mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
89 lines
2.7 KiB
C++
89 lines
2.7 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_view>
|
|
|
|
#include <wpi/StringMap.h>
|
|
|
|
#include "frc/smartdashboard/SendableChooserBase.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* The SendableChooser class is a useful tool for presenting a selection of
|
|
* options to the SmartDashboard.
|
|
*
|
|
* For instance, you may wish to be able to select between multiple autonomous
|
|
* modes. You can do this by putting every possible Command you want to run as
|
|
* an autonomous into a SendableChooser and then put it into the SmartDashboard
|
|
* to have a list of options appear on the laptop. Once autonomous starts,
|
|
* simply ask the SendableChooser what the selected value is.
|
|
*
|
|
* @tparam T The type of values to be stored
|
|
* @see SmartDashboard
|
|
*/
|
|
template <class T>
|
|
class SendableChooser : public SendableChooserBase {
|
|
wpi::StringMap<T> m_choices;
|
|
|
|
template <class U>
|
|
static U _unwrap_smart_ptr(const U& value);
|
|
|
|
template <class U>
|
|
static U* _unwrap_smart_ptr(const std::unique_ptr<U>& value);
|
|
|
|
template <class U>
|
|
static std::weak_ptr<U> _unwrap_smart_ptr(const std::shared_ptr<U>& value);
|
|
|
|
public:
|
|
SendableChooser() = default;
|
|
~SendableChooser() override = default;
|
|
SendableChooser(SendableChooser&& rhs) = default;
|
|
SendableChooser& operator=(SendableChooser&& rhs) = default;
|
|
|
|
/**
|
|
* Adds the given object to the list of options.
|
|
*
|
|
* On the SmartDashboard on the desktop, the object will appear as the given
|
|
* name.
|
|
*
|
|
* @param name the name of the option
|
|
* @param object the option
|
|
*/
|
|
void AddOption(std::string_view name, T object);
|
|
|
|
/**
|
|
* Add the given object to the list of options and marks it as the default.
|
|
*
|
|
* Functionally, this is very close to AddOption() except that it will use
|
|
* this as the default option if none other is explicitly selected.
|
|
*
|
|
* @param name the name of the option
|
|
* @param object the option
|
|
*/
|
|
void SetDefaultOption(std::string_view name, T object);
|
|
|
|
/**
|
|
* Returns a copy of the selected option (a raw pointer U* if T =
|
|
* std::unique_ptr<U> or a std::weak_ptr<U> if T = std::shared_ptr<U>).
|
|
*
|
|
* If there is none selected, it will return the default. If there is none
|
|
* selected and no default, then it will return a value-initialized instance.
|
|
* For integer types, this is 0. For container types like std::string, this is
|
|
* an empty string.
|
|
*
|
|
* @return The option selected
|
|
*/
|
|
auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
|
|
|
|
void InitSendable(nt::NTSendableBuilder& builder) override;
|
|
};
|
|
|
|
} // namespace frc
|
|
|
|
#include "frc/smartdashboard/SendableChooser.inc"
|