LiveWindow.h

Go to the documentation of this file.

// 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.
 
#pragma once
 
#include <functional>
 
namespace wpi {
class Sendable;
}  // namespace wpi
 
namespace frc {
 
/**
 * The LiveWindow class is the public interface for putting sensors and
 * actuators on the LiveWindow.
 */
class LiveWindow final {
 public:
  /**
   * Sets function to be called when LiveWindow is enabled.
   *
   * @param func function (or nullptr for none)
   */
  static void SetEnabledCallback(std::function<void()> func);
 
  /**
   * Sets function to be called when LiveWindow is disabled.
   *
   * @param func function (or nullptr for none)
   */
  static void SetDisabledCallback(std::function<void()> func);
 
  /**
   * Enable telemetry for a single component.
   *
   * @param component sendable
   */
  static void EnableTelemetry(wpi::Sendable* component);
 
  /**
   * Disable telemetry for a single component.
   *
   * @param component sendable
   */
  static void DisableTelemetry(wpi::Sendable* component);
 
  /**
   * Disable ALL telemetry.
   */
  static void DisableAllTelemetry();
 
  /**
   * Enable ALL telemetry.
   */
  static void EnableAllTelemetry();
 
  /**
   * Returns true if LiveWindow is enabled.
   *
   * @return True if LiveWindow is enabled.
   */
  static bool IsEnabled();
 
  /**
   * Change the enabled status of LiveWindow.
   *
   * If it changes to enabled, start livewindow running otherwise stop it
   */
  static void SetEnabled(bool enabled);
 
  /**
   * Tell all the sensors to update (send) their values.
   *
   * Actuators are handled through callbacks on their value changing from the
   * SmartDashboard widgets.
   */
  static void UpdateValues();
 
 private:
  LiveWindow() = default;
 
  /**
   * Updates the entries, without using a mutex or lock.
   */
  static void UpdateValuesUnsafe();
};
 
}  // namespace frc