Sendable v2

SendableImpl.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.util.sendable;

/**
 * Interface for sendable objects.
 *
 * <p>Idiomatically, classes that support sendable operation should provide a static final
 * member named "sendable" that provides an instance of an implementation of this interface.
 *
 * @param <T> object type
 */
public interface SendableImpl<T> {
  String getTypeString();

  void add(T obj, SendableStore store);

  void remove(T obj, SendableStore store);
}

SendableStore.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package edu.wpi.first.util.sendable;

import edu.wpi.first.util.function.BooleanConsumer;
import edu.wpi.first.util.function.FloatConsumer;
import edu.wpi.first.util.function.FloatSupplier;

import java.util.EnumSet;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;
import java.util.function.LongConsumer;
import java.util.function.LongSupplier;
import java.util.function.Supplier;

/** Helper class for building Sendable dashboard representations. */
public interface SendableStore extends AutoCloseable {
  /** Event triggers. */
  enum Event {
    kDisabledInit,
    kTeleopInit,
    kAutonomousInit,
    kTestInit,
    kDsConnected
  }

  /** Options for subscribers. */
  static class SubscribeOption {
    // TODO
    // typeString: set a custom type string
    // periodic: request publishers provide updates at the given period
    // sendAll: request publisher send all changes
    // keepDuplicates: request publisher send values even if duplicate
    // disableRemote: excludes updates coming from any other machine
    // disableLocal: excludes updates coming from this machine
    // excludePublisher: excludes updates due to publishX by the same sendable
  }

  /** Options for publishers. */
  static class PublishOption {
    // TODO
    // typeString: set a custom type string
    // property: set a property (may be specified multiple times)
    // setDefault: publish the given default value immediately
    // initial: call callback and publish a new value immediately
    // periodic: call callback and publish new values at the given period (rather than the default)
    // onlyInitial: do not periodically call the callback, just publish the initial value
  }

  /**
   * Adds a child SendableStore.
   *
   * @param name child name
   * @param obj child object
   * @param sendableImpl sendable implementation for child
   */
  <T> SendableStore addChild(String name, T obj, SendableImpl<T> sendableImpl);

  /**
   * Removes a child SendableStore.
   *
   * @param name child name
   * @param obj child object
   * @param sendableImpl sendable implementation for child
   */
  <T> void removeChild(String name, T obj, SendableImpl<T> sendableImpl);

  /**
   * Adds a function that should be called for event handling of particular events.
   *
   * @param events events
   * @param func function
   */
  void addEventHandler(EnumSet<Event> events, Consumer<Event> func);

  /**
   * Subscribes to changes to a topic. The onChange callback will be called (on the robot main thread)
   * for each new value.
   *
   * @param name topic name
   * @param onChange callback for new values
   * @param options subscriber options
   */
  void subscribeBoolean(String name, BooleanConsumer onChange, SubscribeOption... options);

  /**
   * Sets up a callback to publish changes to a topic. By default, a call will be made each robot
   * periodic loop to the provided getValue callback. The frequency of callbacks can be changed with
   * publisher options. Alternatively, the getBooleanPublisher() function can be used to instead get
   * "push" functionality.
   *
   * @param name topic name
   * @param getValue callback called to get new values
   * @param options publisher options
   */
  void publishBoolean(String name, BooleanSupplier getValue, PublishOption... options);

  /**
   * Gets a publisher. Updates to the topic will be published when the returned function is called.
   * For built-in "pull" functionality, use publishBoolean() instead.
   *
   * @param name topic name
   * @param removed callback called when publisher is removed
   * @param options publisher options
   * @return publish function
   */
  BooleanConsumer getBooleanPublisher(String name, Consumer<BooleanConsumer> removed, PublishOption... options);

  // A bunch more variants for all the different types...

  /**
   * Return whether this sendable has been published.
   *
   * @return True if it has been published, false if not.
   */
  boolean isPublished();

  /** Update the published values by calling the getters for all publishers. */
  void update();

  /** Clear all publishers and subscribers. */
  void clear();

  /**
   * Adds a closeable. The closeable.close() will be called when close() is called.
   *
   * @param closeable closeable object
   */
  void addCloseable(AutoCloseable closeable);
}