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05626cfafe
* Fixed cpplint.py [build/include_order] and [build/include_what_you_use] warnings * Fixed cpplint.py [readability/casting] warnings * Updated .styleguide format * Fixed cpplint.py [build/header_guard] warnings
84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2012-2016. 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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#pragma once
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#include <map>
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#include <memory>
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#include <string>
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#include <vector>
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#include "Commands/Scheduler.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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struct LiveWindowComponent {
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std::string subsystem;
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std::string name;
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bool isSensor = false;
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LiveWindowComponent() = default;
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LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
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this->subsystem = subsystem;
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this->name = name;
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this->isSensor = isSensor;
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}
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};
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/**
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* The LiveWindow class is the public interface for putting sensors and
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* actuators
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* on the LiveWindow.
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*/
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class LiveWindow {
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public:
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static LiveWindow* GetInstance();
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void Run();
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void AddSensor(const std::string& subsystem, const std::string& name,
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LiveWindowSendable* component);
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void AddSensor(const std::string& subsystem, const std::string& name,
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LiveWindowSendable& component);
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void AddSensor(const std::string& subsystem, const std::string& name,
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std::shared_ptr<LiveWindowSendable> component);
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void AddActuator(const std::string& subsystem, const std::string& name,
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LiveWindowSendable* component);
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void AddActuator(const std::string& subsystem, const std::string& name,
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LiveWindowSendable& component);
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void AddActuator(const std::string& subsystem, const std::string& name,
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std::shared_ptr<LiveWindowSendable> component);
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void AddSensor(std::string type, int channel, LiveWindowSendable* component);
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void AddActuator(std::string type, int channel,
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LiveWindowSendable* component);
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void AddActuator(std::string type, int module, int channel,
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LiveWindowSendable* component);
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bool IsEnabled() const { return m_enabled; }
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void SetEnabled(bool enabled);
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protected:
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LiveWindow();
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virtual ~LiveWindow() = default;
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private:
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void UpdateValues();
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void Initialize();
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void InitializeLiveWindowComponents();
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std::vector<std::shared_ptr<LiveWindowSendable>> m_sensors;
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std::map<std::shared_ptr<LiveWindowSendable>, LiveWindowComponent>
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m_components;
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std::shared_ptr<ITable> m_liveWindowTable;
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std::shared_ptr<ITable> m_statusTable;
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Scheduler* m_scheduler;
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bool m_enabled = false;
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bool m_firstTime = true;
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};
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