| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2011. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef __SCHEDULER_H__
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| 8 | #define __SCHEDULER_H__
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| 9 |
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| 10 | #include "Commands/Command.h"
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| 11 | #include "ErrorBase.h"
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| 12 | #include "SmartDashboard/NamedSendable.h"
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| 13 | #include "networktables/NetworkTable.h"
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| 14 | #include "networktables2/type/NumberArray.h"
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| 15 | #include "networktables2/type/StringArray.h"
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| 16 | #include "SmartDashboard/SmartDashboard.h"
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| 17 | #include <list>
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| 18 | #include <map>
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| 19 | #include <set>
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| 20 | #include <vector>
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| 21 |
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| 22 | class ButtonScheduler;
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| 23 | class Subsystem;
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| 24 |
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| 25 | class Scheduler : public ErrorBase, public NamedSendable
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| 26 | {
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| 27 | public:
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| 28 | static Scheduler *GetInstance();
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| 29 |
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| 30 | void AddCommand(Command* command);
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| 31 | void AddButton(ButtonScheduler* button);
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| 32 | void RegisterSubsystem(Subsystem *subsystem);
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| 33 | void Run();
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| 34 | void Remove(Command *command);
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| 35 | void RemoveAll();
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| 36 | void SetEnabled(bool enabled);
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| 37 |
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| 38 | void UpdateTable();
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| 39 | std::string GetSmartDashboardType();
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| 40 | void InitTable(ITable *subTable);
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| 41 | ITable * GetTable();
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| 42 | std::string GetName();
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| 43 | std::string GetType();
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| 44 |
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| 45 | private:
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| 46 | Scheduler();
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| 47 | virtual ~Scheduler();
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| 48 |
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| 49 | void ProcessCommandAddition(Command *command);
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| 50 |
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| 51 | static Scheduler *_instance;
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| 52 | Command::SubsystemSet m_subsystems;
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| 53 | SEM_ID m_buttonsLock;
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| 54 | typedef std::vector<ButtonScheduler *> ButtonVector;
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| 55 | ButtonVector m_buttons;
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| 56 | typedef std::vector<Command *> CommandVector;
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| 57 | SEM_ID m_additionsLock;
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| 58 | CommandVector m_additions;
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| 59 | typedef std::set<Command *> CommandSet;
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| 60 | CommandSet m_commands;
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| 61 | bool m_adding;
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| 62 | bool m_enabled;
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| 63 | StringArray *commands;
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| 64 | NumberArray *ids;
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| 65 | NumberArray *toCancel;
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| 66 | ITable *m_table;
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| 67 | };
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| 68 | #endif
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| 69 |
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