generated from frc1675/brownbox
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
4 changed files
with
328 additions
and
5 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
260 changes: 260 additions & 0 deletions
260
src/main/java/frc/robot/util/ChangableSendableChooser.java
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,260 @@ | ||
| package frc.robot.util; | ||
|
|
||
| import static edu.wpi.first.util.ErrorMessages.requireNonNullParam; | ||
|
|
||
| import edu.wpi.first.util.sendable.Sendable; | ||
| import edu.wpi.first.util.sendable.SendableBuilder; | ||
| import edu.wpi.first.util.sendable.SendableRegistry; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import java.util.LinkedHashMap; | ||
| import java.util.Map; | ||
| import java.util.concurrent.atomic.AtomicInteger; | ||
| import java.util.concurrent.locks.ReentrantLock; | ||
| import java.util.function.Consumer; | ||
|
|
||
| /** | ||
| * Basically a fork of SendableChooser that allows you to remove/clear the options. | ||
| * | ||
| * @param <V> The type of the values to be stored | ||
| */ | ||
| public class ChangableSendableChooser<V> implements Sendable, AutoCloseable { | ||
| /** The key for the default value. */ | ||
| private static final String DEFAULT = "default"; | ||
|
|
||
| /** The key for the selected option. */ | ||
| private static final String SELECTED = "selected"; | ||
|
|
||
| /** The key for the active option. */ | ||
| private static final String ACTIVE = "active"; | ||
|
|
||
| /** The key for the option array. */ | ||
| private static final String OPTIONS = "options"; | ||
|
|
||
| /** The key for the instance number. */ | ||
| private static final String INSTANCE = ".instance"; | ||
|
|
||
| /** A map linking strings to the objects they represent. */ | ||
| private final Map<String, V> m_map = new LinkedHashMap<>(); | ||
|
|
||
| private String m_defaultChoice = ""; | ||
| private final int m_instance; | ||
| private String m_previousVal; | ||
| private Consumer<V> m_listener; | ||
| private static final AtomicInteger s_instances = new AtomicInteger(); | ||
|
|
||
| /** Instantiates a {@link SendableChooser}. */ | ||
| @SuppressWarnings("this-escape") | ||
| public ChangableSendableChooser() { | ||
| m_instance = s_instances.getAndIncrement(); | ||
| SendableRegistry.add(this, "SendableChangableChooser", m_instance); | ||
| } | ||
|
|
||
| @Override | ||
| public void close() { | ||
| SendableRegistry.remove(this); | ||
| } | ||
|
|
||
| /** | ||
| * Adds the given object to the list of options. On the {@link SmartDashboard} on the desktop, the | ||
| * object will appear as the given name. | ||
| * | ||
| * @param name the name of the option | ||
| * @param object the option | ||
| */ | ||
| public void addOption(String name, V object) { | ||
| m_map.put(name, object); | ||
| } | ||
|
|
||
| /** | ||
| * Removes the given name and its object from the list of options. | ||
| * If it was the default choice, the default choice reverts to its default (empty string). | ||
| * If it was the current selected option, the selected option changes to the default choice. | ||
| * @param name the name of the option to remove | ||
| */ | ||
| public void removeOption(String name) { | ||
| if (m_map.containsKey(name)) { | ||
| if (m_defaultChoice.equals(name)) { | ||
| m_defaultChoice = ""; | ||
| } | ||
|
|
||
| if (m_selected.equals(name)) { | ||
| m_selected = m_defaultChoice; | ||
| } | ||
|
|
||
| m_map.remove(name); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Removes all options from the chooser. | ||
| * After this call, the default choice will revert to empty string. | ||
| */ | ||
| public void clearOptions() { | ||
| m_defaultChoice = ""; | ||
| m_selected = m_defaultChoice; | ||
|
|
||
| m_map.clear(); | ||
| } | ||
|
|
||
| /** | ||
| * Replaces the current chooser options with the given options. | ||
| * After this call, the default choice will revert to empty string. | ||
| * @param options map of (names to options) to add | ||
| */ | ||
| public void setOptions(Map<String, V> options) { | ||
| requireNonNullParam(options, "options", "setOptions"); | ||
|
|
||
| clearOptions(); | ||
| m_map.putAll(options); | ||
| } | ||
|
|
||
| /** | ||
| * Replaces the current chooser options with the given options, then sets a default option. | ||
| * @param options map of (names to options) to add | ||
| * @param defaultName the name of the default option | ||
| * @param defaultObject the default option | ||
