LiveWindow.cpp

#include "LiveWindow/LiveWindow.h"
#include "networktables/NetworkTable.h"
#include <algorithm>
#include <sstream>

LiveWindow* LiveWindow::m_instance = NULL;

LiveWindow * LiveWindow::GetInstance()
{
        if (m_instance == NULL)
        {
                m_instance = new LiveWindow();
        }
        return m_instance;
}

LiveWindow::LiveWindow()
{
        m_enabled = false;
        m_liveWindowTable = NetworkTable::GetTable("LiveWindow");
        m_statusTable = m_liveWindowTable->GetSubTable("~STATUS~");
        m_scheduler = Scheduler::GetInstance();
}

void LiveWindow::SetEnabled(bool enabled)
{
        if (m_enabled == enabled)
                return;
        if (enabled)
        {
                printf("Starting live window mode\n");
                if (m_firstTime)
                {
                        InitializeLiveWindowComponents();
                        m_firstTime = false;
                }
                m_scheduler->SetEnabled(false);
                m_scheduler->RemoveAll();
                for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
                                m_components.begin(); it != m_components.end(); ++it)
                {
                        it->first->StartLiveWindowMode();
                }
        }
        else
        {
                printf("Ending LiveWindow mode\n");
                for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
                                m_components.begin(); it != m_components.end(); ++it)
                {
                        it->first->StopLiveWindowMode();
                }
                m_scheduler->SetEnabled(true);
        }
        m_enabled = enabled;
        m_statusTable->PutBoolean("LW Enabled", m_enabled);
}

LiveWindow::~LiveWindow()
{
}

void LiveWindow::AddSensor(const char *subsystem, const char *name,
                LiveWindowSendable *component)
{
        m_components[component].subsystem = subsystem;
        m_components[component].name = name;
        m_components[component].isSensor = true;
}

void LiveWindow::AddActuator(const char *subsystem, const char *name,
                LiveWindowSendable *component)
{
        m_components[component].subsystem = subsystem;
        m_components[component].name = name;
        m_components[component].isSensor = false;
}

void LiveWindow::AddSensor(std::string type, int module, int channel, LiveWindowSendable *component)
{
        std::ostringstream oss;
        oss << type << "[" << module << "," << channel << "]";
        std::string types(oss.str());
        char* cc = new char[types.size() + 1];
        types.copy(cc, types.size());
        cc[types.size()]='\0';
        AddSensor("Ungrouped", cc, component);
        if (std::find(m_sensors.begin(), m_sensors.end(), component) == m_sensors.end())
                m_sensors.push_back(component);
}

void LiveWindow::AddActuator(std::string type, int module, int channel, LiveWindowSendable *component)
{
        std::ostringstream oss;
        oss << type << "[" << module << "," << channel << "]";
        std::string types(oss.str());
        char* cc = new char[types.size() + 1];
        types.copy(cc, types.size());
        cc[types.size()]='\0';
        AddActuator("Ungrouped", cc, component);
}

void LiveWindow::UpdateValues()
{
        for (unsigned int i = 0; i < m_sensors.size(); i++)
        {
                m_sensors[i]->UpdateTable();
        }
}

void LiveWindow::Run()
{
        if (m_enabled)
        {
                UpdateValues();
        }
}

void LiveWindow::InitializeLiveWindowComponents()
{
        for (std::map<LiveWindowSendable *, LiveWindowComponent>::iterator it =
                        m_components.begin(); it != m_components.end(); ++it)
        {
                LiveWindowSendable *component = it->first;
                LiveWindowComponent c = it->second;
                std::string subsystem = c.subsystem;
                std::string name = c.name;
                m_liveWindowTable->GetSubTable(subsystem)->PutString("~TYPE~",
                                "LW Subsystem");
                ITable *table = m_liveWindowTable->GetSubTable(subsystem)->GetSubTable(
                                name);
                table->PutString("~TYPE~", component->GetSmartDashboardType());
                table->PutString("Name", name);
                table->PutString("Subsystem", subsystem);
                component->InitTable(table);
                if (c.isSensor)
                {
                        m_sensors.push_back(component);
                }
        }
}