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FRC2016-old/wpilib/cpp/current/include/LiveWindow/LiveWindow.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2012-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#ifndef _LIVE_WINDOW_H
#define _LIVE_WINDOW_H
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITable.h"
#include "Commands/Scheduler.h"
#include <vector>
#include <map>
#include <memory>
struct LiveWindowComponent {
std::string subsystem;
std::string name;
bool isSensor = false;
LiveWindowComponent() = default;
LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
this->subsystem = subsystem;
this->name = name;
this->isSensor = isSensor;
}
};
/**
* The LiveWindow class is the public interface for putting sensors and
* actuators
* on the LiveWindow.
*
* @author Brad Miller
*/
class LiveWindow {
public:
static LiveWindow *GetInstance();
void Run();
void AddSensor(const std::string &subsystem, const std::string &name,
LiveWindowSendable *component);
void AddSensor(const std::string &subsystem, const std::string &name,
LiveWindowSendable &component);
void AddSensor(const std::string &subsystem, const std::string &name,
std::shared_ptr<LiveWindowSendable> component);
void AddActuator(const std::string &subsystem, const std::string &name,
LiveWindowSendable *component);
void AddActuator(const std::string &subsystem, const std::string &name,
LiveWindowSendable &component);
void AddActuator(const std::string &subsystem, const std::string &name,
std::shared_ptr<LiveWindowSendable> component);
void AddSensor(std::string type, int channel, LiveWindowSendable *component);
void AddActuator(std::string type, int channel,
LiveWindowSendable *component);
void AddActuator(std::string type, int module, int channel,
LiveWindowSendable *component);
bool IsEnabled() const { return m_enabled; }
void SetEnabled(bool enabled);
protected:
LiveWindow();
virtual ~LiveWindow() = default;
private:
void UpdateValues();
void Initialize();
void InitializeLiveWindowComponents();
std::vector<std::shared_ptr<LiveWindowSendable>> m_sensors;
std::map<std::shared_ptr<LiveWindowSendable>, LiveWindowComponent> m_components;
std::shared_ptr<ITable> m_liveWindowTable;
std::shared_ptr<ITable> m_statusTable;
Scheduler *m_scheduler;
bool m_enabled = false;
bool m_firstTime = true;
};
#endif