| */ | ||
| public void setOptions(Map<String, V> options, String defaultName, V defaultObject) { | ||
| requireNonNullParam(options, "options", "setOptions"); | ||
| requireNonNullParam(defaultName, "defaultName", "setOptions"); | ||
| requireNonNullParam(defaultObject, "defaultObject", "setOptions"); | ||
|
|
||
| setOptions(options); | ||
| setDefaultOption(defaultName, defaultObject); | ||
| if (m_selected.equals("")) { | ||
| m_selected = defaultName; | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Adds the given object to the list of options and marks it as the default. Functionally, this is | ||
| * very close to {@link #addOption(String, Object)} except that it will use this as the default | ||
| * option if none other is explicitly selected. | ||
| * | ||
| * @param name the name of the option | ||
| * @param object the option | ||
| */ | ||
| public void setDefaultOption(String name, V object) { | ||
| requireNonNullParam(name, "name", "setDefaultOption"); | ||
|
|
||
| m_defaultChoice = name; | ||
| addOption(name, object); | ||
| } | ||
|
|
||
| /** | ||
| * Returns the selected option. If there is none selected, it will return the default. If there is | ||
| * none selected and no default, then it will return {@code null}. | ||
| * | ||
| * @return the option selected | ||
| */ | ||
| public V getSelected() { | ||
| m_mutex.lock(); | ||
| try { | ||
| if (m_selected != null) { | ||
| return m_map.get(m_selected); | ||
| } else { | ||
| return m_map.get(m_defaultChoice); | ||
| } | ||
| } finally { | ||
| m_mutex.unlock(); | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * Bind a listener that's called when the selected value changes. Only one listener can be bound. | ||
| * Calling this function will replace the previous listener. | ||
| * | ||
| * @param listener The function to call that accepts the new value | ||
| */ | ||
| public void onChange(Consumer<V> listener) { | ||
| requireNonNullParam(listener, "listener", "onChange"); | ||
| m_mutex.lock(); | ||
| m_listener = listener; | ||
| m_mutex.unlock(); | ||
| } | ||
|
|
||
| private String m_selected; | ||
| private final ReentrantLock m_mutex = new ReentrantLock(); | ||
|
|
||
| @Override | ||
| public void initSendable(SendableBuilder builder) { | ||
| builder.setSmartDashboardType("String Chooser"); | ||
| builder.publishConstInteger(INSTANCE, m_instance); | ||
| builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null); | ||
| builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null); | ||
| builder.addStringProperty( | ||
| ACTIVE, | ||
| () -> { | ||
| m_mutex.lock(); | ||
| try { | ||
| if (m_selected != null) { | ||
| return m_selected; | ||
| } else { | ||
| return m_defaultChoice; | ||
| } | ||
| } finally { | ||
| m_mutex.unlock(); | ||
| } | ||
| }, | ||
| null); | ||
| builder.addStringProperty( | ||
| SELECTED, | ||
| () -> { | ||
| // SELECTED maintains a getter to keep a proper state and fire onChange when items are removed | ||
| // if the final item is removed, this handles gracefully (gets empty string and no onChange call) | ||
| V choice; | ||
| Consumer<V> listener; | ||
| String setSelectedTo; | ||
| m_mutex.lock(); | ||
| try { | ||
| if (m_selected != null) { | ||
| setSelectedTo = m_selected; | ||
| } else { | ||
| setSelectedTo = m_defaultChoice; | ||
| } | ||
| if (!setSelectedTo.equals(m_previousVal) | ||
| && m_listener != null | ||
| && m_map.containsKey(setSelectedTo)) { | ||
| choice = m_map.get(setSelectedTo); | ||
| listener = m_listener; | ||
| } else { | ||
| choice = null; | ||
| listener = null; | ||
| } | ||
| m_previousVal = setSelectedTo; | ||
| } finally { | ||
| m_mutex.unlock(); | ||
| } | ||
| if (listener != null) { | ||
| listener.accept(choice); | ||
| } | ||
| return setSelectedTo; | ||
| }, | ||
| val -> { | ||
| V choice; | ||
| Consumer<V> listener; | ||
| m_mutex.lock(); | ||
| try { | ||
| m_selected = val; | ||
| // If dashboard loads with a selected that isn't there anymore, reset it | ||
| if (!m_map.containsKey(m_selected)) { | ||
| m_selected = m_defaultChoice; | ||
| } | ||
| if (!m_selected.equals(m_previousVal) && m_listener != null) { | ||
| choice = m_map.get(val); | ||
| listener = m_listener; | ||
| } else { | ||
| choice = null; | ||
| listener = null; | ||
| } | ||
| m_previousVal = val; | ||
| } finally { | ||
| m_mutex.unlock(); | ||
| } | ||
| if (listener != null) { | ||
| listener.accept(choice); | ||
| } | ||
| }); | ||
| } | ||
| } |