allwpilib/wpilibc/src/main/python/semiwrap/SmartDashboard.yml

extra_includes:
- src/rpy/SmartDashboardData.h
- wpi/system/Errors.hpp
- wpi/util/sendable/SendableRegistry.hpp

classes:
  wpi::SmartDashboard:
    methods:
      init:
      ContainsKey:
      GetKeys:
      SetPersistent:
      ClearPersistent:
      IsPersistent:
      GetEntry:
      PutData:
        # overrides ensure data doesn't die if this is the only reference
        overloads:
          std::string_view, wpi::util::Sendable*:
            cpp_code: |
              [](py::str &key, std::shared_ptr<wpi::util::Sendable> data) {
                if (!data) {
                  throw WPILIB_MakeError(err::NullParameter, "{}", "value");
                }

                // convert key to a raw string so that we can create a StringRef
                Py_ssize_t raw_size;
                const char *raw_str = PyUnicode_AsUTF8AndSize(key.ptr(), &raw_size);
                if (raw_str == NULL) {
                  throw py::error_already_set();
                }

                std::string_view keyRef(raw_str, raw_size);
                wpi::SmartDashboard::PutData(keyRef, data.get());

                // this comes after the PutData to ensure that the original object doesn't die
                // while PutData is called
                rpy::addSmartDashboardData(key, data);
              }
          wpi::util::Sendable*:
            cpp_code: |
              [](std::shared_ptr<wpi::util::Sendable> value) {
                wpi::SmartDashboard::PutData(value.get());
                // this comes after the PutData to ensure that the original object doesn't die
                // while PutData is called
                auto name = wpi::util::SendableRegistry::GetName(value.get());
                if (!name.empty()) {
                  py::str key(name);
                  rpy::addSmartDashboardData(key, value);
                }
              }
      GetData:
      PutBoolean:
      SetDefaultBoolean:
      GetBoolean:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
              wpi::nt::Value value;
              {
                py::gil_scoped_release release;
                auto entry = wpi::SmartDashboard::GetEntry(key);
                value = wpi::nt::GetEntryValue(entry.GetHandle());
              }
              if (!value || value.type() != NT_BOOLEAN) return defaultValue;
              return py::cast(value.GetBoolean());
          }
      PutNumber:
      SetDefaultNumber:
      GetNumber:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
              wpi::nt::Value value;
              {
                py::gil_scoped_release release;
                auto entry = wpi::SmartDashboard::GetEntry(key);
                value = wpi::nt::GetEntryValue(entry.GetHandle());
              }
              if (!value || value.type() != NT_DOUBLE) return defaultValue;
              return py::cast(value.GetDouble());
          }
      PutString:
      SetDefaultString:
      GetString:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
              wpi::nt::Value value;
              {
                py::gil_scoped_release release;
                auto entry = wpi::SmartDashboard::GetEntry(key);
                value = wpi::nt::GetEntryValue(entry.GetHandle());
              }
              if (!value || value.type() != NT_STRING) return defaultValue;
              return py::cast(value.GetString());
          }
      PutBooleanArray:
      SetDefaultBooleanArray:
      GetBooleanArray:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
            wpi::nt::Value value;
            {
              py::gil_scoped_release release;
              auto entry = wpi::SmartDashboard::GetEntry(key);
              value = wpi::nt::GetEntryValue(entry.GetHandle());
            }
            if (!value || value.type() != NT_BOOLEAN_ARRAY) return defaultValue;
            // ntcore will return bit vector by default. Convert to List[bool]
            auto v = value.value();
            py::list l(v.data.arr_boolean.size);
            for (size_t i = 0; i < v.data.arr_boolean.size; i++) {
              auto b = py::bool_(v.data.arr_boolean.arr[i]);
                PyList_SET_ITEM(l.ptr(), i, b.release().ptr());
            }
            return l;
          }
      PutNumberArray:
      SetDefaultNumberArray:
      GetNumberArray:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
              wpi::nt::Value value;
              {
                py::gil_scoped_release release;
                auto entry = wpi::SmartDashboard::GetEntry(key);
                value = wpi::nt::GetEntryValue(entry.GetHandle());
              }
              if (!value || value.type() != NT_DOUBLE_ARRAY) return defaultValue;
              return py::cast(value.GetDoubleArray());
          }
      PutStringArray:
      SetDefaultStringArray:
      GetStringArray:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
              wpi::nt::Value value;
              {
                py::gil_scoped_release release;
                auto entry = wpi::SmartDashboard::GetEntry(key);
                value = wpi::nt::GetEntryValue(entry.GetHandle());
              }
              if (!value || value.type() != NT_STRING_ARRAY) return defaultValue;
              return py::cast(value.GetStringArray());
          }
      PutRaw:
      SetDefaultRaw:
      GetRaw:
        cpp_code: |
          [](std::string_view key, py::object defaultValue) -> py::object {
              wpi::nt::Value value;
              {
                py::gil_scoped_release release;
                auto entry = wpi::SmartDashboard::GetEntry(key);
                value = wpi::nt::GetEntryValue(entry.GetHandle());
              }
              if (!value || value.type() != NT_STRING) return defaultValue;
              return py::cast(value.GetString());
          }
      PutValue:
      SetDefaultValue:
      GetValue:
      PostListenerTask:
      UpdateValues:

inline_code: |-
  // ensure that the smart dashboard data is released when python shuts down
  static int unused; // the capsule needs something to reference
  py::capsule cleanup(&unused, [](void *) {
      rpy::destroySmartDashboardData();
  });
  m.add_object("_sd_cleanup", cleanup);
  m.def("_clearSmartDashboardData", &rpy::clearSmartDashboardData);