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https://github.com/wpilibsuite/allwpilib
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88 lines
2.7 KiB
C++
88 lines
2.7 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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#include "frc/shuffleboard/ShuffleboardInstance.h"
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#include <hal/FRCUsageReporting.h>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableInstance.h>
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#include <wpi/SmallVector.h>
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#include <wpi/StringMap.h>
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#include "frc/shuffleboard/Shuffleboard.h"
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using namespace frc::detail;
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struct ShuffleboardInstance::Impl {
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wpi::StringMap<std::unique_ptr<ShuffleboardTab>> tabs;
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bool tabsChanged = false;
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std::shared_ptr<nt::NetworkTable> rootTable;
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std::shared_ptr<nt::NetworkTable> rootMetaTable;
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nt::StringPublisher selectedTabPub;
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};
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ShuffleboardInstance::ShuffleboardInstance(nt::NetworkTableInstance ntInstance)
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: m_impl(new Impl) {
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m_impl->rootTable = ntInstance.GetTable(Shuffleboard::kBaseTableName);
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m_impl->rootMetaTable = m_impl->rootTable->GetSubTable(".metadata");
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m_impl->selectedTabPub =
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m_impl->rootMetaTable->GetStringTopic("Selected")
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.Publish(nt::PubSubOptions{.keepDuplicates = true});
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HAL_Report(HALUsageReporting::kResourceType_Shuffleboard, 0);
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}
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ShuffleboardInstance::~ShuffleboardInstance() = default;
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frc::ShuffleboardTab& ShuffleboardInstance::GetTab(std::string_view title) {
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if (m_impl->tabs.find(title) == m_impl->tabs.end()) {
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m_impl->tabs.try_emplace(title,
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std::make_unique<ShuffleboardTab>(*this, title));
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m_impl->tabsChanged = true;
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}
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return *m_impl->tabs.find(title)->second;
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}
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void ShuffleboardInstance::Update() {
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if (m_impl->tabsChanged) {
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wpi::SmallVector<std::string, 16> tabTitles;
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for (auto& entry : m_impl->tabs) {
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tabTitles.emplace_back(entry.second->GetTitle());
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}
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m_impl->rootMetaTable->GetEntry("Tabs").SetStringArray(tabTitles);
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m_impl->tabsChanged = false;
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}
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for (auto& entry : m_impl->tabs) {
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auto& tab = *entry.second;
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tab.BuildInto(m_impl->rootTable,
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m_impl->rootMetaTable->GetSubTable(tab.GetTitle()));
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}
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}
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void ShuffleboardInstance::EnableActuatorWidgets() {
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for (auto& entry : m_impl->tabs) {
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auto& tab = *entry.second;
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for (auto& component : tab.GetComponents()) {
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component->EnableIfActuator();
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}
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}
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}
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void ShuffleboardInstance::DisableActuatorWidgets() {
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for (auto& entry : m_impl->tabs) {
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auto& tab = *entry.second;
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for (auto& component : tab.GetComponents()) {
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component->DisableIfActuator();
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}
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}
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}
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void ShuffleboardInstance::SelectTab(int index) {
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m_impl->selectedTabPub.Set(std::to_string(index));
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}
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void ShuffleboardInstance::SelectTab(std::string_view title) {
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m_impl->selectedTabPub.Set(title);
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}
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