Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/shared/include/LiveWindow/LiveWindow.h b/wpilibc/shared/include/LiveWindow/LiveWindow.h
new file mode 100644
index 0000000..7b40f67
--- /dev/null
+++ b/wpilibc/shared/include/LiveWindow/LiveWindow.h
@@ -0,0 +1,78 @@
+#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