mirror of
https://github.com/wpilibsuite/allwpilib
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69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2011-2017 FIRST. 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 <memory>
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#include <set>
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#include <string>
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#include <vector>
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#include <networktables/NetworkTableEntry.h>
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#include <support/mutex.h>
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#include "Commands/Command.h"
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#include "ErrorBase.h"
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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class ButtonScheduler;
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class Subsystem;
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class Scheduler : public ErrorBase, public SendableBase {
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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 InitSendable(SendableBuilder& builder) override;
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private:
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Scheduler();
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~Scheduler() override = default;
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void ProcessCommandAddition(Command* command);
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Command::SubsystemSet m_subsystems;
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wpi::mutex m_buttonsMutex;
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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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wpi::mutex m_additionsMutex;
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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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nt::NetworkTableEntry m_namesEntry;
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nt::NetworkTableEntry m_idsEntry;
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nt::NetworkTableEntry m_cancelEntry;
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bool m_runningCommandsChanged = false;
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};
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} // namespace frc
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