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https://github.com/wpilibsuite/allwpilib
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100 lines
3.2 KiB
C++
100 lines
3.2 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 <concepts>
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#include <functional>
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#include <memory>
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#include <string_view>
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#include <wpi/StringMap.h>
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#include "frc/smartdashboard/SendableChooserBase.h"
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namespace frc {
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/**
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* The SendableChooser class is a useful tool for presenting a selection of
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* options to the SmartDashboard.
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*
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* For instance, you may wish to be able to select between multiple autonomous
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* modes. You can do this by putting every possible Command you want to run as
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* an autonomous into a SendableChooser and then put it into the SmartDashboard
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* to have a list of options appear on the laptop. Once autonomous starts,
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* simply ask the SendableChooser what the selected value is.
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*
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* @tparam T The type of values to be stored
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* @see SmartDashboard
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*/
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template <class T>
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requires std::copy_constructible<T> && std::default_initializable<T>
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class SendableChooser : public SendableChooserBase {
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wpi::StringMap<T> m_choices;
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std::function<void(T)> m_listener;
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template <class U>
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static U _unwrap_smart_ptr(const U& value);
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template <class U>
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static U* _unwrap_smart_ptr(const std::unique_ptr<U>& value);
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template <class U>
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static std::weak_ptr<U> _unwrap_smart_ptr(const std::shared_ptr<U>& value);
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public:
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SendableChooser() = default;
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~SendableChooser() override = default;
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SendableChooser(SendableChooser&& rhs) = default;
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SendableChooser& operator=(SendableChooser&& rhs) = default;
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/**
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* Adds the given object to the list of options.
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*
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* On the SmartDashboard on the desktop, the object will appear as the given
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* name.
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*
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* @param name the name of the option
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* @param object the option
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*/
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void AddOption(std::string_view name, T object);
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/**
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* Add the given object to the list of options and marks it as the default.
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*
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* Functionally, this is very close to AddOption() except that it will use
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* this as the default option if none other is explicitly selected.
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*
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* @param name the name of the option
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* @param object the option
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*/
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void SetDefaultOption(std::string_view name, T object);
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/**
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* Returns a copy of the selected option (a raw pointer U* if T =
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* std::unique_ptr<U> or a std::weak_ptr<U> if T = std::shared_ptr<U>).
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*
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* If there is none selected, it will return the default. If there is none
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* selected and no default, then it will return a value-initialized instance.
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* For integer types, this is 0. For container types like std::string, this is
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* an empty string.
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*
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* @return The option selected
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*/
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auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
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/**
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* Bind a listener that's called when the selected value changes.
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* Only one listener can be bound. Calling this function will replace the
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* previous listener.
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* @param listener The function to call that accepts the new value
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*/
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void OnChange(std::function<void(T)>);
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void InitSendable(wpi::SendableBuilder& builder) override;
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};
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} // namespace frc
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#include "frc/smartdashboard/SendableChooser.inc"
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