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https://github.com/wpilibsuite/allwpilib
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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.
82 lines
1.9 KiB
C++
82 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2012-2019 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 <memory>
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namespace frc {
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class Sendable;
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/**
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* The LiveWindow class is the public interface for putting sensors and
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* actuators on the LiveWindow.
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*/
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class LiveWindow {
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public:
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LiveWindow(const LiveWindow&) = delete;
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LiveWindow& operator=(const LiveWindow&) = delete;
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/**
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* Get an instance of the LiveWindow main class.
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*
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* This is a singleton to guarantee that there is only a single instance
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* regardless of how many times GetInstance is called.
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*/
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static LiveWindow* GetInstance();
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/**
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* Enable telemetry for a single component.
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*
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* @param sendable component
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*/
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void EnableTelemetry(Sendable* component);
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/**
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* Disable telemetry for a single component.
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*
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* @param sendable component
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*/
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void DisableTelemetry(Sendable* component);
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/**
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* Disable ALL telemetry.
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*/
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void DisableAllTelemetry();
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bool IsEnabled() const;
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/**
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* Change the enabled status of LiveWindow.
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*
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* If it changes to enabled, start livewindow running otherwise stop it
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*/
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void SetEnabled(bool enabled);
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/**
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* Tell all the sensors to update (send) their values.
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*
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* Actuators are handled through callbacks on their value changing from the
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* SmartDashboard widgets.
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*/
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void UpdateValues();
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private:
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LiveWindow();
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struct Impl;
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std::unique_ptr<Impl> m_impl;
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/**
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* Updates the entries, without using a mutex or lock.
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*/
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void UpdateValuesUnsafe();
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};
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} // namespace frc
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