mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-03 03:01:44 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2017 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 <llvm/StringMap.h>
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#include <llvm/StringRef.h>
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#include "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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class SendableChooser : public SendableChooserBase {
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llvm::StringMap<T> m_choices;
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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() override = default;
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void AddObject(llvm::StringRef name, T object);
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void AddDefault(llvm::StringRef name, T object);
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auto GetSelected() -> decltype(_unwrap_smart_ptr(m_choices[""]));
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void InitSendable(SendableBuilder& builder) override;
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};
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} // namespace frc
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#include "SendableChooser.inc"
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