ModifiableChooser.h

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// See
// https://github.com/frc1675/frc1675-2024/blob/42d94881e7dd001fac9bb410892267b4d4dd8063/src/main/java/frc/robot/util/ChangableSendableChooser.java
 
#pragma once
 
#include <frc/smartdashboard/SendableChooser.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
 
#include <atomic>
#include <functional>
#include <iostream>
#include <map>
#include <mutex>
#include <ranges>
#include <string>
#include <vector>
 
namespace subzero {
 
template <typename T> class ModifiableChooser : public wpi::Sendable {
private:
  static inline const std::string kDefault = "default";
  static inline const std::string kSelected = "selected";
  static inline const std::string kActive = "active";
  static inline const std::string kOptions = "options";
  static inline const std::string kInstance = ".instance";
 
  std::map<std::string, T> m_map;
 
  std::string m_defaultChoice = "";
  int m_instance;
  std::string m_previousValue;
  std::function<void(std::optional<T>)> m_listener;
  std::atomic_int m_instances{0};
  std::string m_selected;
  std::recursive_mutex m_mutex;
 
public:
  ModifiableChooser();
 
  ~ModifiableChooser();
 
  void AddOption(std::string name, T object);
 
  void RemoveOption(std::string name);
 
  void ClearOptions();
 
  void SetOptions(std::map<std::string, T> options);
 
  void SetDefaultOption(std::string name, T object);
 
  void SetOptions(std::map<std::string, T> options, std::string defaultName,
                  T defaultObject);
 
  T GetSelected();
 
  std::string GetSelectedKey();
 
  std::string GetNtSelected();
 
  void SetNtSelected(std::string val);
 
  void OnChange(std::function<void(std::optional<T>)> listener);
 
  void InitSendable(wpi::SendableBuilder &builder) override;
};
} // namespace subzero