Class SendableBuilderImpl
- java.lang.Object
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- edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl
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- All Implemented Interfaces:
NTSendableBuilder
,SendableBuilder
public class SendableBuilderImpl extends Object implements NTSendableBuilder
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Nested Class Summary
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Nested classes/interfaces inherited from interface edu.wpi.first.util.sendable.SendableBuilder
SendableBuilder.BackendKind
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Constructor Summary
Constructors Constructor Description SendableBuilderImpl()
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addBooleanArrayProperty(String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter)
Add a boolean array property.void
addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter)
Add a boolean property.void
addDoubleArrayProperty(String key, Supplier<double[]> getter, Consumer<double[]> setter)
Add a double array property.void
addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter)
Add a double property.void
addRawProperty(String key, Supplier<byte[]> getter, Consumer<byte[]> setter)
Add a raw property.void
addStringArrayProperty(String key, Supplier<String[]> getter, Consumer<String[]> setter)
Add a string array property.void
addStringProperty(String key, Supplier<String> getter, Consumer<String> setter)
Add a string property.void
addValueProperty(String key, Supplier<NetworkTableValue> getter, Consumer<NetworkTableValue> setter)
Add a NetworkTableValue property.void
clearProperties()
Clear properties.NetworkTableEntry
getEntry(String key)
Add a property without getters or setters.NetworkTable
getTable()
Get the network table.boolean
isActuator()
Return whether this sendable should be treated as an actuator.boolean
isPublished()
Return whether this sendable has an associated table.void
setActuator(boolean value)
Set a flag indicating if this sendable should be treated as an actuator.void
setSafeState(Runnable func)
Set the function that should be called to set the Sendable into a safe state.void
setSmartDashboardType(String type)
Set the string representation of the named data type that will be used by the smart dashboard for this sendable.void
setTable(NetworkTable table)
Set the network table.void
setUpdateTable(Runnable func)
Set the function that should be called to update the network table for things other than properties.void
startListeners()
Hook setters for all properties.void
startLiveWindowMode()
Start LiveWindow mode by hooking the setters for all properties.void
stopListeners()
Unhook setters for all properties.void
stopLiveWindowMode()
Stop LiveWindow mode by unhooking the setters for all properties.void
update()
Update the network table values by calling the getters for all properties.-
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
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Methods inherited from interface edu.wpi.first.networktables.NTSendableBuilder
getBackendKind
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Constructor Detail
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SendableBuilderImpl
public SendableBuilderImpl()
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Method Detail
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setTable
public void setTable(NetworkTable table)
Set the network table. Must be called prior to any Add* functions being called.- Parameters:
table
- Network table
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getTable
public NetworkTable getTable()
Get the network table.- Specified by:
getTable
in interfaceNTSendableBuilder
- Returns:
- The network table
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isPublished
public boolean isPublished()
Return whether this sendable has an associated table.- Specified by:
isPublished
in interfaceSendableBuilder
- Returns:
- True if it has a table, false if not.
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isActuator
public boolean isActuator()
Return whether this sendable should be treated as an actuator.- Returns:
- True if actuator, false if not.
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update
public void update()
Update the network table values by calling the getters for all properties.- Specified by:
update
in interfaceSendableBuilder
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startListeners
public void startListeners()
Hook setters for all properties.
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stopListeners
public void stopListeners()
Unhook setters for all properties.
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startLiveWindowMode
public void startLiveWindowMode()
Start LiveWindow mode by hooking the setters for all properties. Also calls the safeState function if one was provided.
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stopLiveWindowMode
public void stopLiveWindowMode()
Stop LiveWindow mode by unhooking the setters for all properties. Also calls the safeState function if one was provided.
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clearProperties
public void clearProperties()
Clear properties.- Specified by:
clearProperties
in interfaceSendableBuilder
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setSmartDashboardType
public void setSmartDashboardType(String type)
Set the string representation of the named data type that will be used by the smart dashboard for this sendable.- Specified by:
setSmartDashboardType
in interfaceSendableBuilder
- Parameters:
type
- data type
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setActuator
public void setActuator(boolean value)
Set a flag indicating if this sendable should be treated as an actuator. By default this flag is false.- Specified by:
setActuator
in interfaceSendableBuilder
- Parameters:
value
- true if actuator, false if not
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setSafeState
public void setSafeState(Runnable func)
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.- Specified by:
setSafeState
in interfaceSendableBuilder
- Parameters:
func
- function
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setUpdateTable
public void setUpdateTable(Runnable func)
Set the function that should be called to update the network table for things other than properties. Note this function is not passed the network table object; instead it should use the entry handles returned by getEntry().- Specified by:
setUpdateTable
in interfaceNTSendableBuilder
- Parameters:
func
- function
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getEntry
public NetworkTableEntry getEntry(String key)
Add a property without getters or setters. This can be used to get entry handles for the function called by setUpdateTable().- Specified by:
getEntry
in interfaceNTSendableBuilder
- Parameters:
key
- property name- Returns:
- Network table entry
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addBooleanProperty
public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter)
Add a boolean property.- Specified by:
addBooleanProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addDoubleProperty
public void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter)
Add a double property.- Specified by:
addDoubleProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addStringProperty
public void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter)
Add a string property.- Specified by:
addStringProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addBooleanArrayProperty
public void addBooleanArrayProperty(String key, Supplier<boolean[]> getter, Consumer<boolean[]> setter)
Add a boolean array property.- Specified by:
addBooleanArrayProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addDoubleArrayProperty
public void addDoubleArrayProperty(String key, Supplier<double[]> getter, Consumer<double[]> setter)
Add a double array property.- Specified by:
addDoubleArrayProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addStringArrayProperty
public void addStringArrayProperty(String key, Supplier<String[]> getter, Consumer<String[]> setter)
Add a string array property.- Specified by:
addStringArrayProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addRawProperty
public void addRawProperty(String key, Supplier<byte[]> getter, Consumer<byte[]> setter)
Add a raw property.- Specified by:
addRawProperty
in interfaceSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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addValueProperty
public void addValueProperty(String key, Supplier<NetworkTableValue> getter, Consumer<NetworkTableValue> setter)
Add a NetworkTableValue property.- Specified by:
addValueProperty
in interfaceNTSendableBuilder
- Parameters:
key
- property namegetter
- getter function (returns current value)setter
- setter function (sets new value)
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