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Update wpilibc to use new NetworkTables package and interfaces.

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This commit is contained in:
Peter Johnson
2017-09-02 00:17:43 -07:00
parent 4e80570c4c
commit 040a8c6bcc
74 changed files with 937 additions and 721 deletions
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46
wpilibc/src/main/native/cpp/Commands/Command.cpp
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@@ -67,7 +67,7 @@ Command::Command(const std::string& name, double timeout) {
}
Command::~Command() {
if (m_table != nullptr) m_table->RemoveTableListener(this);
if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
}
/**
@@ -146,7 +146,7 @@ void Command::Removed() {
m_initialized = false;
m_canceled = false;
m_running = false;
if (m_table != nullptr) m_table->PutBoolean(kRunning, false);
if (m_runningEntry) m_runningEntry.SetBoolean(false);
}
/**
@@ -297,9 +297,7 @@ void Command::SetParent(CommandGroup* parent) {
} else {
LockChanges();
m_parent = parent;
if (m_table != nullptr) {
m_table->PutBoolean(kIsParented, true);
}
if (m_isParentedEntry) m_isParentedEntry.SetBoolean(true);
}
}
@@ -325,7 +323,7 @@ void Command::ClearRequirements() { m_requirements.clear(); }
void Command::StartRunning() {
m_running = true;
m_startTime = -1;
if (m_table != nullptr) m_table->PutBoolean(kRunning, true);
if (m_runningEntry) m_runningEntry.SetBoolean(true);
}
/**
@@ -435,25 +433,27 @@ std::string Command::GetName() const { return m_name; }
std::string Command::GetSmartDashboardType() const { return "Command"; }
void Command::InitTable(std::shared_ptr<ITable> subtable) {
if (m_table != nullptr) m_table->RemoveTableListener(this);
void Command::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
if (m_runningListener != 0) m_runningEntry.RemoveListener(m_runningListener);
m_table = subtable;
if (m_table != nullptr) {
m_table->PutString(kName, GetName());
m_table->PutBoolean(kRunning, IsRunning());
m_table->PutBoolean(kIsParented, m_parent != nullptr);
m_table->AddTableListener(kRunning, this, false);
m_table->GetEntry(kName).SetString(GetName());
m_runningEntry = m_table->GetEntry(kRunning);
m_runningEntry.SetBoolean(IsRunning());
m_isParentedEntry = m_table->GetEntry(kIsParented);
m_isParentedEntry.SetBoolean(m_parent != nullptr);
m_runningListener = m_runningEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBoolean()) return;
if (event.value->GetBoolean()) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
},
NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}
}
std::shared_ptr<ITable> Command::GetTable() const { return m_table; }
void Command::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (!value->IsBoolean()) return;
if (value->GetBoolean()) {
if (!IsRunning()) Start();
} else {
if (IsRunning()) Cancel();
}
}
std::shared_ptr<nt::NetworkTable> Command::GetTable() const { return m_table; }