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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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57
wpilibc/src/main/native/cpp/Compressor.cpp
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@@ -32,6 +32,13 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) {
SetClosedLoopControl(true);
}
/**
* Destructor.
*/
Compressor::~Compressor() {
if (m_enabledListener != 0) m_enabledEntry.RemoveListener(m_enabledListener);
}
/**
* Starts closed-loop control. Note that closed loop control is enabled by
* default.
@@ -300,30 +307,46 @@ void Compressor::ClearAllPCMStickyFaults() {
}
void Compressor::UpdateTable() {
if (m_table) {
m_table->PutBoolean("Enabled", Enabled());
m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
if (m_enabledEntry) m_enabledEntry.SetBoolean(Enabled());
if (m_pressureSwitchEntry)
m_pressureSwitchEntry.SetBoolean(GetPressureSwitchValue());
}
void Compressor::StartLiveWindowMode() {
if (m_enabledEntry) {
m_enabledListener = m_enabledEntry.AddListener(
[=](const nt::EntryNotification& event) {
if (!event.value->IsBoolean()) return;
if (event.value->GetBoolean())
Start();
else
Stop();
},
NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
}
}
void Compressor::StartLiveWindowMode() {}
void Compressor::StopLiveWindowMode() {}
void Compressor::StopLiveWindowMode() {
if (m_enabledListener != 0) {
m_enabledEntry.RemoveListener(m_enabledListener);
m_enabledListener = 0;
}
}
std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
void Compressor::InitTable(std::shared_ptr<ITable> subTable) {
void Compressor::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
m_table = subTable;
UpdateTable();
if (m_table) {
m_enabledEntry = m_table->GetEntry("Enabled");
m_pressureSwitchEntry = m_table->GetEntry("Pressure switch");
UpdateTable();
} else {
m_enabledEntry = nt::NetworkTableEntry();
m_pressureSwitchEntry = nt::NetworkTableEntry();
}
}
std::shared_ptr<ITable> Compressor::GetTable() const { return m_table; }
void Compressor::ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) {
if (!value->IsBoolean()) return;
if (value->GetBoolean())
Start();
else
Stop();
std::shared_ptr<nt::NetworkTable> Compressor::GetTable() const {
return m_table;
}