mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
f9bece2ffb
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.
92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017 FIRST. 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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#include "SmartDashboard/SendableBase.h"
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#include "LiveWindow/LiveWindow.h"
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using namespace frc;
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/**
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* Creates an instance of the sensor base.
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*
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* @param addLiveWindow if true, add this Sendable to LiveWindow
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*/
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SendableBase::SendableBase(bool addLiveWindow) {
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if (addLiveWindow) LiveWindow::GetInstance()->Add(this);
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}
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/**
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* Free the resources used by this object.
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*/
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SendableBase::~SendableBase() { LiveWindow::GetInstance()->Remove(this); }
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std::string SendableBase::GetName() const {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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return m_name;
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}
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void SendableBase::SetName(const llvm::Twine& name) {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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m_name = name.str();
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}
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std::string SendableBase::GetSubsystem() const {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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return m_subsystem;
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}
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void SendableBase::SetSubsystem(const llvm::Twine& subsystem) {
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std::lock_guard<wpi::mutex> lock(m_mutex);
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m_subsystem = subsystem.str();
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}
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/**
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* Add a child component.
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*
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* @param child child component
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*/
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void SendableBase::AddChild(std::shared_ptr<Sendable> child) {
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LiveWindow::GetInstance()->AddChild(this, child);
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}
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/**
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* Add a child component.
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*
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* @param child child component
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*/
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void SendableBase::AddChild(void* child) {
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LiveWindow::GetInstance()->AddChild(this, child);
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}
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/**
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* Sets the name of the sensor with a channel number.
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*
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* @param moduleType A string that defines the module name in the label for the
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* value
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* @param channel The channel number the device is plugged into
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*/
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void SendableBase::SetName(const llvm::Twine& moduleType, int channel) {
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SetName(moduleType + llvm::Twine('[') + llvm::Twine(channel) +
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llvm::Twine(']'));
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}
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/**
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* Sets the name of the sensor with a module and channel number.
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*
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* @param moduleType A string that defines the module name in the label for
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* the value
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* @param moduleNumber The number of the particular module type
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* @param channel The channel number the device is plugged into (usually
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* PWM)
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*/
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void SendableBase::SetName(const llvm::Twine& moduleType, int moduleNumber,
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int channel) {
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SetName(moduleType + llvm::Twine('[') + llvm::Twine(moduleNumber) +
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llvm::Twine(',') + llvm::Twine(channel) + llvm::Twine(']'));
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}
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