mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
7eb8550bdb
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
72 lines
1.9 KiB
C++
72 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2011. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#ifndef __SCHEDULER_H__
|
|
#define __SCHEDULER_H__
|
|
|
|
#include "Commands/Command.h"
|
|
#include "ErrorBase.h"
|
|
#include "SmartDashboard/NamedSendable.h"
|
|
#include "networktables/NetworkTable.h"
|
|
#include "networktables2/type/NumberArray.h"
|
|
#include "networktables2/type/StringArray.h"
|
|
#include "SmartDashboard/SmartDashboard.h"
|
|
#include "HAL/Semaphore.hpp"
|
|
#include <list>
|
|
#include <map>
|
|
#include <set>
|
|
#include <vector>
|
|
|
|
class ButtonScheduler;
|
|
class Subsystem;
|
|
|
|
class Scheduler : public ErrorBase, public NamedSendable {
|
|
public:
|
|
static Scheduler *GetInstance();
|
|
|
|
void AddCommand(Command *command);
|
|
void AddButton(ButtonScheduler *button);
|
|
void RegisterSubsystem(Subsystem *subsystem);
|
|
void Run();
|
|
void Remove(Command *command);
|
|
void RemoveAll();
|
|
void ResetAll();
|
|
void SetEnabled(bool enabled);
|
|
|
|
void UpdateTable();
|
|
std::string GetSmartDashboardType() const;
|
|
void InitTable(ITable *subTable);
|
|
ITable *GetTable() const;
|
|
std::string GetName();
|
|
std::string GetType() const;
|
|
|
|
private:
|
|
Scheduler();
|
|
virtual ~Scheduler();
|
|
|
|
void ProcessCommandAddition(Command *command);
|
|
|
|
static Scheduler *_instance;
|
|
Command::SubsystemSet m_subsystems;
|
|
MUTEX_ID m_buttonsLock;
|
|
typedef std::vector<ButtonScheduler *> ButtonVector;
|
|
ButtonVector m_buttons;
|
|
typedef std::vector<Command *> CommandVector;
|
|
MUTEX_ID m_additionsLock;
|
|
CommandVector m_additions;
|
|
typedef std::set<Command *> CommandSet;
|
|
CommandSet m_commands;
|
|
bool m_adding;
|
|
bool m_enabled;
|
|
StringArray *commands;
|
|
NumberArray *ids;
|
|
NumberArray *toCancel;
|
|
ITable *m_table;
|
|
bool m_runningCommandsChanged;
|
|
};
|
|
#endif
|