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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.
84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2012-2016. 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 <map>
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#include <memory>
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#include <vector>
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#include "Commands/Scheduler.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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struct LiveWindowComponent {
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std::string subsystem;
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std::string name;
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bool isSensor = false;
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LiveWindowComponent() = default;
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LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
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this->subsystem = subsystem;
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this->name = name;
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this->isSensor = isSensor;
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}
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};
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/**
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* The LiveWindow class is the public interface for putting sensors and
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* actuators
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* on the LiveWindow.
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*
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* @author Brad Miller
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*/
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class LiveWindow {
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public:
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static LiveWindow* GetInstance();
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void Run();
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void AddSensor(const std::string& subsystem, const std::string& name,
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LiveWindowSendable* component);
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void AddSensor(const std::string& subsystem, const std::string& name,
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LiveWindowSendable& component);
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void AddSensor(const std::string& subsystem, const std::string& name,
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std::shared_ptr<LiveWindowSendable> component);
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void AddActuator(const std::string& subsystem, const std::string& name,
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LiveWindowSendable* component);
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void AddActuator(const std::string& subsystem, const std::string& name,
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LiveWindowSendable& component);
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void AddActuator(const std::string& subsystem, const std::string& name,
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std::shared_ptr<LiveWindowSendable> component);
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void AddSensor(std::string type, int channel, LiveWindowSendable* component);
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void AddActuator(std::string type, int channel,
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LiveWindowSendable* component);
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void AddActuator(std::string type, int module, int channel,
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LiveWindowSendable* component);
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bool IsEnabled() const { return m_enabled; }
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void SetEnabled(bool enabled);
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protected:
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LiveWindow();
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virtual ~LiveWindow() = default;
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private:
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void UpdateValues();
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void Initialize();
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void InitializeLiveWindowComponents();
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std::vector<std::shared_ptr<LiveWindowSendable>> m_sensors;
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std::map<std::shared_ptr<LiveWindowSendable>, LiveWindowComponent>
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m_components;
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std::shared_ptr<ITable> m_liveWindowTable;
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std::shared_ptr<ITable> m_statusTable;
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Scheduler* m_scheduler;
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bool m_enabled = false;
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bool m_firstTime = true;
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};
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