mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
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.
433 lines
14 KiB
C++
433 lines
14 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2019 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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#include <string>
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#include <vector>
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#include <networktables/NetworkTableValue.h>
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#include "frc/ErrorBase.h"
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#include "frc/smartdashboard/ListenerExecutor.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 SmartDashboard : public ErrorBase,
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public Sendable,
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public SendableHelper<SmartDashboard> {
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public:
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static void init();
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/**
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* Determines whether the given key is in this table.
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*
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* @param key the key to search for
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* @return true if the table as a value assigned to the given key
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*/
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static bool ContainsKey(wpi::StringRef key);
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/**
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* @param types bitmask of types; 0 is treated as a "don't care".
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* @return keys currently in the table
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*/
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static std::vector<std::string> GetKeys(int types = 0);
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/**
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* Makes a key's value persistent through program restarts.
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*
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* @param key the key to make persistent
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*/
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static void SetPersistent(wpi::StringRef key);
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/**
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* Stop making a key's value persistent through program restarts.
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* The key cannot be null.
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*
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* @param key the key name
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*/
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static void ClearPersistent(wpi::StringRef key);
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/**
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* Returns whether the value is persistent through program restarts.
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* The key cannot be null.
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*
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* @param key the key name
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*/
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static bool IsPersistent(wpi::StringRef key);
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/**
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* Sets flags on the specified key in this table. The key can
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* not be null.
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*
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* @param key the key name
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* @param flags the flags to set (bitmask)
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*/
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static void SetFlags(wpi::StringRef key, unsigned int flags);
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/**
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* Clears flags on the specified key in this table. The key can
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* not be null.
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*
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* @param key the key name
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* @param flags the flags to clear (bitmask)
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*/
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static void ClearFlags(wpi::StringRef key, unsigned int flags);
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/**
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* Returns the flags for the specified key.
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*
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* @param key the key name
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* @return the flags, or 0 if the key is not defined
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*/
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static unsigned int GetFlags(wpi::StringRef key);
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/**
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* Deletes the specified key in this table.
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*
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* @param key the key name
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*/
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static void Delete(wpi::StringRef key);
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/**
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* Maps the specified key to the specified value in this table.
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*
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* The value can be retrieved by calling the get method with a key that is
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* equal to the original key.
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*
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* In order for the value to appear in the dashboard, it must be registered
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* with SendableRegistry. WPILib components do this automatically.
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*
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* @param keyName the key
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* @param value the value
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*/
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static void PutData(wpi::StringRef key, Sendable* data);
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/**
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* Maps the specified key (where the key is the name of the Sendable)
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* to the specified value in this table.
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*
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* The value can be retrieved by calling the get method with a key that is
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* equal to the original key.
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*
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* In order for the value to appear in the dashboard, it must be registered
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* with SendableRegistry. WPILib components do this automatically.
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*
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* @param value the value
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*/
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static void PutData(Sendable* value);
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/**
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* Returns the value at the specified key.
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*
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* @param keyName the key
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* @return the value
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*/
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static Sendable* GetData(wpi::StringRef keyName);
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/**
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* Maps the specified key to the specified value in this table.
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*
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* The value can be retrieved by calling the get method with a key that is
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* equal to the original key.
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*
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* @param keyName the key
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* @param value the value
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* @return False if the table key already exists with a different type
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*/
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static bool PutBoolean(wpi::StringRef keyName, bool value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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* @param key the key
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* @param defaultValue the default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultBoolean(wpi::StringRef key, bool defaultValue);
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/**
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* Returns the value at the specified key.
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*
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* If the key is not found, returns the default value.
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*
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* @param keyName the key
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* @return the value
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*/
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static bool GetBoolean(wpi::StringRef keyName, bool defaultValue);
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/**
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* Maps the specified key to the specified value in this table.
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*
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* The value can be retrieved by calling the get method with a key that is
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* equal to the original key.
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*
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* @param keyName the key
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* @param value the value
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* @return False if the table key already exists with a different type
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*/
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static bool PutNumber(wpi::StringRef keyName, double value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key The key.
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* @param defaultValue The default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultNumber(wpi::StringRef key, double defaultValue);
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/**
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* Returns the value at the specified key.
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*
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* If the key is not found, returns the default value.
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*
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* @param keyName the key
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* @return the value
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*/
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static double GetNumber(wpi::StringRef keyName, double defaultValue);
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/**
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* Maps the specified key to the specified value in this table.
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*
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* The value can be retrieved by calling the get method with a key that is
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* equal to the original key.
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*
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* @param keyName the key
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* @param value the value
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* @return False if the table key already exists with a different type
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*/
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static bool PutString(wpi::StringRef keyName, wpi::StringRef value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key the key
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* @param defaultValue the default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultString(wpi::StringRef key, wpi::StringRef defaultValue);
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/**
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* Returns the value at the specified key.
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*
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* If the key is not found, returns the default value.
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*
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* @param keyName the key
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* @return the value
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*/
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static std::string GetString(wpi::StringRef keyName,
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wpi::StringRef defaultValue);
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/**
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* Put a boolean array in the table.
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*
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* @param key the key to be assigned to
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* @param value the value that will be assigned
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* @return False if the table key already exists with a different type
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*
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* @note The array must be of int's rather than of bool's because
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* std::vector<bool> is special-cased in C++. 0 is false, any
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* non-zero value is true.
