mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
390 lines
12 KiB
C++
390 lines
12 KiB
C++
// 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 <functional>
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#include <memory>
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#include <span>
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#include <string>
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#include <string_view>
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#include <vector>
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#include "wpi/SmallVector.h"
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namespace wpi {
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class SendableBuilder {
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public:
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/**
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* The backend kinds used for the sendable builder.
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*/
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enum BackendKind { kUnknown, kNetworkTables };
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virtual ~SendableBuilder() = default;
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/**
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* Set the string representation of the named data type that will be used
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* by the smart dashboard for this sendable.
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*
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* @param type data type
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*/
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virtual void SetSmartDashboardType(std::string_view type) = 0;
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/**
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* Set a flag indicating if this sendable should be treated as an actuator.
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* By default this flag is false.
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*
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* @param value true if actuator, false if not
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*/
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virtual void SetActuator(bool value) = 0;
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/**
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* Set the function that should be called to set the Sendable into a safe
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* state. This is called when entering and exiting Live Window mode.
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*
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* @param func function
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*/
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virtual void SetSafeState(std::function<void()> func) = 0;
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/**
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* Add a boolean property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddBooleanProperty(std::string_view key,
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std::function<bool()> getter,
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std::function<void(bool)> setter) = 0;
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/**
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* Add a constant boolean property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstBoolean(std::string_view key, bool value) = 0;
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/**
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* Add an integer property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddIntegerProperty(std::string_view key,
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std::function<int64_t()> getter,
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std::function<void(int64_t)> setter) = 0;
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/**
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* Add a constant integer property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstInteger(std::string_view key, int64_t value) = 0;
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/**
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* Add a float property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddFloatProperty(std::string_view key,
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std::function<float()> getter,
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std::function<void(float)> setter) = 0;
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/**
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* Add a constant float property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstFloat(std::string_view key, float value) = 0;
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/**
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* Add a double property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddDoubleProperty(std::string_view key,
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std::function<double()> getter,
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std::function<void(double)> setter) = 0;
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/**
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* Add a constant double property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstDouble(std::string_view key, double value) = 0;
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/**
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* Add a string property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddStringProperty(
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std::string_view key, std::function<std::string()> getter,
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std::function<void(std::string_view)> setter) = 0;
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/**
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* Add a constant string property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstString(std::string_view key,
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std::string_view value) = 0;
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/**
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* Add a boolean array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddBooleanArrayProperty(
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std::string_view key, std::function<std::vector<int>()> getter,
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std::function<void(std::span<const int>)> setter) = 0;
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/**
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* Add a constant boolean array property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstBooleanArray(std::string_view key,
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std::span<const int> value) = 0;
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/**
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* Add an integer array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddIntegerArrayProperty(
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std::string_view key, std::function<std::vector<int64_t>()> getter,
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std::function<void(std::span<const int64_t>)> setter) = 0;
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/**
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* Add a constant integer array property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstIntegerArray(std::string_view key,
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std::span<const int64_t> value) = 0;
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/**
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* Add a float array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddFloatArrayProperty(
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std::string_view key, std::function<std::vector<float>()> getter,
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std::function<void(std::span<const float>)> setter) = 0;
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/**
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* Add a constant float array property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstFloatArray(std::string_view key,
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std::span<const float> value) = 0;
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/**
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* Add a double array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddDoubleArrayProperty(
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std::string_view key, std::function<std::vector<double>()> getter,
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std::function<void(std::span<const double>)> setter) = 0;
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/**
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* Add a constant double array property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstDoubleArray(std::string_view key,
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std::span<const double> value) = 0;
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/**
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* Add a string array property.
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddStringArrayProperty(
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std::string_view key, std::function<std::vector<std::string>()> getter,
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std::function<void(std::span<const std::string>)> setter) = 0;
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/**
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* Add a constant string array property.
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*
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* @param key property name
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* @param value the value
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*/
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virtual void PublishConstStringArray(std::string_view key,
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std::span<const std::string> value) = 0;
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/**
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* Add a raw property.
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*
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* @param key property name
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* @param typeString type string
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddRawProperty(
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std::string_view key, std::string_view typeString,
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std::function<std::vector<uint8_t>()> getter,
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std::function<void(std::span<const uint8_t>)> setter) = 0;
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/**
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* Add a constant raw property.
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*
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* @param key property name
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* @param typeString type string
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* @param value the value
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*/
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virtual void PublishConstRaw(std::string_view key,
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std::string_view typeString,
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std::span<const uint8_t> value) = 0;
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/**
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* Add a string property (SmallString form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallStringProperty(
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std::string_view key,
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std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
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std::function<void(std::string_view)> setter) = 0;
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/**
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* Add a boolean array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallBooleanArrayProperty(
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std::string_view key,
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std::function<std::span<const int>(wpi::SmallVectorImpl<int>& buf)>
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getter,
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std::function<void(std::span<const int>)> setter) = 0;
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/**
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* Add an integer array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallIntegerArrayProperty(
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std::string_view key,
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std::function<
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std::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
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getter,
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std::function<void(std::span<const int64_t>)> setter) = 0;
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/**
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* Add a float array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallFloatArrayProperty(
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std::string_view key,
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std::function<std::span<const float>(wpi::SmallVectorImpl<float>& buf)>
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getter,
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std::function<void(std::span<const float>)> setter) = 0;
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/**
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* Add a double array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallDoubleArrayProperty(
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std::string_view key,
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std::function<std::span<const double>(wpi::SmallVectorImpl<double>& buf)>
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getter,
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std::function<void(std::span<const double>)> setter) = 0;
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/**
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* Add a string array property (SmallVector form).
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*
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* @param key property name
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallStringArrayProperty(
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std::string_view key,
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std::function<
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std::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
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getter,
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std::function<void(std::span<const std::string>)> setter) = 0;
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/**
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* Add a raw property (SmallVector form).
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*
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* @param key property name
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* @param typeString type string
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* @param getter getter function (returns current value)
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* @param setter setter function (sets new value)
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*/
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virtual void AddSmallRawProperty(
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std::string_view key, std::string_view typeString,
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std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
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getter,
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std::function<void(std::span<const uint8_t>)> setter) = 0;
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/**
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* Gets the kind of backend being used.
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*
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* @return Backend kind
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*/
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virtual BackendKind GetBackendKind() const = 0;
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/**
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* Return whether this sendable has been published.
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*
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* @return True if it has been published, false if not.
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*/
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virtual bool IsPublished() const = 0;
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/**
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* Update the published values by calling the getters for all properties.
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*/
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virtual void Update() = 0;
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/**
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* Clear properties.
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*/
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virtual void ClearProperties() = 0;
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};
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} // namespace wpi
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