mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
b2c3b2dd8e
- Twine, StringRef, Format, and NativeFormatting have been removed - Logging now uses fmtlib style formatting - Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or std::puts()/std::fputs() (for unformatted strings). - A wpi/fmt/raw_ostream.h header has been added to enable fmt::print() with wpi::raw_ostream
92 lines
2.5 KiB
C++
92 lines
2.5 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 <memory>
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#include <stdexcept>
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#include <string>
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#include <string_view>
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#include <type_traits>
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#include <utility>
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#include <networktables/NetworkTable.h>
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#include <wpi/StringMap.h>
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#include "frc/Errors.h"
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namespace frc {
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/**
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* Common base class for all Mechanism2d node types.
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*
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* To append another node, call Append with the type of node and its
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* construction parameters. None of the node types are designed to be
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* constructed directly, and are owned by their parent node/container - obtain
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* pointers from the Append function or similar factory methods.
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*
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* @see Mechanism2d.
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*/
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class MechanismObject2d {
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friend class Mechanism2d;
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protected:
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explicit MechanismObject2d(std::string_view name);
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/**
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* Update all entries with new ones from a new table.
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*
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* @param table the new table.
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*/
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virtual void UpdateEntries(std::shared_ptr<nt::NetworkTable> table) = 0;
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mutable wpi::mutex m_mutex;
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public:
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virtual ~MechanismObject2d() = default;
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/**
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* Retrieve the object's name.
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*
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* @return the object's name relative to its parent.
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*/
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const std::string& GetName() const;
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/**
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* Append a Mechanism object that is based on this one.
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*
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* @param name the name of the new object.
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* @param args constructor arguments of the object type.
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* @return the constructed and appended object, useful for variable
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* assignments and call chaining.
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* @throw if an object with the given name already exists.
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*/
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template <typename T, typename... Args,
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typename =
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std::enable_if_t<std::is_convertible_v<T*, MechanismObject2d*>>>
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T* Append(std::string_view name, Args&&... args) {
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std::scoped_lock lock(m_mutex);
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auto& obj = m_objects[name];
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if (obj) {
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throw FRC_MakeError(
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err::Error,
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"MechanismObject names must be unique! `{}` was inserted twice!",
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name);
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}
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obj = std::make_unique<T>(name, std::forward<Args>(args)...);
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T* ex = static_cast<T*>(obj.get());
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if (m_table) {
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ex->Update(m_table->GetSubTable(name));
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}
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return ex;
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}
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private:
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std::string m_name;
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wpi::StringMap<std::unique_ptr<MechanismObject2d>> m_objects;
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std::shared_ptr<nt::NetworkTable> m_table;
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void Update(std::shared_ptr<nt::NetworkTable> table);
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};
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} // namespace frc
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