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https://github.com/wpilibsuite/allwpilib
synced 2026-06-30 02:31:44 +00:00
Merge .inc files into headers (#7215)
This commit is contained in:
Tyler Veness
@@ -4,12 +4,17 @@
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#pragma once
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#include <algorithm>
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#include <concepts>
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#include <functional>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <utility>
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#include <vector>
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#include <wpi/StringMap.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include "frc/smartdashboard/SendableChooserBase.h"
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@@ -34,10 +39,14 @@ class SendableChooser : public SendableChooserBase {
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wpi::StringMap<T> m_choices;
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std::function<void(T)> m_listener;
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template <class U>
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static U _unwrap_smart_ptr(const U& value);
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static U _unwrap_smart_ptr(const U& value) {
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return value;
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}
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template <class U>
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static std::weak_ptr<U> _unwrap_smart_ptr(const std::shared_ptr<U>& value);
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static std::weak_ptr<U> _unwrap_smart_ptr(const std::shared_ptr<U>& value) {
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return value;
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}
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public:
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using CopyType = decltype(_unwrap_smart_ptr(m_choices.lookup("")));
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@@ -56,7 +65,9 @@ class SendableChooser : public SendableChooserBase {
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* @param name the name of the option
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* @param object the option
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*/
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void AddOption(std::string_view name, T object);
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void AddOption(std::string_view name, T object) {
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m_choices[name] = std::move(object);
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}
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/**
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* Add the given object to the list of options and marks it as the default.
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@@ -67,7 +78,10 @@ class SendableChooser : public SendableChooserBase {
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* @param name the name of the option
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* @param object the option
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*/
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void SetDefaultOption(std::string_view name, T object);
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void SetDefaultOption(std::string_view name, T object) {
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m_defaultChoice = name;
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AddOption(name, std::move(object));
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}
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/**
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* Returns a copy of the selected option (a std::weak_ptr<U> if T =
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@@ -80,7 +94,20 @@ class SendableChooser : public SendableChooserBase {
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*
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* @return The option selected
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*/
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CopyType GetSelected() const;
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CopyType GetSelected() const {
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std::string selected = m_defaultChoice;
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{
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std::scoped_lock lock(m_mutex);
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if (m_haveSelected) {
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selected = m_selected;
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}
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}
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if (selected.empty()) {
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return CopyType{};
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} else {
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return _unwrap_smart_ptr(m_choices.lookup(selected));
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}
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}
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/**
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* Bind a listener that's called when the selected value changes.
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@@ -88,11 +115,66 @@ class SendableChooser : public SendableChooserBase {
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* previous listener.
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* @param listener The function to call that accepts the new value
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*/
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void OnChange(std::function<void(T)>);
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void OnChange(std::function<void(T)> listener) {
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std::scoped_lock lock(m_mutex);
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m_listener = listener;
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}
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void InitSendable(wpi::SendableBuilder& builder) override;
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void InitSendable(wpi::SendableBuilder& builder) override {
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builder.SetSmartDashboardType("String Chooser");
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builder.PublishConstInteger(kInstance, m_instance);
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builder.AddStringArrayProperty(
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kOptions,
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[=, this] {
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std::vector<std::string> keys;
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for (const auto& choice : m_choices) {
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keys.emplace_back(choice.first());
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}
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// Unlike std::map, wpi::StringMap elements
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// are not sorted
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std::sort(keys.begin(), keys.end());
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return keys;
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},
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nullptr);
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builder.AddSmallStringProperty(
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kDefault,
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[=, this](wpi::SmallVectorImpl<char>&) -> std::string_view {
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return m_defaultChoice;
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},
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nullptr);
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builder.AddSmallStringProperty(
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kActive,
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[=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
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std::scoped_lock lock(m_mutex);
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if (m_haveSelected) {
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buf.assign(m_selected.begin(), m_selected.end());
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return {buf.data(), buf.size()};
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} else {
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return m_defaultChoice;
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}
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},
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nullptr);
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builder.AddStringProperty(kSelected, nullptr,
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[=, this](std::string_view val) {
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T choice{};
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std::function<void(T)> listener;
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{
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std::scoped_lock lock(m_mutex);
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m_haveSelected = true;
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m_selected = val;
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if (m_previousVal != val && m_listener) {
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choice = m_choices[val];
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listener = m_listener;
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}
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m_previousVal = val;
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}
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if (listener) {
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listener(choice);
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}
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});
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}
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};
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} // namespace frc
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#include "frc/smartdashboard/SendableChooser.inc"
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@@ -1,131 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <algorithm>
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#include <functional>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <utility>
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#include <vector>
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#include <wpi/sendable/SendableBuilder.h>
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#include "frc/smartdashboard/SendableChooser.h"
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namespace frc {
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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void SendableChooser<T>::AddOption(std::string_view name, T object) {
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m_choices[name] = std::move(object);
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}
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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void SendableChooser<T>::SetDefaultOption(std::string_view name, T object) {
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m_defaultChoice = name;
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AddOption(name, std::move(object));
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}
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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typename SendableChooser<T>::CopyType SendableChooser<T>::GetSelected() const {
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std::string selected = m_defaultChoice;
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{
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std::scoped_lock lock(m_mutex);
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if (m_haveSelected) {
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selected = m_selected;
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}
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}
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if (selected.empty()) {
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return CopyType{};
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} else {
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return _unwrap_smart_ptr(m_choices.lookup(selected));
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}
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}
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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void SendableChooser<T>::OnChange(std::function<void(T)> listener) {
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std::scoped_lock lock(m_mutex);
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m_listener = listener;
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}
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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void SendableChooser<T>::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("String Chooser");
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builder.PublishConstInteger(kInstance, m_instance);
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builder.AddStringArrayProperty(
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kOptions,
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[=, this] {
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std::vector<std::string> keys;
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for (const auto& choice : m_choices) {
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keys.emplace_back(choice.first());
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}
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// Unlike std::map, wpi::StringMap elements
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// are not sorted
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std::sort(keys.begin(), keys.end());
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return keys;
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},
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nullptr);
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builder.AddSmallStringProperty(
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kDefault,
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[=, this](wpi::SmallVectorImpl<char>&) -> std::string_view {
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return m_defaultChoice;
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},
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nullptr);
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builder.AddSmallStringProperty(
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kActive,
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[=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
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std::scoped_lock lock(m_mutex);
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if (m_haveSelected) {
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buf.assign(m_selected.begin(), m_selected.end());
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return {buf.data(), buf.size()};
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} else {
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return m_defaultChoice;
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}
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},
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nullptr);
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builder.AddStringProperty(kSelected, nullptr,
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[=, this](std::string_view val) {
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T choice{};
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std::function<void(T)> listener;
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{
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std::scoped_lock lock(m_mutex);
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m_haveSelected = true;
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m_selected = val;
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if (m_previousVal != val && m_listener) {
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choice = m_choices[val];
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listener = m_listener;
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}
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m_previousVal = val;
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}
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if (listener) {
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listener(choice);
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}
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});
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}
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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template <class U>
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U SendableChooser<T>::_unwrap_smart_ptr(const U& value) {
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return value;
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}
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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template <class U>
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std::weak_ptr<U> SendableChooser<T>::_unwrap_smart_ptr(
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const std::shared_ptr<U>& value) {
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return value;
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}
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} // namespace frc
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