mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
ff52f207cc
Substantially improves Mechanism2d by moving it to NetworkTables and adding a robot API to create the mechanism elements, instead of requiring a JSON file. Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
82 lines
2.5 KiB
C++
82 lines
2.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include <networktables/NetworkTableEntry.h>
|
|
#include <wpi/StringMap.h>
|
|
#include <wpi/mutex.h>
|
|
|
|
#include "frc/smartdashboard/MechanismRoot2d.h"
|
|
#include "frc/smartdashboard/Sendable.h"
|
|
#include "frc/smartdashboard/SendableHelper.h"
|
|
#include "frc/util/Color8Bit.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Visual 2D representation of arms, elevators, and general mechanisms; through
|
|
* a node-based API.
|
|
*
|
|
* A Mechanism2d object is published and contains at least one root node. Other
|
|
* nodes (such as ligaments) are recursively based on other nodes.
|
|
*
|
|
* Except for the Mechanism2d container object, none of the objects should be
|
|
* passed or interacted with by value! Obtain pointers from factory methods such
|
|
* as Mechanism2d.GetRoot() and MechanismObject2d.Append<>(). The Mechanism2d
|
|
* container object owns the root nodes, and each node internally owns the nodes
|
|
* based on it. Beware not to let the Mechanism2d object out of scope - all
|
|
* nodes will be recursively destructed!
|
|
*
|
|
* @see MechanismObject2d
|
|
* @see MechanismLigament2d
|
|
* @see MechanismRoot2d
|
|
*/
|
|
class Mechanism2d : public Sendable, public SendableHelper<Mechanism2d> {
|
|
public:
|
|
/**
|
|
* Create a new Mechanism2d with the given dimensions and background color.
|
|
*
|
|
* @param width the width
|
|
* @param height the height
|
|
*/
|
|
Mechanism2d(double width, double height,
|
|
const Color8Bit& backgroundColor = {0, 0, 32});
|
|
|
|
/**
|
|
* Get or create a root in this Mechanism2d with the given name and
|
|
* position.
|
|
*
|
|
* <p>If a root with the given name already exists, the given x and y
|
|
* coordinates are not used.
|
|
*
|
|
* @param name the root name
|
|
* @param x the root x coordinate
|
|
* @param y the root y coordinate
|
|
* @return a new root object, or the existing one with the given name.
|
|
*/
|
|
MechanismRoot2d* GetRoot(wpi::StringRef name, double x, double y);
|
|
|
|
/**
|
|
* Set the Mechanism2d background color.
|
|
*
|
|
* @param color the new background color
|
|
*/
|
|
void SetBackgroundColor(const Color8Bit& color);
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
double m_width;
|
|
double m_height;
|
|
char m_color[10];
|
|
mutable wpi::mutex m_mutex;
|
|
std::shared_ptr<nt::NetworkTable> m_table;
|
|
wpi::StringMap<std::unique_ptr<MechanismRoot2d>> m_roots;
|
|
};
|
|
} // namespace frc
|