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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.
98 lines
2.6 KiB
C++
98 lines
2.6 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 <memory>
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#include <string_view>
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#include <vector>
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#include <networktables/NTSendable.h>
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#include <networktables/NetworkTable.h>
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#include <networktables/NetworkTableEntry.h>
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#include <units/length.h>
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#include <wpi/mutex.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/geometry/Pose2d.h"
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#include "frc/geometry/Rotation2d.h"
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#include "frc/smartdashboard/FieldObject2d.h"
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namespace frc {
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/**
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* 2D representation of game field for dashboards.
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*
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* An object's pose is the location shown on the dashboard view. Note that
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* for the robot, this may or may not match the internal odometry. For example,
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* if the robot is shown at a particular starting location, the pose in this
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* class would represent the actual location on the field, but the robot's
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* internal state might have a 0,0,0 pose (unless it's initialized to
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* something different).
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*
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* As the user is able to edit the pose, code performing updates should get
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* the robot pose, transform it as appropriate (e.g. based on wheel odometry),
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* and set the new pose.
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*
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* This class provides methods to set the robot pose, but other objects can
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* also be shown by using the GetObject() function. Other objects can
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* also have multiple poses (which will show the object at multiple locations).
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*/
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class Field2d : public nt::NTSendable, public wpi::SendableHelper<Field2d> {
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public:
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using Entry = size_t;
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Field2d();
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Field2d(Field2d&& rhs);
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Field2d& operator=(Field2d&& rhs);
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/**
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* Set the robot pose from a Pose object.
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*
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* @param pose 2D pose
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*/
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void SetRobotPose(const Pose2d& pose);
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/**
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* Set the robot pose from x, y, and rotation.
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*
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* @param x X location
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* @param y Y location
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* @param rotation rotation
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*/
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void SetRobotPose(units::meter_t x, units::meter_t y, Rotation2d rotation);
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/**
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* Get the robot pose.
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*
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* @return 2D pose
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*/
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Pose2d GetRobotPose() const;
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/**
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* Get or create a field object.
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*
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* @return Field object
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*/
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FieldObject2d* GetObject(std::string_view name);
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/**
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* Get the robot object.
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*
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* @return Field object for robot
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*/
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FieldObject2d* GetRobotObject();
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void InitSendable(nt::NTSendableBuilder& builder) override;
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private:
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std::shared_ptr<nt::NetworkTable> m_table;
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mutable wpi::mutex m_mutex;
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std::vector<std::unique_ptr<FieldObject2d>> m_objects;
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};
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} // namespace frc
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