   * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser
   * SendableChooser} with a dropdown combo box with a list of options.
@@ -185,7 +184,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kComboBoxChooser;
+  kComboBoxChooser,
  /**
   * Displays a {@link edu.wpi.first.wpilibj.smartdashboard.SendableChooser
   * SendableChooser} with a toggle button for each available option.
@@ -195,7 +194,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kSplitButtonChooser;
+  kSplitButtonChooser,
  /**
   * Displays an {@link edu.wpi.first.wpilibj.Encoder} displaying its speed,
   * total travelled distance, and its distance per tick. <br>Supported types:
@@ -204,7 +203,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kEncoder;
+  kEncoder,
  /**
   * Displays a {@link edu.wpi.first.wpilibj.SpeedController SpeedController}.
   * The speed controller will be controllable from the dashboard when test mode
@@ -228,7 +227,7 @@ class BuiltInWidgets {
   * <td>One of {@code ["HORIZONTAL", "VERTICAL"]}</td></tr>
   * </table>
   */
-  static const WidgetType kSpeedController;
+  kSpeedController,
  /**
   * Displays a command with a toggle button. Pressing the button will start the
   * command, and the button will automatically release when the command
@@ -239,7 +238,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kCommand;
+  kCommand,
  /**
   * Displays a PID command with a checkbox and an editor for the PIDF
   * constants. Selecting the checkbox will start the command, and the checkbox
@@ -249,7 +248,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kPIDCommand;
+  kPIDCommand,
  /**
   * Displays a PID controller with an editor for the PIDF constants and a
   * toggle switch for enabling and disabling the controller. <br>Supported
@@ -257,7 +256,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kPIDController;
+  kPIDController,
  /**
   * Displays an accelerometer with a number bar displaying the magnitude of the
   * acceleration and text displaying the exact value. <br>Supported types: <ul>
@@ -278,7 +277,7 @@ class BuiltInWidgets {
   * <td>Show or hide the tick marks on the number bars</td></tr>
   * </table>
   */
-  static const WidgetType kAccelerometer;
+  kAccelerometer,
  /**
   * Displays a 3-axis accelerometer with a number bar for each axis'
   * accleration. <br>Supported types: <ul> <li>{@link
@@ -298,7 +297,7 @@ class BuiltInWidgets {
   * <td>Show or hide the tick marks on the number bars</td></tr>
   * </table>
   */
-  static const WidgetType k3AxisAccelerometer;
+  k3AxisAccelerometer,
  /**
   * Displays a gyro with a dial from 0 to 360 degrees.
   * <br>Supported types:
@@ -317,7 +316,7 @@ class BuiltInWidgets {
   * <tr><td>Show tick mark ring</td><td>Boolean</td><td>true</td></tr>
   * </table>
   */
-  static const WidgetType kGyro;
+  kGyro,
  /**
   * Displays a relay with toggle buttons for each supported mode (off, on,
   * forward, reverse). <br>Supported types: <ul> <li>{@link
@@ -325,7 +324,7 @@ class BuiltInWidgets {
   * </ul>
   * <br>This widget has no custom properties.
   */
-  static const WidgetType kRelay;
+  kRelay,
  /**
   * Displays a differential drive with a widget that displays the speed of each
   * side of the drivebase and a vector for the direction and rotation of the
@@ -344,7 +343,7 @@ class BuiltInWidgets {
   * <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
   * </table>
   */
-  static const WidgetType kDifferentialDrive;
+  kDifferentialDrive,
  /**
   * Displays a mecanum drive with a widget that displays the speed of each
   * wheel, and vectors for the direction and rotation of the drivebase. The
@@ -357,7 +356,7 @@ class BuiltInWidgets {
   * <tr><td>Show velocity vectors</td><td>Boolean</td><td>true</td></tr>
   * </table>
   */
-  static const WidgetType kMecanumDrive;
+  kMecanumDrive,
  /**
   * Displays a camera stream.
   * <br>Supported types:
@@ -381,7 +380,7 @@ class BuiltInWidgets {
   * </td></tr>
   * </table>
   */
-  static const WidgetType kCameraStream;
+  kCameraStream
 };

 }  // namespace frc
--- a/wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/LayoutType.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <wpi/Twine.h>
+#include <wpi/StringRef.h>

 namespace frc {

@@ -20,7 +20,8 @@ namespace frc {
 */
 class LayoutType {
 public:
-  explicit LayoutType(const char* layoutName) : m_layoutName(layoutName) {}
+  explicit constexpr LayoutType(const char* layoutName)
+      : m_layoutName(layoutName) {}
  ~LayoutType() = default;

  /**
@@ -30,7 +31,7 @@ class LayoutType {
  wpi::StringRef GetLayoutName() const;

 private:
-  wpi::StringRef m_layoutName;
+  const char* m_layoutName;
 };

 }  // namespace frc
--- a/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardContainer.h
@@ -20,6 +20,7 @@

 #include "frc/ErrorBase.h"
 #include "frc/WPIErrors.h"
+#include "frc/shuffleboard/BuiltInLayouts.h"
 #include "frc/shuffleboard/LayoutType.h"
 #include "frc/shuffleboard/ShuffleboardComponentBase.h"
 #include "frc/shuffleboard/ShuffleboardValue.h"
@@ -53,6 +54,16 @@ class ShuffleboardContainer : public virtual ShuffleboardValue,
  const std::vector<std::unique_ptr<ShuffleboardComponentBase>>& GetComponents()
      const;

