Package edu.wpi.first.util.sendable

Class SendableRegistry

java.lang.Object
edu.wpi.first.util.sendable.SendableRegistry
public final class SendableRegistry
extends Object
The SendableRegistry class is the public interface for registering sensors and actuators for use on dashboards and LiveWindow.

  • Method Details

    • setLiveWindowBuilderFactory

      public static void setLiveWindowBuilderFactory​(Supplier<SendableBuilder> factory)
      Sets the factory for LiveWindow builders.
      Parameters:
      factory - factory function

    • add

      public static void add​(Sendable sendable, String name)
      Adds an object to the registry.
      Parameters:
      sendable - object to add
      name - component name

    • add

      public static void add​(Sendable sendable, String moduleType, int channel)
      Adds an object to the registry.
      Parameters:
      sendable - object to add
      moduleType - A string that defines the module name in the label for the value
      channel - The channel number the device is plugged into

    • add

      public static void add​(Sendable sendable, String moduleType, int moduleNumber, int channel)
      Adds an object to the registry.
      Parameters:
      sendable - object to add
      moduleType - A string that defines the module name in the label for the value
      moduleNumber - The number of the particular module type
      channel - The channel number the device is plugged into

    • add

      public static void add​(Sendable sendable, String subsystem, String name)
      Adds an object to the registry.
      Parameters:
      sendable - object to add
      subsystem - subsystem name
      name - component name

    • addLW

      public static void addLW​(Sendable sendable, String name)
      Adds an object to the registry and LiveWindow.
      Parameters:
      sendable - object to add
      name - component name

    • addLW

      public static void addLW​(Sendable sendable, String moduleType, int channel)
      Adds an object to the registry and LiveWindow.
      Parameters:
      sendable - object to add
      moduleType - A string that defines the module name in the label for the value
      channel - The channel number the device is plugged into

    • addLW

      public static void addLW​(Sendable sendable, String moduleType, int moduleNumber, int channel)
      Adds an object to the registry and LiveWindow.
      Parameters:
      sendable - object to add
      moduleType - A string that defines the module name in the label for the value
      moduleNumber - The number of the particular module type
      channel - The channel number the device is plugged into

    • addLW

      public static void addLW​(Sendable sendable, String subsystem, String name)
      Adds an object to the registry and LiveWindow.
      Parameters:
      sendable - object to add
      subsystem - subsystem name
      name - component name

    • addChild

      public static void addChild​(Sendable parent, Object child)
      Adds a child object to an object. Adds the child object to the registry if it's not already present.
      Parameters:
      parent - parent object
      child - child object

    • remove

      public static boolean remove​(Sendable sendable)
      Removes an object from the registry.
      Parameters:
      sendable - object to remove
      Returns:
      true if the object was removed; false if it was not present

    • contains

      public static boolean contains​(Sendable sendable)
      Determines if an object is in the registry.
      Parameters:
      sendable - object to check
      Returns:
      True if in registry, false if not.

    • getName

      public static String getName​(Sendable sendable)
      Gets the name of an object.
      Parameters:
      sendable - object
      Returns:
      Name (empty if object is not in registry)

    • setName

      public static void setName​(Sendable sendable, String name)
      Sets the name of an object.
      Parameters:
      sendable - object
      name - name

    • setName

      public static void setName​(Sendable sendable, String moduleType, int channel)
      Sets the name of an object with a channel number.
      Parameters:
      sendable - object
      moduleType - A string that defines the module name in the label for the value
      channel - The channel number the device is plugged into

    • setName

      public static void setName​(Sendable sendable, String moduleType, int moduleNumber, int channel)
      Sets the name of an object with a module and channel number.
      Parameters:
      sendable - object
      moduleType - A string that defines the module name in the label for the value
      moduleNumber - The number of the particular module type
      channel - The channel number the device is plugged into

    • setName

      public static void setName​(Sendable sendable, String subsystem, String name)
      Sets both the subsystem name and device name of an object.
      Parameters:
      sendable - object
      subsystem - subsystem name
      name - device name

    • getSubsystem

      public static String getSubsystem​(Sendable sendable)
      Gets the subsystem name of an object.
      Parameters:
      sendable - object
      Returns:
      Subsystem name (empty if object is not in registry)

    • setSubsystem

      public static void setSubsystem​(Sendable sendable, String subsystem)
      Sets the subsystem name of an object.
      Parameters:
      sendable - object
      subsystem - subsystem name

    • getDataHandle

      public static int getDataHandle()
      Gets a unique handle for setting/getting data with setData() and getData().
      Returns:
      Handle

    • setData

      public static AutoCloseable setData​(Sendable sendable, int handle, AutoCloseable data)
      Associates arbitrary data with an object in the registry.
      Parameters:
      sendable - object
      handle - data handle returned by getDataHandle()
      data - data to set
      Returns:
      Previous data (may be null). If non-null, caller is responsible for calling close().

    • getData

      public static Object getData​(Sendable sendable, int handle)
      Gets arbitrary data associated with an object in the registry.
      Parameters:
      sendable - object
      handle - data handle returned by getDataHandle()
      Returns:
      data (may be null if none associated)

    • enableLiveWindow

      public static void enableLiveWindow​(Sendable sendable)
      Enables LiveWindow for an object.
      Parameters:
      sendable - object

    • disableLiveWindow

      public static void disableLiveWindow​(Sendable sendable)
      Disables LiveWindow for an object.
      Parameters:
      sendable - object

    • publish

      public static void publish​(Sendable sendable, SendableBuilder builder)
      Publishes an object in the registry to a builder.
      Parameters:
      sendable - object
      builder - sendable builder

    • update

      public static void update​(Sendable sendable)
      Updates network table information from an object.
      Parameters:
      sendable - object

    • foreachLiveWindow

      public static void foreachLiveWindow​(int dataHandle, Consumer<SendableRegistry.CallbackData> callback)
      Iterates over LiveWindow-enabled objects in the registry. It is *not* safe to call other SendableRegistry functions from the callback.
      Parameters:
      dataHandle - data handle to get data object passed to callback
      callback - function to call for each object