71 lines
2.1 KiB
C++
71 lines
2.1 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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#ifndef __SCHEDULER_H__
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#define __SCHEDULER_H__
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#include "Commands/Command.h"
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#include "ErrorBase.h"
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#include "SmartDashboard/NamedSendable.h"
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#include "networktables/NetworkTable.h"
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#include "SmartDashboard/SmartDashboard.h"
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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 "HAL/cpp/priority_mutex.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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#endif
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