mirror of
https://github.com/wpilibsuite/allwpilib
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fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
123 lines
3.3 KiB
C++
123 lines
3.3 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 <algorithm>
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#include <memory>
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#include <string>
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#include <string_view>
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#include <utility>
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#include <vector>
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#include <networktables/NTSendableBuilder.h>
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#include "frc/smartdashboard/SendableChooser.h"
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namespace frc {
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template <class T>
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void SendableChooser<T>::AddOption(std::string_view name, T object) {
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m_choices[name] = std::move(object);
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}
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template <class T>
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void SendableChooser<T>::SetDefaultOption(std::string_view name, T object) {
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m_defaultChoice = name;
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AddOption(name, std::move(object));
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}
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template <class T>
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auto SendableChooser<T>::GetSelected()
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-> decltype(_unwrap_smart_ptr(m_choices[""])) {
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std::string selected = m_defaultChoice;
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{
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std::scoped_lock lock(m_mutex);
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if (m_haveSelected) {
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selected = m_selected;
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}
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}
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if (selected.empty()) {
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return decltype(_unwrap_smart_ptr(m_choices[""])){};
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} else {
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return _unwrap_smart_ptr(m_choices[selected]);
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}
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}
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template <class T>
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void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
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builder.SetSmartDashboardType("String Chooser");
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{
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std::scoped_lock lock(m_mutex);
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m_instancePubs.emplace_back(
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nt::IntegerTopic{builder.GetTopic(kInstance)}.Publish());
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m_instancePubs.back().Set(m_instance);
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m_activePubs.emplace_back(
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nt::StringTopic{builder.GetTopic(kActive)}.Publish());
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}
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builder.AddStringArrayProperty(
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kOptions,
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[=, this] {
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std::vector<std::string> keys;
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for (const auto& choice : m_choices) {
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keys.emplace_back(choice.first());
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}
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// Unlike std::map, wpi::StringMap elements
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// are not sorted
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std::sort(keys.begin(), keys.end());
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return keys;
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},
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nullptr);
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builder.AddSmallStringProperty(
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kDefault,
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[=, this](wpi::SmallVectorImpl<char>&) -> std::string_view {
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return m_defaultChoice;
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},
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nullptr);
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builder.AddSmallStringProperty(
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kActive,
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[=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
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std::scoped_lock lock(m_mutex);
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if (m_haveSelected) {
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buf.assign(m_selected.begin(), m_selected.end());
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return {buf.data(), buf.size()};
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} else {
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return m_defaultChoice;
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}
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},
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nullptr);
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builder.AddStringProperty(kSelected, nullptr,
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[=, this](std::string_view val) {
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std::scoped_lock lock(m_mutex);
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m_haveSelected = true;
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m_selected = val;
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for (auto& pub : m_activePubs) {
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pub.Set(val);
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}
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});
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}
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template <class T>
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template <class U>
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U SendableChooser<T>::_unwrap_smart_ptr(const U& value) {
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return value;
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}
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template <class T>
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template <class U>
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U* SendableChooser<T>::_unwrap_smart_ptr(const std::unique_ptr<U>& value) {
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return value.get();
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}
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template <class T>
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template <class U>
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std::weak_ptr<U> SendableChooser<T>::_unwrap_smart_ptr(
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const std::shared_ptr<U>& value) {
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return value;
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}
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} // namespace frc
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