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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#pragma once
#include <functional>
#include <memory>
#include <span>
#include <string>
#include <string_view>
#include <vector>
#include "wpi/SmallVector.h"
namespace wpi {
/**
* Helper class for building Sendable dashboard representations.
*/
class SendableBuilder {
public:
/**
* The backend kinds used for the sendable builder.
*/
enum BackendKind {
/// Unknown.
kUnknown,
/// NetworkTables.
kNetworkTables
};
virtual ~SendableBuilder() = default;
/**
* Set the string representation of the named data type that will be used
* by the smart dashboard for this sendable.
*
* @param type data type
*/
virtual void SetSmartDashboardType(std::string_view type) = 0;
/**
* Set a flag indicating if this sendable should be treated as an actuator.
* By default this flag is false.
*
* @param value true if actuator, false if not
*/
virtual void SetActuator(bool value) = 0;
/**
* Set the function that should be called to set the Sendable into a safe
* state. This is called when entering and exiting Live Window mode.
*
* @param func function
*/
virtual void SetSafeState(std::function<void()> func) = 0;
/**
* Add a boolean property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddBooleanProperty(std::string_view key,
std::function<bool()> getter,
std::function<void(bool)> setter) = 0;
/**
* Add a constant boolean property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstBoolean(std::string_view key, bool value) = 0;
/**
* Add an integer property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddIntegerProperty(std::string_view key,
std::function<int64_t()> getter,
std::function<void(int64_t)> setter) = 0;
/**
* Add a constant integer property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstInteger(std::string_view key, int64_t value) = 0;
/**
* Add a float property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddFloatProperty(std::string_view key,
std::function<float()> getter,
std::function<void(float)> setter) = 0;
/**
* Add a constant float property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstFloat(std::string_view key, float value) = 0;
/**
* Add a double property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddDoubleProperty(std::string_view key,
std::function<double()> getter,
std::function<void(double)> setter) = 0;
/**
* Add a constant double property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstDouble(std::string_view key, double value) = 0;
/**
* Add a string property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddStringProperty(
std::string_view key, std::function<std::string()> getter,
std::function<void(std::string_view)> setter) = 0;
/**
* Add a constant string property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstString(std::string_view key,
std::string_view value) = 0;
/**
* Add a boolean array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddBooleanArrayProperty(
std::string_view key, std::function<std::vector<int>()> getter,
std::function<void(std::span<const int>)> setter) = 0;
/**
* Add a constant boolean array property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstBooleanArray(std::string_view key,
std::span<const int> value) = 0;
/**
* Add an integer array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddIntegerArrayProperty(
std::string_view key, std::function<std::vector<int64_t>()> getter,
std::function<void(std::span<const int64_t>)> setter) = 0;
/**
* Add a constant integer array property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstIntegerArray(std::string_view key,
std::span<const int64_t> value) = 0;
/**
* Add a float array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddFloatArrayProperty(
std::string_view key, std::function<std::vector<float>()> getter,
std::function<void(std::span<const float>)> setter) = 0;
/**
* Add a constant float array property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstFloatArray(std::string_view key,
std::span<const float> value) = 0;
/**
* Add a double array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddDoubleArrayProperty(
std::string_view key, std::function<std::vector<double>()> getter,
std::function<void(std::span<const double>)> setter) = 0;
/**
* Add a constant double array property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstDoubleArray(std::string_view key,
std::span<const double> value) = 0;
/**
* Add a string array property.
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddStringArrayProperty(
std::string_view key, std::function<std::vector<std::string>()> getter,
std::function<void(std::span<const std::string>)> setter) = 0;
/**
* Add a constant string array property.
*
* @param key property name
* @param value the value
*/
virtual void PublishConstStringArray(std::string_view key,
std::span<const std::string> value) = 0;
/**
* Add a raw property.
*
* @param key property name
* @param typeString type string
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddRawProperty(
std::string_view key, std::string_view typeString,
std::function<std::vector<uint8_t>()> getter,
std::function<void(std::span<const uint8_t>)> setter) = 0;
/**
* Add a constant raw property.
*
* @param key property name
* @param typeString type string
* @param value the value
*/
virtual void PublishConstRaw(std::string_view key,
std::string_view typeString,
std::span<const uint8_t> value) = 0;
/**
* Add a string property (SmallString form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallStringProperty(
std::string_view key,
std::function<std::string_view(wpi::SmallVectorImpl<char>& buf)> getter,
std::function<void(std::string_view)> setter) = 0;
/**
* Add a boolean array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallBooleanArrayProperty(
std::string_view key,
std::function<std::span<const int>(wpi::SmallVectorImpl<int>& buf)>
getter,
std::function<void(std::span<const int>)> setter) = 0;
/**
* Add an integer array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallIntegerArrayProperty(
std::string_view key,
std::function<
std::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
getter,
std::function<void(std::span<const int64_t>)> setter) = 0;
/**
* Add a float array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallFloatArrayProperty(
std::string_view key,
std::function<std::span<const float>(wpi::SmallVectorImpl<float>& buf)>
getter,
std::function<void(std::span<const float>)> setter) = 0;
/**
* Add a double array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallDoubleArrayProperty(
std::string_view key,
std::function<std::span<const double>(wpi::SmallVectorImpl<double>& buf)>
getter,
std::function<void(std::span<const double>)> setter) = 0;
/**
* Add a string array property (SmallVector form).
*
* @param key property name
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallStringArrayProperty(
std::string_view key,
std::function<
std::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
getter,
std::function<void(std::span<const std::string>)> setter) = 0;
/**
* Add a raw property (SmallVector form).
*
* @param key property name
* @param typeString type string
* @param getter getter function (returns current value)
* @param setter setter function (sets new value)
*/
virtual void AddSmallRawProperty(
std::string_view key, std::string_view typeString,
std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
getter,
std::function<void(std::span<const uint8_t>)> setter) = 0;
/**
* Gets the kind of backend being used.
*
* @return Backend kind
*/
virtual BackendKind GetBackendKind() const = 0;
/**
* Return whether this sendable has been published.
*
* @return True if it has been published, false if not.
*/
virtual bool IsPublished() const = 0;
/**
* Update the published values by calling the getters for all properties.
*/
virtual void Update() = 0;
/**
* Clear properties.
*/
virtual void ClearProperties() = 0;
};
} // namespace wpi