mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
94 lines
3.1 KiB
C++
94 lines
3.1 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2011-2020 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include <wpi/StringMap.h>
|
|
#include <wpi/StringRef.h>
|
|
#include <wpi/deprecated.h>
|
|
|
|
#include "frc/smartdashboard/SendableBuilder.h"
|
|
#include "frc/smartdashboard/SendableChooserBase.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* The SendableChooser class is a useful tool for presenting a selection of
|
|
* options to the SmartDashboard.
|
|
*
|
|
* For instance, you may wish to be able to select between multiple autonomous
|
|
* modes. You can do this by putting every possible Command you want to run as
|
|
* an autonomous into a SendableChooser and then put it into the SmartDashboard
|
|
* to have a list of options appear on the laptop. Once autonomous starts,
|
|
* simply ask the SendableChooser what the selected value is.
|
|
*
|
|
* @tparam T The type of values to be stored
|
|
* @see SmartDashboard
|
|
*/
|
|
template <class T>
|
|
class SendableChooser : public SendableChooserBase {
|
|
wpi::StringMap<T> m_choices;
|
|
|
|
template <class U>
|
|
static U _unwrap_smart_ptr(const U& value);
|
|
|
|
template <class U>
|
|
static U* _unwrap_smart_ptr(const std::unique_ptr<U>& value);
|
|
|
|
template <class U>
|
|
static std::weak_ptr<U> _unwrap_smart_ptr(const std::shared_ptr<U>& value);
|
|
|
|
public:
|
|
~SendableChooser() override = default;
|
|
SendableChooser() = default;
|
|
SendableChooser(SendableChooser&& rhs) = default;
|
|
SendableChooser& operator=(SendableChooser&& rhs) = default;
|
|
|
|
void AddOption(wpi::StringRef name, T object);
|
|
void SetDefaultOption(wpi::StringRef name, T object);
|
|
|
|
/**
|
|
* Adds the given object to the list of options.
|
|
*
|
|
* On the SmartDashboard on the desktop, the object will appear as the given
|
|
* name.
|
|
*
|
|
* @deprecated use AddOption(wpi::StringRef name, T object) instead.
|
|
*
|
|
* @param name the name of the option
|
|
* @param object the option
|
|
*/
|
|
WPI_DEPRECATED("use AddOption() instead")
|
|
void AddObject(wpi::StringRef name, T object) { AddOption(name, object); }
|
|
|
|
/**
|
|
* Add the given object to the list of options and marks it as the default.
|
|
*
|
|
* Functionally, this is very close to AddOption() except that it will use
|
|
* this as the default option if none other is explicitly selected.
|
|
*
|
|
* @deprecated use SetDefaultOption(wpi::StringRef name, T object) instead.
|
|
*
|
|
* @param name the name of the option
|
|
* @param object the option
|
|
*/
|
|
WPI_DEPRECATED("use SetDefaultOption() instead")
|
|
void AddDefault(wpi::StringRef name, T object) {
|
|
SetDefaultOption(name, object);
|
|
}
|
|
|
|
auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
};
|
|
|
|
} // namespace frc
|
|
|
|
#include "frc/smartdashboard/SendableChooser.inc"
|