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https://github.com/wpilibsuite/allwpilib
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62812faf62
* Replaced include guards with #pragma once * All source files now have exactly one newline appended Some files had either two newlines at the end or none (which isn't POSIX compliant). This patch fixes that.
69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2011-2016. 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 <list>
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#include <map>
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#include <memory>
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#include <set>
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#include <string>
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#include <vector>
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#include "Commands/Command.h"
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#include "ErrorBase.h"
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#include "HAL/cpp/priority_mutex.h"
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#include "SmartDashboard/NamedSendable.h"
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#include "SmartDashboard/SmartDashboard.h"
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#include "networktables/NetworkTable.h"
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class ButtonScheduler;
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class Subsystem;
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class Scheduler : public ErrorBase, public NamedSendable {
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public:
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static Scheduler* GetInstance();
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void AddCommand(Command* command);
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void AddButton(ButtonScheduler* button);
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void RegisterSubsystem(Subsystem* subsystem);
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void Run();
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void Remove(Command* command);
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void RemoveAll();
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void ResetAll();
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void SetEnabled(bool enabled);
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void UpdateTable();
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std::string GetSmartDashboardType() const;
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void InitTable(std::shared_ptr<ITable> subTable);
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std::shared_ptr<ITable> GetTable() const;
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std::string GetName() const;
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std::string GetType() const;
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private:
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Scheduler();
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virtual ~Scheduler() = default;
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void ProcessCommandAddition(Command* command);
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Command::SubsystemSet m_subsystems;
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priority_mutex m_buttonsLock;
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typedef std::vector<ButtonScheduler*> ButtonVector;
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ButtonVector m_buttons;
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typedef std::vector<Command*> CommandVector;
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priority_mutex m_additionsLock;
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CommandVector m_additions;
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typedef std::set<Command*> CommandSet;
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CommandSet m_commands;
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bool m_adding = false;
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bool m_enabled = true;
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std::vector<std::string> commands;
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std::vector<double> ids;
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std::vector<double> toCancel;
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std::shared_ptr<ITable> m_table;
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bool m_runningCommandsChanged = false;
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};
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