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*/
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static bool PutBooleanArray(wpi::StringRef key, wpi::ArrayRef<int> value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key the key
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* @param defaultValue the default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultBooleanArray(wpi::StringRef key,
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wpi::ArrayRef<int> defaultValue);
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/**
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* Returns the boolean array the key maps to.
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*
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* If the key does not exist or is of different type, it will return the
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* default value.
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*
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* @param key The key to look up.
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* @param defaultValue The value to be returned if no value is found.
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* @return the value associated with the given key or the given default value
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* if there is no value associated with the key
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*
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* @note This makes a copy of the array. If the overhead of this is a concern,
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* use GetValue() instead.
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*
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* @note The returned array is std::vector<int> instead of std::vector<bool>
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* because std::vector<bool> is special-cased in C++. 0 is false, any
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* non-zero value is true.
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*/
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static std::vector<int> GetBooleanArray(wpi::StringRef key,
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wpi::ArrayRef<int> defaultValue);
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/**
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* Put a number array in the table.
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*
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* @param key The key to be assigned to.
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* @param value The value that will be assigned.
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* @return False if the table key already exists with a different type
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*/
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static bool PutNumberArray(wpi::StringRef key, wpi::ArrayRef<double> value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key The key.
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* @param defaultValue The default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultNumberArray(wpi::StringRef key,
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wpi::ArrayRef<double> defaultValue);
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/**
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* Returns the number array the key maps to.
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*
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* If the key does not exist or is of different type, it will return the
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* default value.
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*
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* @param key The key to look up.
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* @param defaultValue The value to be returned if no value is found.
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* @return the value associated with the given key or the given default value
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* if there is no value associated with the key
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*
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* @note This makes a copy of the array. If the overhead of this is a concern,
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* use GetValue() instead.
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*/
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static std::vector<double> GetNumberArray(wpi::StringRef key,
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wpi::ArrayRef<double> defaultValue);
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/**
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* Put a string array in the table.
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*
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* @param key The key to be assigned to.
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* @param value The value that will be assigned.
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* @return False if the table key already exists with a different type
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*/
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static bool PutStringArray(wpi::StringRef key,
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wpi::ArrayRef<std::string> value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key The key.
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* @param defaultValue The default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultStringArray(wpi::StringRef key,
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wpi::ArrayRef<std::string> defaultValue);
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/**
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* Returns the string array the key maps to.
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*
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* If the key does not exist or is of different type, it will return the
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* default value.
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*
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* @param key The key to look up.
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* @param defaultValue The value to be returned if no value is found.
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* @return the value associated with the given key or the given default value
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* if there is no value associated with the key
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*
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* @note This makes a copy of the array. If the overhead of this is a concern,
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* use GetValue() instead.
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*/
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static std::vector<std::string> GetStringArray(
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wpi::StringRef key, wpi::ArrayRef<std::string> defaultValue);
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/**
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* Put a raw value (byte array) in the table.
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*
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* @param key The key to be assigned to.
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* @param value The value that will be assigned.
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* @return False if the table key already exists with a different type
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*/
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static bool PutRaw(wpi::StringRef key, wpi::StringRef value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key The key.
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* @param defaultValue The default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultRaw(wpi::StringRef key, wpi::StringRef defaultValue);
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/**
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* Returns the raw value (byte array) the key maps to.
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*
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* If the key does not exist or is of different type, it will return the
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* default value.
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*
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* @param key The key to look up.
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* @param defaultValue The value to be returned if no value is found.
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* @return the value associated with the given key or the given default value
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* if there is no value associated with the key
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*
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* @note This makes a copy of the raw contents. If the overhead of this is a
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* concern, use GetValue() instead.
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*/
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static std::string GetRaw(wpi::StringRef key, wpi::StringRef defaultValue);
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/**
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* Maps the specified key to the specified complex value (such as an array) in
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* this table.
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*
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* The value can be retrieved by calling the RetrieveValue method with a key
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* that is equal to the original key.
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*
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* @param keyName the key
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* @param value the value
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* @return False if the table key already exists with a different type
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*/
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static bool PutValue(wpi::StringRef keyName,
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std::shared_ptr<nt::Value> value);
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/**
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* Gets the current value in the table, setting it if it does not exist.
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*
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* @param key the key
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* @param defaultValue The default value to set if key doesn't exist.
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* @returns False if the table key exists with a different type
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*/
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static bool SetDefaultValue(wpi::StringRef key,
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std::shared_ptr<nt::Value> defaultValue);
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/**
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* Retrieves the complex value (such as an array) in this table into the
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* complex data object.
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*
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* @param keyName the key
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* @param value the object to retrieve the value into
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*/
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static std::shared_ptr<nt::Value> GetValue(wpi::StringRef keyName);
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/**
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* Posts a task from a listener to the ListenerExecutor, so that it can be run
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* synchronously from the main loop on the next call to {@link
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* SmartDashboard#updateValues()}.
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*
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* @param task The task to run synchronously from the main thread.
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*/
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static void PostListenerTask(std::function<void()> task);
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/**
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* Puts all sendable data to the dashboard.
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*/
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static void UpdateValues();
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private:
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virtual ~SmartDashboard() = default;
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static detail::ListenerExecutor listenerExecutor;
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};
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} // namespace frc
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