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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
95 lines
2.5 KiB
C++
95 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2019 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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#pragma once
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#include <hal/Types.h>
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#include "frc/ErrorBase.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* Class for getting voltage, current, temperature, power and energy from the
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* CAN PDP.
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*/
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class PowerDistributionPanel : public ErrorBase,
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public Sendable,
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public SendableHelper<PowerDistributionPanel> {
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public:
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PowerDistributionPanel();
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explicit PowerDistributionPanel(int module);
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PowerDistributionPanel(PowerDistributionPanel&&) = default;
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PowerDistributionPanel& operator=(PowerDistributionPanel&&) = default;
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/**
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* Query the input voltage of the PDP.
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*
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* @return The voltage of the PDP in volts
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*/
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double GetVoltage() const;
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/**
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* Query the temperature of the PDP.
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*
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* @return The temperature of the PDP in degrees Celsius
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*/
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double GetTemperature() const;
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/**
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* Query the current of a single channel of the PDP.
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*
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* @return The current of one of the PDP channels (channels 0-15) in Amperes
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*/
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double GetCurrent(int channel) const;
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/**
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* Query the total current of all monitored PDP channels (0-15).
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*
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* @return The the total current drawn from the PDP channels in Amperes
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*/
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double GetTotalCurrent() const;
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/**
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* Query the total power drawn from the monitored PDP channels.
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*
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* @return The the total power drawn from the PDP channels in Watts
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*/
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double GetTotalPower() const;
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/**
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* Query the total energy drawn from the monitored PDP channels.
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*
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* @return The the total energy drawn from the PDP channels in Joules
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*/
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double GetTotalEnergy() const;
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/**
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* Reset the total energy drawn from the PDP.
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*
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* @see PowerDistributionPanel#GetTotalEnergy
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*/
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void ResetTotalEnergy();
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/**
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* Remove all of the fault flags on the PDP.
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*/
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void ClearStickyFaults();
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void InitSendable(SendableBuilder& builder) override;
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private:
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hal::Handle<HAL_PDPHandle> m_handle;
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};
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} // namespace frc
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