mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
29d029fa61
verified to work on real robots adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows - Java and C++ simulation robot programs run on windows - simulation eclipse plugin delivers models and gazebo plugins - Java Gazebo now respects GAZEBO_IP variables and can work across networks - hal and network tables win32 hacked to work on windows - smart dashboard broken on windows due to network tables hacks - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake - removed constexpr for cross platform compatibility - msgs generated using .protos as a part of build process - some spare and unused cmake/pom files deleted - simulation ubuntu debians removed entirely - refactored CMake project flags and macros - updated to match non-sim C++ API - fixed and updated documentation - servo added to simulation Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
95 lines
2.8 KiB
C++
95 lines
2.8 KiB
C++
#ifndef _LIVE_WINDOW_H
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#define _LIVE_WINDOW_H
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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#include "Commands/Scheduler.h"
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#include <vector>
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#include <map>
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#include <memory>
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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;
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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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* @author Brad Miller
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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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#if !defined(_MSC_VER)
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[[deprecated(
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"Raw pointers are deprecated; pass the component using shared_ptr "
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"instead.")]]
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#else
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__declspec(deprecated("**Raw pointers are deprecated; pass the component using shared_ptr instead**"))
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#endif
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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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#if !defined(_MSC_VER)
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[[deprecated(
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"Raw pointers are deprecated; pass the component using shared_ptr "
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"instead.")]]
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#else
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__declspec(deprecated("**Raw pointers are deprecated; pass the component using shared_ptr instead**"))
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#endif
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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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#if !defined(_MSC_VER)
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[[deprecated]]
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#endif
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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> 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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#endif
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