+  /**
+   * Gets the layout with the given type and title, creating it if it does not
+   * already exist at the time this method is called.
+   *
+   * @param title      the title of the layout
+   * @param layoutType the type of the layout, eg "List" or "Grid"
+   * @return the layout
+   */
+  ShuffleboardLayout& GetLayout(const wpi::Twine& title, BuiltInLayouts type);
+
  /**
   * Gets the layout with the given type and title, creating it if it does not
   * already exist at the time this method is called.
--- a/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/ShuffleboardWidget.h
@@ -9,6 +9,7 @@

 #include <wpi/Twine.h>

+#include "frc/shuffleboard/BuiltInWidgets.h"
 #include "frc/shuffleboard/ShuffleboardComponent.h"
 #include "frc/shuffleboard/WidgetType.h"

@@ -16,6 +17,10 @@ namespace frc {

 class ShuffleboardContainer;

+namespace detail {
+const char* GetStringForWidgetType(BuiltInWidgets type);
+}  // namespace detail
+
 /**
 * Abstract superclass for widgets.
 *
@@ -24,12 +29,11 @@ class ShuffleboardContainer;
 * @tparam Derived the self type
 */
 template <typename Derived>
-class ShuffleboardWidget
-    : public ShuffleboardComponent<ShuffleboardWidget<Derived>> {
+class ShuffleboardWidget : public ShuffleboardComponent<Derived> {
 public:
  ShuffleboardWidget(ShuffleboardContainer& parent, const wpi::Twine& title)
      : ShuffleboardValue(title),
-        ShuffleboardComponent<ShuffleboardWidget<Derived>>(parent, title) {}
+        ShuffleboardComponent<Derived>(parent, title) {}

  /**
   * Sets the type of widget used to display the data. If not set, the default
@@ -39,7 +43,18 @@ class ShuffleboardWidget
   * @return this widget object
   * @see BuiltInWidgets
   */
-  Derived& withWidget(const WidgetType& widgetType) {
+  Derived& WithWidget(BuiltInWidgets widgetType) {
+    return WithWidget(detail::GetStringForWidgetType(widgetType));
+  }
+
+  /**
+   * Sets the type of widget used to display the data. If not set, the default
+   * widget type will be used.
+   *
+   * @param widgetType the type of the widget used to display the data
+   * @return this widget object
+   */
+  Derived& WithWidget(const WidgetType& widgetType) {
    return WithWidget(widgetType.GetWidgetName());
  }

--- a/wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h
+++ b/wpilibc/src/main/native/include/frc/shuffleboard/WidgetType.h
@@ -7,7 +7,7 @@

 #pragma once

-#include <wpi/Twine.h>
+#include <wpi/StringRef.h>

 namespace frc {

@@ -20,7 +20,8 @@ namespace frc {
 */
 class WidgetType {
 public:
-  explicit WidgetType(const char* widgetName) : m_widgetName(widgetName) {}
+  explicit constexpr WidgetType(const char* widgetName)
+      : m_widgetName(widgetName) {}
  ~WidgetType() = default;

  /**
@@ -30,7 +31,7 @@ class WidgetType {
  wpi::StringRef GetWidgetName() const;

 private:
-  wpi::StringRef m_widgetName;
+  const char* m_widgetName;
 };

 }  // namespace frc
--- a/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp
+++ b/wpilibc/src/test/native/cpp/shuffleboard/ShuffleboardWidgetTest.cpp
@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <array>
+#include <memory>
+#include <string>
+
+#include <networktables/NetworkTableEntry.h>
+#include <networktables/NetworkTableInstance.h>
+
+#include "frc/commands/InstantCommand.h"
+#include "frc/shuffleboard/BuiltInWidgets.h"
+#include "frc/shuffleboard/ShuffleboardInstance.h"
+#include "frc/shuffleboard/ShuffleboardTab.h"
+#include "frc/shuffleboard/ShuffleboardWidget.h"
+#include "frc/smartdashboard/Sendable.h"
+#include "gtest/gtest.h"
+
+using namespace frc;
+
+class ShuffleboardWidgetTest : public testing::Test {
+  void SetUp() override {
+    m_ntInstance = nt::NetworkTableInstance::Create();
+    m_instance = std::make_unique<detail::ShuffleboardInstance>(m_ntInstance);
+    m_tab = &(m_instance->GetTab("Tab"));
+  }
+
+ protected:
+  nt::NetworkTableInstance m_ntInstance;
+  ShuffleboardTab* m_tab;
+  std::unique_ptr<detail::ShuffleboardInstance> m_instance;
+};
+
+TEST_F(ShuffleboardWidgetTest, UseBuiltInWidget) {
+  auto entry =
+      m_tab->Add("Name", "").WithWidget(BuiltInWidgets::kTextView).GetEntry();
+  EXPECT_EQ("/Shuffleboard/Tab/Name", entry.GetName())
+      << "The widget entry has the wrong name";
+}
+
+TEST_F(ShuffleboardWidgetTest, WithProperties) {
+  wpi::StringMap<std::shared_ptr<nt::Value>> properties{
+      std::make_pair("min", nt::Value::MakeDouble(0)),
+      std::make_pair("max", nt::Value::MakeDouble(1))};
+  auto entry =
+      m_tab->Add("WithProperties", "").WithProperties(properties).GetEntry();
+
+  // Update the instance to generate
+  // the metadata entries for the widget properties
+  m_instance->Update();
+
+  auto propertiesTable = m_ntInstance.GetTable(
+      "/Shuffleboard/.metadata/Tab/WithProperties/Properties");
+
+  EXPECT_EQ("/Shuffleboard/Tab/WithProperties", entry.GetName())
+      << "The widget entry has the wrong name";
+  EXPECT_FLOAT_EQ(0, propertiesTable->GetEntry("min").GetDouble(-1))
+      << "The 'min' property should be 0";
+  EXPECT_FLOAT_EQ(1, propertiesTable->GetEntry("max").GetDouble(-1))
+      << "The 'max' property should be 1";
+}