mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-03 03:01:44 +00:00
Update LiveWindow to provide continuous telemetry. (#771)
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
This commit is contained in:
Peter Johnson
217
wpilibc/src/main/native/include/SmartDashboard/SendableBuilder.h
Normal file
217
wpilibc/src/main/native/include/SmartDashboard/SendableBuilder.h
Normal file
@@ -0,0 +1,217 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2017 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <functional>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include <llvm/ArrayRef.h>
|
||||
#include <llvm/SmallVector.h>
|
||||
#include <llvm/Twine.h>
|
||||
|
||||
#include "networktables/NetworkTableEntry.h"
|
||||
#include "networktables/NetworkTableValue.h"
|
||||
|
||||
namespace frc {
|
||||
|
||||
class SendableBuilder {
|
||||
public:
|
||||
virtual ~SendableBuilder() = default;
|
||||
|
||||
/**
|
||||
* Set the string representation of the named data type that will be used
|
||||
* by the smart dashboard for this sendable.
|
||||
*
|
||||
* @param type data type
|
||||
*/
|
||||
virtual void SetSmartDashboardType(const llvm::Twine& type) = 0;
|
||||
|
||||
/**
|
||||
* Set the function that should be called to set the Sendable into a safe
|
||||
* state. This is called when entering and exiting Live Window mode.
|
||||
*
|
||||
* @param func function
|
||||
*/
|
||||
virtual void SetSafeState(std::function<void()> func) = 0;
|
||||
|
||||
/**
|
||||
* Set the function that should be called to update the network table
|
||||
* for things other than properties. Note this function is not passed
|
||||
* the network table object; instead it should use the entry handles
|
||||
* returned by GetEntry().
|
||||
*
|
||||
* @param func function
|
||||
*/
|
||||
virtual void SetUpdateTable(std::function<void()> func) = 0;
|
||||
|
||||
/**
|
||||
* Add a property without getters or setters. This can be used to get
|
||||
* entry handles for the function called by SetUpdateTable().
|
||||
*
|
||||
* @param key property name
|
||||
* @return Network table entry
|
||||
*/
|
||||
virtual nt::NetworkTableEntry GetEntry(const llvm::Twine& key) = 0;
|
||||
|
||||
/**
|
||||
* Add a boolean property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddBooleanProperty(const llvm::Twine& key,
|
||||
std::function<bool()> getter,
|
||||
std::function<void(bool)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a double property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddDoubleProperty(const llvm::Twine& key,
|
||||
std::function<double()> getter,
|
||||
std::function<void(double)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a string property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddStringProperty(
|
||||
const llvm::Twine& key, std::function<std::string()> getter,
|
||||
std::function<void(llvm::StringRef)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a boolean array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddBooleanArrayProperty(
|
||||
const llvm::Twine& key, std::function<std::vector<int>()> getter,
|
||||
std::function<void(llvm::ArrayRef<int>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a double array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddDoubleArrayProperty(
|
||||
const llvm::Twine& key, std::function<std::vector<double>()> getter,
|
||||
std::function<void(llvm::ArrayRef<double>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a string array property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddStringArrayProperty(
|
||||
const llvm::Twine& key, std::function<std::vector<std::string>()> getter,
|
||||
std::function<void(llvm::ArrayRef<std::string>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a raw property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddRawProperty(const llvm::Twine& key,
|
||||
std::function<std::string()> getter,
|
||||
std::function<void(llvm::StringRef)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a NetworkTableValue property.
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddValueProperty(
|
||||
const llvm::Twine& key,
|
||||
std::function<std::shared_ptr<nt::Value>()> getter,
|
||||
std::function<void(std::shared_ptr<nt::Value>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a string property (SmallString form).
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddSmallStringProperty(
|
||||
const llvm::Twine& key,
|
||||
std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
|
||||
std::function<void(llvm::StringRef)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a boolean array property (SmallVector form).
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddSmallBooleanArrayProperty(
|
||||
const llvm::Twine& key,
|
||||
std::function<llvm::ArrayRef<int>(llvm::SmallVectorImpl<int>& buf)>
|
||||
getter,
|
||||
std::function<void(llvm::ArrayRef<int>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a double array property (SmallVector form).
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddSmallDoubleArrayProperty(
|
||||
const llvm::Twine& key,
|
||||
std::function<llvm::ArrayRef<double>(llvm::SmallVectorImpl<double>& buf)>
|
||||
getter,
|
||||
std::function<void(llvm::ArrayRef<double>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a string array property (SmallVector form).
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddSmallStringArrayProperty(
|
||||
const llvm::Twine& key,
|
||||
std::function<
|
||||
llvm::ArrayRef<std::string>(llvm::SmallVectorImpl<std::string>& buf)>
|
||||
getter,
|
||||
std::function<void(llvm::ArrayRef<std::string>)> setter) = 0;
|
||||
|
||||
/**
|
||||
* Add a raw property (SmallVector form).
|
||||
*
|
||||
* @param key property name
|
||||
* @param getter getter function (returns current value)
|
||||
* @param setter setter function (sets new value)
|
||||
*/
|
||||
virtual void AddSmallRawProperty(
|
||||
const llvm::Twine& key,
|
||||
std::function<llvm::StringRef(llvm::SmallVectorImpl<char>& buf)> getter,
|
||||
std::function<void(llvm::StringRef)> setter) = 0;
|
||||
};
|
||||
|
||||
} // namespace frc
|
||||
Reference in New Issue
Block a user