mirror of
https://github.com/wpilibsuite/allwpilib
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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
85 lines
1.8 KiB
C++
85 lines
1.8 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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#pragma once
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#include <functional>
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#include <memory>
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namespace wpi {
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class Sendable;
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} // namespace wpi
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namespace frc {
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/**
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* The LiveWindow class is the public interface for putting sensors and
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* actuators on the LiveWindow.
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*/
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class LiveWindow {
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public:
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LiveWindow(const LiveWindow&) = delete;
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LiveWindow& operator=(const LiveWindow&) = delete;
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std::function<void()> enabled;
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std::function<void()> disabled;
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/**
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* Get an instance of the LiveWindow main class.
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*
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* This is a singleton to guarantee that there is only a single instance
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* regardless of how many times GetInstance is called.
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*/
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static LiveWindow* GetInstance();
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/**
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* Enable telemetry for a single component.
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*
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* @param sendable component
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*/
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void EnableTelemetry(wpi::Sendable* component);
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/**
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* Disable telemetry for a single component.
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*
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* @param sendable component
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*/
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void DisableTelemetry(wpi::Sendable* component);
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/**
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* Disable ALL telemetry.
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*/
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void DisableAllTelemetry();
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bool IsEnabled() const;
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/**
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* Change the enabled status of LiveWindow.
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*
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* If it changes to enabled, start livewindow running otherwise stop it
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*/
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void SetEnabled(bool enabled);
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/**
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* Tell all the sensors to update (send) their values.
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*
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* Actuators are handled through callbacks on their value changing from the
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* SmartDashboard widgets.
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*/
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void UpdateValues();
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private:
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LiveWindow();
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struct Impl;
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std::unique_ptr<Impl> m_impl;
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/**
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* Updates the entries, without using a mutex or lock.
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*/
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void UpdateValuesUnsafe();
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};
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} // namespace frc
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